mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 22:48:29 -04:00
8bebf0c394
Convert to IActivate, IDeactivate scheme, thanks andrew add support for rfcomm* interfaces on linux fix guage off screen draw mono issue. remove use of BackStageViewContentPanel andrews spacer changes - not using dues to screen space issue change configpanel constructor to load xml directly remove IMavlink Interface fix hsi off screen draw issue on mono modify hud to use sprite fonts, instead of drawing via GDI+ modify progress reporter to use a 10hz timer to update screen, using invoke/begininvoke fails on mono at 50hz (over 100ms per call). fix targetalt and target airspeed jumping issue. lots of cleanup on tab switching, ie stoping timers/other 3dr radio status led update update ardurover car icon speedup georef image screen. tested on over 1000 images.
324 lines
11 KiB
C#
324 lines
11 KiB
C#
using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Drawing;
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using System.Data;
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using System.Linq;
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using System.Text;
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using System.Windows.Forms;
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using ArdupilotMega.Controls.BackstageView;
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using ArdupilotMega.Controls;
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namespace ArdupilotMega.GCSViews.ConfigurationView
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{
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public partial class ConfigHardwareOptions : UserControl, IActivate
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{
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bool startup = false;
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const float rad2deg = (float)(180 / Math.PI);
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const float deg2rad = (float)(1.0 / rad2deg);
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public ConfigHardwareOptions()
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{
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InitializeComponent();
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}
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private void BUT_MagCalibration_Click(object sender, EventArgs e)
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{
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// list of x,y,z 's
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List<Tuple<float, float, float>> data = new List<Tuple<float, float, float>>();
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// backup current rate and set to 10 hz
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byte backupratesens = MainV2.cs.ratesensors;
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MainV2.cs.ratesensors = 10;
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MainV2.comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // mag captures at 10 hz
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CustomMessageBox.Show("Data will be collected for 30 seconds, Please click ok and move the apm around all axises");
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DateTime deadline = DateTime.Now.AddSeconds(30);
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float oldmx = 0;
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float oldmy = 0;
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float oldmz = 0;
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while (deadline > DateTime.Now)
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{
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// dont let the gui hang
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Application.DoEvents();
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if (oldmx != MainV2.cs.mx &&
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oldmy != MainV2.cs.my &&
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oldmz != MainV2.cs.mz)
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{
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data.Add(new Tuple<float, float, float>(
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MainV2.cs.mx - (float)MainV2.cs.mag_ofs_x,
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MainV2.cs.my - (float)MainV2.cs.mag_ofs_y,
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MainV2.cs.mz - (float)MainV2.cs.mag_ofs_z));
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oldmx = MainV2.cs.mx;
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oldmy = MainV2.cs.my;
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oldmz = MainV2.cs.mz;
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}
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}
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// restore old sensor rate
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MainV2.cs.ratesensors = backupratesens;
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MainV2.comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors);
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if (data.Count < 10)
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{
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CustomMessageBox.Show("Log does not contain enough data");
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return;
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}
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double[] ans = MagCalib.LeastSq(data);
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MagCalib.SaveOffsets(ans);
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}
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private void linkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
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{
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try
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{
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//System.Diagnostics.Process.Start("http://www.ngdc.noaa.gov/geomagmodels/Declination.jsp");
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System.Diagnostics.Process.Start("http://www.magnetic-declination.com/");
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}
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catch { CustomMessageBox.Show("Webpage open failed... do you have a virus?\nhttp://www.magnetic-declination.com/"); }
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}
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private void TXT_declination_Validating(object sender, CancelEventArgs e)
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{
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float ans = 0;
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e.Cancel = !float.TryParse(TXT_declination.Text, out ans);
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}
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private void TXT_declination_Validated(object sender, EventArgs e)
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{
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if (startup)
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return;
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try
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{
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if (MainV2.comPort.param["COMPASS_DEC"] == null)
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{
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CustomMessageBox.Show("Not Available");
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}
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else
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{
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float dec = 0.0f;
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try
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{
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string declination = TXT_declination.Text;
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float.TryParse(declination, out dec);
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float deg = (float)((int)dec);
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float mins = (dec - deg);
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if (dec > 0)
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{
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dec += ((mins) / 60.0f);
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}
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else
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{
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dec -= ((mins) / 60.0f);
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}
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}
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catch { CustomMessageBox.Show("Invalid input!"); return; }
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TXT_declination.Text = dec.ToString();
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MainV2.comPort.setParam("COMPASS_DEC", dec * deg2rad);
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}
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}
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catch { CustomMessageBox.Show("Set COMPASS_DEC Failed"); }
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}
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private void CHK_enablecompass_CheckedChanged(object sender, EventArgs e)
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{
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if (((CheckBox)sender).Checked == true)
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{
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CHK_autodec.Enabled = true;
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TXT_declination.Enabled = true;
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}
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else
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{
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CHK_autodec.Enabled = false;
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TXT_declination.Enabled = false;
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}
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if (startup)
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return;
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try
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{
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if (MainV2.comPort.param["MAG_ENABLE"] == null)
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{
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CustomMessageBox.Show("Not Available");
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}
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else
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{
