mirror of https://github.com/ArduPilot/ardupilot
124 lines
3.6 KiB
C#
124 lines
3.6 KiB
C#
using System;
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using System.Reflection;
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using System.Windows.Forms;
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using ArdupilotMega.Controls.BackstageView;
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using log4net;
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using Transitions;
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namespace ArdupilotMega.GCSViews.ConfigurationView
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{
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public partial class ConfigAccelerometerCalibrationQuad : UserControl, IActivate, IDeactivate
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{
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private static readonly ILog Log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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private const float DisabledOpacity = 0.2F;
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private const float EnabledOpacity = 1.0F;
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public ConfigAccelerometerCalibrationQuad()
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{
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InitializeComponent();
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}
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private void BUT_levelac2_Click(object sender, EventArgs e)
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{
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try
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{
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#if MAVLINK10
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Log.Info("Sending level command (mavlink 1.0)");
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MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION,1,0,0,0,1,0,0);
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#else
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Log.Info("Sending level command (mavlink 0.9)");
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MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_CALIBRATE_ACC);
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#endif
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BUT_levelac2.Text = "Complete";
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}
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catch(Exception ex)
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{
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Log.Error("Exception on level", ex);
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CustomMessageBox.Show("Failed to level : ac2 2.0.37+ is required");
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}
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}
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private void pictureBox_Click(object sender, EventArgs e)
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{
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if (sender == pictureBoxPlus)
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radioButton_Plus.Checked = true;
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else
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radioButton_X.Checked = true;
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}
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private void SetPlus()
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{
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FadePicBoxes(DisabledOpacity, EnabledOpacity);
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SetFrameParam(true);
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}
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private void SetX()
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{
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FadePicBoxes(EnabledOpacity, DisabledOpacity);
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SetFrameParam(false);
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}
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private void SetFrameParam(bool isPlus)
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{
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var f = isPlus ? 0f : 1f;
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try
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{
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MainV2.comPort.setParam("FRAME", f);
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}
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catch
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{
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CustomMessageBox.Show("Set frame failed", "Error", MessageBoxButtons.OK, MessageBoxIcon.Warning);
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}
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}
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private void FadePicBoxes(float xOpacity, float plusOpacity)
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{
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var fade = new Transition(new TransitionType_Linear(400));
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fade.add(pictureBoxX, "Opacity", xOpacity);
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fade.add(pictureBoxPlus, "Opacity", plusOpacity);
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fade.run();
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}
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public void Activate()
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{
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if (!MainV2.comPort.param.ContainsKey("FRAME"))
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{
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this.Enabled = false;
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return;
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}
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if ((float)MainV2.comPort.param["FRAME"] == 0)
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{
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this.radioButton_Plus.Checked = true;
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pictureBoxX.Opacity = DisabledOpacity;
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pictureBoxPlus.Opacity = EnabledOpacity;
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}
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else
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{
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this.radioButton_X.Checked = true;
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pictureBoxX.Opacity = EnabledOpacity;
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pictureBoxPlus.Opacity = DisabledOpacity;
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}
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radioButton_Plus.CheckedChanged += RadioButtonPlusCheckedChanged;
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}
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public void Deactivate()
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{
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radioButton_Plus.CheckedChanged -= RadioButtonPlusCheckedChanged;
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}
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void RadioButtonPlusCheckedChanged(object sender, EventArgs e)
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{
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if (radioButton_X.Checked)
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SetX();
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else
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SetPlus();
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}
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}
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}
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