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ardupilot/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
Michael Oborne 739294ca70 APM Planner 1.1.55 
fix issue 573
fix issue 572
fix issue 571
fix issue 570
fix issue 564
fix issue 560
fix issue 555
fix issue 536
add CH6_LOITER_RATE_D
fix joystick axis 5-8 - can use joystick for camera pan/tilt
2012-03-21 20:13:08 +08:00

1704 lines
63 KiB
C#
Raw Blame History

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
namespace ArdupilotMega.Setup
{
public partial class Setup : Form
{
internal GCSViews.Configuration Configuration;
bool run = false;
bool startup = false;
bool inpwmdetect = false;
const float rad2deg = (float)(180 / Math.PI);
const float deg2rad = (float)(1.0 / rad2deg);
float[] rcmin = new float[8];
float[] rcmax = new float[8];
float[] rctrim = new float[8];
Timer timer = new Timer();
public Setup()
{
InitializeComponent();
for (int a = 0; a < rcmin.Length; a++)
{
rcmin[a] = 3000;
rcmax[a] = 0;
rctrim[a] = 1500;
}
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, MainV2.cs.raterc);
timer.Tick += new EventHandler(timer_Tick);
timer.Enabled = true;
timer.Interval = 100;
timer.Start();
}
void timer_Tick(object sender, EventArgs e)
{
try
{
MainV2.cs.UpdateCurrentSettings(currentStateBindingSource);
}
catch { }
float pwm = 0;
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) // APM
{
if (MainV2.comPort.param.ContainsKey("FLTMODE_CH"))
{
switch ((int)(float)MainV2.comPort.param["FLTMODE_CH"])
{
case 5:
pwm = MainV2.cs.ch5in;
break;
case 6:
pwm = MainV2.cs.ch6in;
break;
case 7:
pwm = MainV2.cs.ch7in;
break;
case 8:
pwm = MainV2.cs.ch8in;
break;
default:
break;
}
LBL_flightmodepwm.Text = MainV2.comPort.param["FLTMODE_CH"].ToString() + ": " + pwm.ToString();
}
}
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
{
pwm = MainV2.cs.ch5in;
LBL_flightmodepwm.Text = "5: " + MainV2.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;
if (tabControl1.SelectedTab == tabHeli)
{
if (MainV2.comPort.param["HSV_MAN"] == null || MainV2.comPort.param["HSV_MAN"].ToString() == "0")
return;
if (HS3.minline == 0)
HS3.minline = 2200;
if (HS4.minline == 0)
HS4.minline = 2200;
HS3.minline = Math.Min(HS3.minline, (int)MainV2.cs.ch3in);
HS3.maxline = Math.Max(HS3.maxline, (int)MainV2.cs.ch3in);
HS4.minline = Math.Min(HS4.minline, (int)MainV2.cs.ch4in);
HS4.maxline = Math.Max(HS4.maxline, (int)MainV2.cs.ch4in);
if (!inpwmdetect)
{
HS3_Paint(null, null);
HS4_Paint(null, null);
}
else
{
try
{
HS3.minline = int.Parse(COL_MIN.Text);
HS3.maxline = int.Parse(COL_MAX.Text);
HS4.maxline = int.Parse(HS4_MIN.Text);
HS4.minline = int.Parse(HS4_MAX.Text);
}
catch { }
}
}
}
// 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_Calibrateradio_Click(object sender, EventArgs e)
{
if (run)
{
BUT_Calibrateradio.Text = "Please goto the next tab";
run = false;
return;
}
CustomMessageBox.Show("Ensure your transmitter is on and receiver is powered and connected\nEnsure your motor does not have power/no props!!!");
byte oldrc = MainV2.cs.raterc;
byte oldatt = MainV2.cs.rateattitude;
byte oldpos = MainV2.cs.rateposition;
byte oldstatus = MainV2.cs.ratestatus;
MainV2.cs.raterc = 10;
MainV2.cs.rateattitude = 0;
MainV2.cs.rateposition = 0;
MainV2.cs.ratestatus = 0;
try
{
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, 10);
}
catch { }
BUT_Calibrateradio.Text = "Click when Done";
run = true;
while (run)
{
Application.DoEvents();
System.Threading.Thread.Sleep(5);
MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true, MainV2.comPort);
if (MainV2.cs.ch1in > 800 && MainV2.cs.ch1in < 2200)
{
rcmin[0] = Math.Min(rcmin[0], MainV2.cs.ch1in);
rcmax[0] = Math.Max(rcmax[0], MainV2.cs.ch1in);
rcmin[1] = Math.Min(rcmin[1], MainV2.cs.ch2in);
rcmax[1] = Math.Max(rcmax[1], MainV2.cs.ch2in);
rcmin[2] = Math.Min(rcmin[2], MainV2.cs.ch3in);
rcmax[2] = Math.Max(rcmax[2], MainV2.cs.ch3in);
rcmin[3] = Math.Min(rcmin[3], MainV2.cs.ch4in);
rcmax[3] = Math.Max(rcmax[3], MainV2.cs.ch4in);
