using System; using System.Collections.Generic; using System.ComponentModel; using System.Drawing; using System.Data; using System.Linq; using System.Text; using System.Windows.Forms; using ArdupilotMega.Controls.BackstageView; using ArdupilotMega.Utilities; using ArdupilotMega.Controls; namespace ArdupilotMega.GCSViews.ConfigurationView { public partial class ConfigFlightModes : UserControl, IActivate, IDeactivate { Timer timer = new Timer(); public ConfigFlightModes() { InitializeComponent(); } void timer_Tick(object sender, EventArgs e) { try { MainV2.comPort.MAV.cs.UpdateCurrentSettings(currentStateBindingSource); } catch { } float pwm = 0; if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane || MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover) // APM { if (MainV2.comPort.MAV.param.ContainsKey("FLTMODE_CH")) { switch ((int)(float)MainV2.comPort.MAV.param["FLTMODE_CH"]) { case 5: pwm = MainV2.comPort.MAV.cs.ch5in; break; case 6: pwm = MainV2.comPort.MAV.cs.ch6in; break; case 7: pwm = MainV2.comPort.MAV.cs.ch7in; break; case 8: pwm = MainV2.comPort.MAV.cs.ch8in; break; default: break; } LBL_flightmodepwm.Text = MainV2.comPort.MAV.param["FLTMODE_CH"].ToString() + ": " + pwm.ToString(); } } if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2 { pwm = MainV2.comPort.MAV.cs.ch5in; LBL_flightmodepwm.Text = "5: " + MainV2.comPort.MAV.cs.ch5in.ToString(); } Control[] fmodelist = new Control[] { CMB_fmode1, CMB_fmode2, CMB_fmode3, CMB_fmode4, CMB_fmode5, CMB_fmode6 }; foreach (Control ctl in fmodelist) { ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45); } byte no = readSwitch(pwm); fmodelist[no].BackColor = Color.Green; } // from arducopter code byte readSwitch(float inpwm) { int pulsewidth = (int)inpwm; // default for Arducopter if (pulsewidth > 1230 && pulsewidth <= 1360) return 1; if (pulsewidth > 1360 && pulsewidth <= 1490) return 2; if (pulsewidth > 1490 && pulsewidth <= 1620) return 3; if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual if (pulsewidth >= 1750) return 5; // Hardware Manual return 0; } private void BUT_SaveModes_Click(object sender, EventArgs e) { try { MainV2.comPort.setParam("FLTMODE1", (float)Int32.Parse(CMB_fmode1.SelectedValue.ToString())); MainV2.comPort.setParam("FLTMODE2", (float)Int32.Parse(CMB_fmode2.SelectedValue.ToString())); MainV2.comPort.setParam("FLTMODE3", (float)Int32.Parse(CMB_fmode3.SelectedValue.ToString())); MainV2.comPort.setParam("FLTMODE4", (float)Int32.Parse(CMB_fmode4.SelectedValue.ToString())); MainV2.comPort.setParam("FLTMODE5", (float)Int32.Parse(CMB_fmode5.SelectedValue.ToString())); MainV2.comPort.setParam("FLTMODE6", (float)Int32.Parse(CMB_fmode6.SelectedValue.ToString())); if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2 { float value = (float)(CB_simple1.Checked ? (int)SimpleMode.Simple1 : 0) + (CB_simple2.Checked ? (int)SimpleMode.Simple2 : 0) + (CB_simple3.Checked ? (int)SimpleMode.Simple3 : 0) + (CB_simple4.Checked ? (int)SimpleMode.Simple4 : 0) + (CB_simple5.Checked ? (int)SimpleMode.Simple5 : 0) + (CB_simple6.Checked ? (int)SimpleMode.Simple6 : 0); if (MainV2.comPort.MAV.param.ContainsKey("SIMPLE")) MainV2.comPort.setParam("SIMPLE", value); } } catch { CustomMessageBox.Show("Failed to set Flight modes"); } BUT_SaveModes.Text = "Complete"; } [Flags] public enum SimpleMode { None = 0, Simple1 = 1, Simple2 = 2, Simple3 = 4, Simple4 = 8, Simple5 = 16, Simple6 = 32, } public void Deactivate() { timer.Stop(); } public void Activate() { if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane) // APM { CB_simple1.Visible = false; CB_simple2.Visible = false; CB_simple3.Visible = false; CB_simple4.Visible = false; CB_simple5.Visible = false; CB_simple6.Visible = false; var flightModes = EnumTranslator.Translate(); CMB_fmode1.DataSource = flightModes.ToList(); CMB_fmode1.ValueMember = "Key"; CMB_fmode1.DisplayMember = "Value"; CMB_fmode2.DataSource = flightModes.ToList(); CMB_fmode2.ValueMember = "Key"; CMB_fmode2.DisplayMember = "Value"; CMB_fmode3.DataSource = flightModes.ToList(); CMB_fmode3.ValueMember = "Key"; CMB_fmode3.DisplayMember = "Value"; CMB_fmode4.DataSource = flightModes.ToList(); CMB_fmode4.ValueMember = "Key"; CMB_fmode4.DisplayMember = "Value"; CMB_fmode5.DataSource = flightModes.ToList(); CMB_fmode5.ValueMember = "Key"; CMB_fmode5.DisplayMember = "Value"; CMB_fmode6.DataSource = flightModes.ToList(); CMB_fmode6.ValueMember = "Key"; CMB_fmode6.DisplayMember = "Value"; try { CMB_fmode1.