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MainV2.comPort.setParam("MAG_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
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}
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}
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catch { CustomMessageBox.Show("Set MAG_ENABLE Failed"); }
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}
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private void CHK_enablesonar_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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try
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{
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if (MainV2.comPort.param["SONAR_ENABLE"] == null)
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{
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CustomMessageBox.Show("Not Available");
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}
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else
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{
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MainV2.comPort.setParam("SONAR_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
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}
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}
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catch { CustomMessageBox.Show("Set SONAR_ENABLE Failed"); }
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}
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private void CHK_enableairspeed_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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try
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{
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if (MainV2.comPort.param["ARSPD_ENABLE"] == null)
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{
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CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
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}
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else
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{
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MainV2.comPort.setParam("ARSPD_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
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}
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}
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catch { CustomMessageBox.Show("Set ARSPD_ENABLE Failed"); }
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}
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private void CHK_enableoptflow_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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try
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{
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if (MainV2.comPort.param["FLOW_ENABLE"] == null)
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{
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CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
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}
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else
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{
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MainV2.comPort.setParam("FLOW_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
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}
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}
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catch { CustomMessageBox.Show("Set FLOW_ENABLE Failed"); }
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}
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private void CMB_sonartype_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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try
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{
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if (MainV2.comPort.param["SONAR_TYPE"] == null)
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{
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CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
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}
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else
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{
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MainV2.comPort.setParam("SONAR_TYPE", ((ComboBox)sender).SelectedIndex);
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}
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}
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catch { CustomMessageBox.Show("Set SONAR_TYPE Failed"); }
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}
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public void Activate()
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{
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if (!MainV2.comPort.BaseStream.IsOpen)
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{
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this.Enabled = false;
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return;
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}
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else
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{
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this.Enabled = true;
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}
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startup = true;
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if (MainV2.comPort.param["ARSPD_ENABLE"] != null)
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{
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CHK_enableairspeed.Checked = MainV2.comPort.param["ARSPD_ENABLE"].ToString() == "1" ? true : false;
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CHK_enableairspeed.Enabled = true;
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}
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if (MainV2.comPort.param["SONAR_ENABLE"] != null)
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{
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CHK_enablesonar.Checked = MainV2.comPort.param["SONAR_ENABLE"].ToString() == "1" ? true : false;
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CHK_enablesonar.Enabled = true;
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}
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if (MainV2.comPort.param["MAG_ENABLE"] != null)
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{
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CHK_enablecompass.Checked = MainV2.comPort.param["MAG_ENABLE"].ToString() == "1" ? true : false;
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CHK_enablecompass.Enabled = true;
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}
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if (MainV2.comPort.param["COMPASS_DEC"] != null)
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{
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TXT_declination.Text = (float.Parse(MainV2.comPort.param["COMPASS_DEC"].ToString()) * rad2deg).ToString();
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}
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if (MainV2.comPort.param["SONAR_TYPE"] != null)
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{
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CMB_sonartype.SelectedIndex = int.Parse(MainV2.comPort.param["SONAR_TYPE"].ToString());
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}
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if (MainV2.comPort.param["FLOW_ENABLE"] != null)
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{
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CHK_enableoptflow.Checked = MainV2.comPort.param["FLOW_ENABLE"].ToString() == "1" ? true : false;
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CHK_enableoptflow.Enabled = true;
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}
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if (MainV2.comPort.param["COMPASS_AUTODEC"] != null)
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{
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CHK_autodec.Checked = MainV2.comPort.param["COMPASS_AUTODEC"].ToString() == "1" ? true : false;
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}
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startup = false;
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}
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private void BUT_MagCalibrationLog_Click(object sender, EventArgs e)
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{
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string minthro = "30";
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Common.InputBox("Min Throttle", "Use only data above this throttle percent.", ref minthro);
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int ans = 0;
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int.TryParse(minthro, out ans);
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MagCalib.ProcessLog(ans);
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}
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private void CHK_autodec_CheckedChanged(object sender, EventArgs e)
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{
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if (((CheckBox)sender).Checked == true)
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{
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TXT_declination.Enabled = false;
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}
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else
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{
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TXT_declination.Enabled = true;
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}
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if (startup)
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return;
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try
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{
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if (MainV2.comPort.param["COMPASS_AUTODEC"] == null)
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{
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CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
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}
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else
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{
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MainV2.comPort.setParam("COMPASS_AUTODEC", ((CheckBox)sender).Checked == true ? 1 : 0);
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}
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}
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catch { CustomMessageBox.Show("Set COMPASS_AUTODEC Failed"); }
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}
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}
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} |