rcmin[4] = Math.Min(rcmin[4], MainV2.cs.ch5in);
rcmax[4] = Math.Max(rcmax[4], MainV2.cs.ch5in);
rcmin[5] = Math.Min(rcmin[5], MainV2.cs.ch6in);
rcmax[5] = Math.Max(rcmax[5], MainV2.cs.ch6in);
rcmin[6] = Math.Min(rcmin[6], MainV2.cs.ch7in);
rcmax[6] = Math.Max(rcmax[6], MainV2.cs.ch7in);
rcmin[7] = Math.Min(rcmin[7], MainV2.cs.ch8in);
rcmax[7] = Math.Max(rcmax[7], MainV2.cs.ch8in);
BARroll.minline = (int)rcmin[0];
BARroll.maxline = (int)rcmax[0];
BARpitch.minline = (int)rcmin[1];
BARpitch.maxline = (int)rcmax[1];
BARthrottle.minline = (int)rcmin[2];
BARthrottle.maxline = (int)rcmax[2];
BARyaw.minline = (int)rcmin[3];
BARyaw.maxline = (int)rcmax[3];
BAR5.minline = (int)rcmin[4];
BAR5.maxline = (int)rcmax[4];
BAR6.minline = (int)rcmin[5];
BAR6.maxline = (int)rcmax[5];
BAR7.minline = (int)rcmin[6];
BAR7.maxline = (int)rcmax[6];
BAR8.minline = (int)rcmin[7];
BAR8.maxline = (int)rcmax[7];
}
}
CustomMessageBox.Show("Ensure all your sticks are centered and throttle is down, and click ok to continue");
MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true, MainV2.comPort);
rctrim[0] = MainV2.cs.ch1in;
rctrim[1] = MainV2.cs.ch2in;
rctrim[2] = MainV2.cs.ch3in;
rctrim[3] = MainV2.cs.ch4in;
rctrim[4] = MainV2.cs.ch5in;
rctrim[5] = MainV2.cs.ch6in;
rctrim[6] = MainV2.cs.ch7in;
rctrim[7] = MainV2.cs.ch8in;
string data = "---------------\n";
for (int a = 0; a < 8; a++)
{
// we want these to save no matter what
BUT_Calibrateradio.Text = "Saving";
try
{
if (rcmin[a] != rcmax[a])
{
MainV2.comPort.setParam("RC" + (a + 1).ToString("0") + "_MIN", rcmin[a]);
MainV2.comPort.setParam("RC" + (a + 1).ToString("0") + "_MAX", rcmax[a]);
}
if (rctrim[a] < 1195 || rctrim[a] > 1205)
MainV2.comPort.setParam("RC" + (a + 1).ToString("0") + "_TRIM", rctrim[a]);
}
catch { CustomMessageBox.Show("Failed to set Channel " + (a + 1).ToString()); }
data = data + "CH" + (a + 1) + " " + rcmin[a] + " | " + rcmax[a] + "\n";
}
MainV2.cs.raterc = oldrc;
MainV2.cs.rateattitude = oldatt;
MainV2.cs.rateposition = oldpos;
MainV2.cs.ratestatus = oldstatus;
try
{
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, oldrc);
}
catch { }
if (Configuration != null)
{
Configuration.startup = true;
Configuration.processToScreen();
Configuration.startup = false;
}
CustomMessageBox.Show("Here are the detected radio options\nNOTE Channels not connected are displayed as 1500 +-2\nNormal values are around 1100 | 1900\nChannel:Min | Max \n" + data, "Radio");
BUT_Calibrateradio.Text = "Please goto the next tab";
}
private void tabControl1_SelectedIndexChanged(object sender, EventArgs e)
{
int monosux = 0;
monosux *= 5;
if (tabControl1.SelectedTab == tabRadioIn)
{
startup = true;
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
groupBoxElevons.Visible = false;
}
try
{
CHK_mixmode.Checked = MainV2.comPort.param["ELEVON_MIXING"].ToString() == "1";
CHK_elevonrev.Checked = MainV2.comPort.param["ELEVON_REVERSE"].ToString() == "1";
CHK_elevonch1rev.Checked = MainV2.comPort.param["ELEVON_CH1_REV"].ToString() == "1";
CHK_elevonch2rev.Checked = MainV2.comPort.param["ELEVON_CH2_REV"].ToString() == "1";
}
catch { } // this will fail on arducopter
try
{
CHK_revch1.Checked = MainV2.comPort.param["RC1_REV"].ToString() == "-1";
CHK_revch2.Checked = MainV2.comPort.param["RC2_REV"].ToString() == "-1";
CHK_revch3.Checked = MainV2.comPort.param["RC3_REV"].ToString() == "-1";
CHK_revch4.Checked = MainV2.comPort.param["RC4_REV"].ToString() == "-1";
}
catch (Exception ex) { CustomMessageBox.Show("Missing RC rev Param "+ex.ToString()); }
startup = false;
}
if (tabControl1.SelectedTab == tabModes)
{
if (MainV2.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;
CMB_fmode1.Items.Clear();
CMB_fmode2.Items.Clear();
CMB_fmode3.Items.Clear();
CMB_fmode4.Items.Clear();
CMB_fmode5.Items.Clear();
CMB_fmode6.Items.Clear();
CMB_fmode1.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
CMB_fmode2.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
