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.
489 lines
16 KiB
C#
489 lines
16 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 ConfigTradHeli : UserControl, IActivate, IDeactivate
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{
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bool startup = false;
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bool inpwmdetect = false;
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Timer timer = new Timer();
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public ConfigTradHeli()
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{
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InitializeComponent();
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}
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private void H_SWASH_TYPE_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["H_SWASH_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("H_SWASH_TYPE", ((RadioButton)sender).Checked == true ? 1 : 0);
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}
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}
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catch { CustomMessageBox.Show("Set H_SWASH_TYPE Failed"); }
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}
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private void BUT_swash_manual_Click(object sender, EventArgs e)
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{
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try
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{
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if (MainV2.comPort.param["H_SV_MAN"].ToString() == "1")
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{
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MainV2.comPort.setParam("H_COL_MIN", int.Parse(H_COL_MIN.Text));
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MainV2.comPort.setParam("H_COL_MAX", int.Parse(H_COL_MAX.Text));
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MainV2.comPort.setParam("H_SV_MAN", 0); // randy request - last
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BUT_swash_manual.Text = "Manual";
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H_COL_MAX.Enabled = false;
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H_COL_MID.Enabled = false;
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H_COL_MIN.Enabled = false;
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BUT_0collective.Enabled = false;
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}
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else
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{
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H_COL_MAX.Text = "1500";
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H_COL_MIN.Text = "1500";
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MainV2.comPort.setParam("H_SV_MAN", 1); // randy request
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BUT_swash_manual.Text = "Save";
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H_COL_MAX.Enabled = true;
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H_COL_MID.Enabled = true;
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H_COL_MIN.Enabled = true;
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BUT_0collective.Enabled = true;
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}
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}
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catch { CustomMessageBox.Show("Failed to set H_SV_MAN"); }
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}
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private void BUT_HS4save_Click(object sender, EventArgs e)
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{
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try
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{
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if (MainV2.comPort.param["H_SV_MAN"].ToString() == "1")
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{
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MainV2.comPort.setParam("HS4_MIN", int.Parse(HS4_MIN.Text));
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MainV2.comPort.setParam("HS4_MAX", int.Parse(HS4_MAX.Text));
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MainV2.comPort.setParam("H_SV_MAN", 0); // randy request - last
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BUT_HS4save.Text = "Manual";
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HS4_MAX.Enabled = false;
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HS4_MIN.Enabled = false;
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}
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else
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{
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HS4_MIN.Text = "1500";
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HS4_MAX.Text = "1500";
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MainV2.comPort.setParam("H_SV_MAN", 1); // randy request
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BUT_HS4save.Text = "Save";
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HS4_MAX.Enabled = true;
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HS4_MIN.Enabled = true;
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}
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}
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catch { CustomMessageBox.Show("Failed to set H_SV_MAN"); }
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}
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private void tabHeli_Click(object sender, EventArgs e)
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{
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}
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private void HS4_Paint(object sender, PaintEventArgs e)
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{
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try
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{
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if (int.Parse(HS4_MIN.Text) > HS4.minline)
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HS4_MIN.Text = HS4.minline.ToString();
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if (int.Parse(HS4_MAX.Text) < HS4.maxline)
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HS4_MAX.Text = HS4.maxline.ToString();
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}
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catch { }
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}
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private void HS3_Paint(object sender, PaintEventArgs e)
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{
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try
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{
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if (int.Parse(H_COL_MIN.Text) > HS3.minline)
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H_COL_MIN.Text = HS3.minline.ToString();
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if (int.Parse(H_COL_MAX.Text) < HS3.maxline)
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H_COL_MAX.Text = HS3.maxline.ToString();
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}
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catch { }
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}
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private void COL_MAX__Enter(object sender, EventArgs e)
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{
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inpwmdetect = true;
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}
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private void COL_MIN__Enter(object sender, EventArgs e)
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{
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inpwmdetect = true;
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}
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private void COL_MAX__Leave(object sender, EventArgs e)
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{
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inpwmdetect = false;
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}
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private void COL_MIN__Leave(object sender, EventArgs e)
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{
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inpwmdetect = false;
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}
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private void HS4_MIN_Enter(object sender, EventArgs e)
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{
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inpwmdetect = true;
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}
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private void HS4_MIN_Leave(object sender, EventArgs e)
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{
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inpwmdetect = false;
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}
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private void HS4_MAX_Enter(object sender, EventArgs e)
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{
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inpwmdetect = true;
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}
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private void HS4_MAX_Leave(object sender, EventArgs e)