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.MAV.param["FLTMODE1"].ToString())); CMB_fmode2.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.MAV.param["FLTMODE2"].ToString())); CMB_fmode3.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.MAV.param["FLTMODE3"].ToString())); CMB_fmode4.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.MAV.param["FLTMODE4"].ToString())); CMB_fmode5.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.MAV.param["FLTMODE5"].ToString())); CMB_fmode6.Text = Common.apmmodes.MANUAL.ToString(); CMB_fmode6.Enabled = false; } catch { } } else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover) // APM { CB_simple1.Visible = false; CB_simple2.Visible = false; CB_simple3.Visible = false; CB_simple4.Visible = false; CB_simple5.Visible = false; CB_simple6.Visible = false; var flightModes = EnumTranslator.Translate(); CMB_fmode1.DataSource = flightModes.ToList(); CMB_fmode1.ValueMember = "Key"; CMB_fmode1.DisplayMember = "Value"; CMB_fmode2.DataSource = flightModes.ToList(); CMB_fmode2.ValueMember = "Key"; CMB_fmode2.DisplayMember = "Value"; CMB_fmode3.DataSource = flightModes.ToList(); CMB_fmode3.ValueMember = "Key"; CMB_fmode3.DisplayMember = "Value"; CMB_fmode4.DataSource = flightModes.ToList(); CMB_fmode4.ValueMember = "Key"; CMB_fmode4.DisplayMember = "Value"; CMB_fmode5.DataSource = flightModes.ToList(); CMB_fmode5.ValueMember = "Key"; CMB_fmode5.DisplayMember = "Value"; CMB_fmode6.DataSource = flightModes.ToList(); CMB_fmode6.ValueMember = "Key"; CMB_fmode6.DisplayMember = "Value"; try { CMB_fmode1.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.MAV.param["FLTMODE1"].ToString())); CMB_fmode2.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.MAV.param["FLTMODE2"].ToString())); CMB_fmode3.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.MAV.param["FLTMODE3"].ToString())); CMB_fmode4.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.MAV.param["FLTMODE4"].ToString())); CMB_fmode5.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.MAV.param["FLTMODE5"].ToString())); CMB_fmode6.Text = Common.aprovermodes.MANUAL.ToString(); CMB_fmode6.Enabled = false; } catch { } } else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2 { var flightModes = EnumTranslator.Translate(); CMB_fmode1.DataSource = flightModes.ToList(); CMB_fmode1.ValueMember = "Key"; CMB_fmode1.DisplayMember = "Value"; CMB_fmode2.DataSource = flightModes.ToList(); CMB_fmode2.ValueMember = "Key"; CMB_fmode2.DisplayMember = "Value"; CMB_fmode3.DataSource = flightModes.ToList(); CMB_fmode3.ValueMember = "Key"; CMB_fmode3.DisplayMember = "Value"; CMB_fmode4.DataSource = flightModes.ToList(); CMB_fmode4.ValueMember = "Key"; CMB_fmode4.DisplayMember = "Value"; CMB_fmode5.DataSource = flightModes.ToList(); CMB_fmode5.ValueMember = "Key"; CMB_fmode5.DisplayMember = "Value"; CMB_fmode6.DataSource = flightModes.ToList(); CMB_fmode6.ValueMember = "Key"; CMB_fmode6.DisplayMember = "Value"; try { CMB_fmode1.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.MAV.param["FLTMODE1"].ToString())); CMB_fmode2.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.MAV.param["FLTMODE2"].ToString())); CMB_fmode3.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.MAV.param["FLTMODE3"].ToString())); CMB_fmode4.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.MAV.param["FLTMODE4"].ToString())); CMB_fmode5.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.MAV.param["FLTMODE5"].ToString())); CMB_fmode6.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.MAV.param["FLTMODE6"].ToString())); CMB_fmode6.Enabled = true; int simple = int.Parse(MainV2.comPort.MAV.param["SIMPLE"].ToString()); CB_simple1.Checked = ((simple >> 0 & 1) == 1); CB_simple2.Checked = ((simple >> 1 & 1) == 1); CB_simple3.Checked = ((simple >> 2 & 1) == 1); CB_simple4.Checked = ((simple >> 3 & 1) == 1); CB_simple5.Checked = ((simple >> 4 & 1) == 1); CB_simple6.Checked = ((simple >> 5 & 1) == 1); } catch { } } timer.Tick += new EventHandler(timer_Tick); timer.Enabled = true; timer.Interval = 100; timer.Start(); } } }