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{
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inpwmdetect = false;
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}
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private void PWM_Validating(object sender, CancelEventArgs e)
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{
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Control temp = (Control)(sender);
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if (int.Parse(temp.Text) < 900)
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temp.Text = "900";
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if (int.Parse(temp.Text) > 2100)
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temp.Text = "2100";
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}
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private void TXT_srvpos1_Validating(object sender, CancelEventArgs e)
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{
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if (startup || this.Disposing)
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return;
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int test = 0;
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if (!int.TryParse(((TextBox)sender).Text, out test))
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{
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e.Cancel = true;
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}
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Gservoloc.Value0 = test;
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try
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{
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MainV2.comPort.setParam("H_SV_MAN", 1); // randy request
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MainV2.comPort.setParam(((TextBox)sender).Name, test);
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System.Threading.Thread.Sleep(100);
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MainV2.comPort.setParam("H_SV_MAN", 0); // randy request - last
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}
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catch { CustomMessageBox.Show("Set " + ((TextBox)sender).Name + " failed"); }
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}
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private void TXT_srvpos2_Validating(object sender, CancelEventArgs e)
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{
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if (startup || this.Disposing)
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return;
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int test = 0;
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if (!int.TryParse(((TextBox)sender).Text, out test))
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{
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e.Cancel = true;
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}
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Gservoloc.Value1 = test;
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try
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{
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MainV2.comPort.setParam("H_SV_MAN", 1); // randy request
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MainV2.comPort.setParam(((TextBox)sender).Name, test);
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System.Threading.Thread.Sleep(100);
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MainV2.comPort.setParam("H_SV_MAN", 0); // randy request - last
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}
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catch { CustomMessageBox.Show("Set " + ((TextBox)sender).Name + " failed"); }
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}
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private void TXT_srvpos3_Validating(object sender, CancelEventArgs e)
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{
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if (startup || this.Disposing)
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return;
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int test = 0;
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if (!int.TryParse(((TextBox)sender).Text, out test))
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{
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e.Cancel = true;
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}
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Gservoloc.Value2 = test;
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try
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{
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MainV2.comPort.setParam("H_SV_MAN", 1); // randy request
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MainV2.comPort.setParam(((TextBox)sender).Name, test);
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System.Threading.Thread.Sleep(100);
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MainV2.comPort.setParam("H_SV_MAN", 0); // randy request - last
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}
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catch { CustomMessageBox.Show("Set " + ((TextBox)sender).Name + " failed"); }
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}
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private void BUT_0collective_Click(object sender, EventArgs e)
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{
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CustomMessageBox.Show("Make sure your blades are at 0 degrees");
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try
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{
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MainV2.comPort.setParam("H_COL_MID", MainV2.cs.ch3in);
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H_COL_MID.Text = MainV2.comPort.param["H_COL_MID"].ToString();
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}
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catch { CustomMessageBox.Show("Set H_COL_MID failed"); }
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}
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private void HS1_REV_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == false ? 1.0f : -1.0f);
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}
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private void HS2_REV_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == false ? 1.0f : -1.0f);
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}
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private void HS3_REV_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == false ? 1.0f : -1.0f);
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}
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private void HS4_REV_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == false ? 1.0f : -1.0f);
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}
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private void HS1_TRIM_ValueChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.comPort.setParam(((NumericUpDown)sender).Name, (float)((NumericUpDown)sender).Value);
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}
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private void HS2_TRIM_ValueChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.comPort.setParam(((NumericUpDown)sender).Name, (float)((NumericUpDown)sender).Value);
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}
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private void HS3_TRIM_ValueChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.comPort.setParam(((NumericUpDown)sender).Name, (float)((NumericUpDown)sender).Value);
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}
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private void HS4_TRIM_ValueChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.comPort.setParam(((NumericUpDown)sender).Name, (float)((NumericUpDown)sender).Value);
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}
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private void ROL_MAX__Validating(object sender, CancelEventArgs e)
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{
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if (startup || this.Disposing || !this.Enabled)
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return;
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int test = 0;
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if (!int.TryParse(((TextBox)sender).Text, out test))
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{
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e.Cancel = true;
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}
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MainV2.comPort.setParam(((TextBox)sender).Name, test);
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}
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private void PIT_MAX__Validating(object sender, CancelEventArgs e)
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{
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if (startup || this.Disposing || !this.Enabled)
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return;
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int test = 0;
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if (!int.TryParse(((TextBox)sender).Text, out test))
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{
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e.Cancel = true;
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}
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MainV2.comPort.setParam(((TextBox)sender).Name, test);
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}
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private void GYR_GAIN__Validating(object sender, CancelEventArgs e)
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{
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if (startup || this.Disposing || !this.Enabled)
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return;
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int test = 0;
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if (!int.TryParse(((TextBox)sender).Text, out test))
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{
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e.Cancel = true;
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}
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try
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{
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MainV2.comPort.setParam(((TextBox)sender).Name, test);
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}
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catch { CustomMessageBox.Show("Failed to set Gyro Gain"); }
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}
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private void GYR_ENABLE__CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == true ? 1.0f : 0.0f);
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}
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public void Activate()
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{
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if (MainV2.comPort.param["H_GYR_ENABLE"] == null)
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{
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this.Enabled = false;
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return;
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}
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timer.Tick += new EventHandler(timer_Tick);
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timer.Enabled = true;
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timer.Interval = 100;
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timer.Start();
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startup = true;
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try
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{
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if (MainV2.comPort.param.ContainsKey("H_SWASH_TYPE"))
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{
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CCPM.Checked = MainV2.comPort.param["H_SWASH_TYPE"].ToString() == "0" ? true : false;
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H_SWASH_TYPE.Checked = !CCPM.Checked;
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}
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foreach (string value in MainV2.comPort.param.Keys)
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{
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if (value == "")
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continue;
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Control[] control = this.Controls.Find(value, true);
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if (control.Length > 0)
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{
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if (control[0].GetType() == typeof(TextBox))
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{
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TextBox temp = (TextBox)control[0];
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string option = MainV2.comPort.param[value].ToString();
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temp.Text = option;
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}
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if (control[0].GetType() == typeof(NumericUpDown))
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{
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NumericUpDown temp = (NumericUpDown)control[0];
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string option = MainV2.comPort.param[value].ToString();
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temp.Text = option;
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}
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if (control[0].GetType() == typeof(CheckBox))
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{
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CheckBox temp = (CheckBox)control[0];
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string option = MainV2.comPort.param[value].ToString();
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temp.Checked = option == "1" ? true : false;
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}
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if (control[0].GetType() == typeof(MyTrackBar))
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{
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ArdupilotMega.Controls.MyTrackBar temp = (MyTrackBar)control[0];
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string option = MainV2.comPort.param[value].ToString();
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temp.Value = int.Parse(option);
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}
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}
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}
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HS1_REV.Checked = MainV2.comPort.param["HS1_REV"].ToString() == "-1";
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HS2_REV.Checked = MainV2.comPort.param["HS2_REV"].ToString() == "-1";
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HS3_REV.Checked = MainV2.comPort.param["HS3_REV"].ToString() == "-1";
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HS4_REV.Checked = MainV2.comPort.param["HS4_REV"].ToString() == "-1";
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}
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catch { }
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startup = false;
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}
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void timer_Tick(object sender, EventArgs e)
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{
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try
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{
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MainV2.cs.UpdateCurrentSettings(currentStateBindingSource);
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}
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catch { }
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if (MainV2.comPort.param["H_SV_MAN"] == null || MainV2.comPort.param["H_SV_MAN"].ToString() == "0")
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return;
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if (HS3.minline == 0)
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HS3.minline = 2200;
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if (HS4.minline == 0)
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HS4.minline = 2200;
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HS3.minline = Math.Min(HS3.minline, (int)MainV2.cs.ch3in);
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HS3.maxline = Math.Max(HS3.maxline, (int)MainV2.cs.ch3in);
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HS4.minline = Math.Min(HS4.minline, (int)MainV2.cs.ch4in);
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HS4.maxline = Math.Max(HS4.maxline, (int)MainV2.cs.ch4in);
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if (!inpwmdetect)
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{
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HS3_Paint(null, null);
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HS4_Paint(null, null);
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}
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else
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{
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try
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{
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HS3.minline = int.Parse(H_COL_MIN.Text);
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HS3.maxline = int.Parse(H_COL_MAX.Text);
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HS4.maxline = int.Parse(HS4_MIN.Text);
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HS4.minline = int.Parse(HS4_MAX.Text);
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}
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catch { }
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}
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}
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public void Deactivate()
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{
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timer.Stop();
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startup = true;
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}
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}
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}
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