CMB_fmode3.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
CMB_fmode4.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
CMB_fmode5.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
CMB_fmode6.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
try
{
CMB_fmode1.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE1"].ToString()).ToString();
CMB_fmode2.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE2"].ToString()).ToString();
CMB_fmode3.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE3"].ToString()).ToString();
CMB_fmode4.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE4"].ToString()).ToString();
CMB_fmode5.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE5"].ToString()).ToString();
CMB_fmode6.Text = Common.apmmodes.MANUAL.ToString();
CMB_fmode6.Enabled = false;
}
catch { }
}
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
{
CMB_fmode1.Items.Clear();
CMB_fmode2.Items.Clear();
CMB_fmode3.Items.Clear();
CMB_fmode4.Items.Clear();
CMB_fmode5.Items.Clear();
CMB_fmode6.Items.Clear();
CMB_fmode1.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
CMB_fmode2.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
CMB_fmode3.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
CMB_fmode4.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
CMB_fmode5.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
CMB_fmode6.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
try
{
CMB_fmode1.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE1"].ToString()).ToString();
CMB_fmode2.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE2"].ToString()).ToString();
CMB_fmode3.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE3"].ToString()).ToString();
CMB_fmode4.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE4"].ToString()).ToString();
CMB_fmode5.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE5"].ToString()).ToString();
CMB_fmode6.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE6"].ToString()).ToString();
CMB_fmode6.Enabled = true;
int simple = int.Parse(MainV2.comPort.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 { }
}
}
if (tabControl1.SelectedTab == tabHardware)
{
startup = true;
if (MainV2.comPort.param["ARSPD_ENABLE"] != null)
CHK_enableairspeed.Checked = MainV2.comPort.param["ARSPD_ENABLE"].ToString() == "1" ? true : false;
if (MainV2.comPort.param["SONAR_ENABLE"] != null)
CHK_enablesonar.Checked = MainV2.comPort.param["SONAR_ENABLE"].ToString() == "1" ? true : false;
if (MainV2.comPort.param["MAG_ENABLE"] != null)
CHK_enablecompass.Checked = MainV2.comPort.param["MAG_ENABLE"].ToString() == "1" ? true : false;
if (MainV2.comPort.param["COMPASS_DEC"] != null)
TXT_declination.Text = (float.Parse(MainV2.comPort.param["COMPASS_DEC"].ToString()) * rad2deg).ToString();
if (MainV2.comPort.param["SONAR_TYPE"] != null)
CMB_sonartype.SelectedIndex = int.Parse(MainV2.comPort.param["SONAR_TYPE"].ToString());
if (MainV2.comPort.param["FLOW_ENABLE"] != null)
CHK_enableoptflow.Checked = MainV2.comPort.param["FLOW_ENABLE"].ToString() == "1" ? true : false;
startup = false;
}
if (tabControl1.SelectedTab == tabBattery)
{
startup = true;
bool not_supported = false;
if (MainV2.comPort.param["BATT_MONITOR"] != null)
{
if (MainV2.comPort.param["BATT_MONITOR"].ToString() != "0.0")
{
CMB_batmontype.SelectedIndex = getIndex(CMB_batmontype,(int)float.Parse(MainV2.comPort.param["BATT_MONITOR"].ToString()));
}
// ignore language re . vs ,
if (TXT_ampspervolt.Text == (13.6612).ToString())
{
CMB_batmonsensortype.SelectedIndex = 1;
}
else if (TXT_ampspervolt.Text == (27.3224).ToString())
{
CMB_batmonsensortype.SelectedIndex = 2;
}
else if (TXT_ampspervolt.Text == (54.64481).ToString())
{
CMB_batmonsensortype.SelectedIndex = 3;
}
else
{
CMB_batmonsensortype.SelectedIndex = 0;
}
}
if (MainV2.comPort.param["BATT_CAPACITY"] != null)
TXT_battcapacity.Text = MainV2.comPort.param["BATT_CAPACITY"].ToString();
if (MainV2.comPort.param["INPUT_VOLTS"] != null)
TXT_inputvoltage.Text = MainV2.comPort.param["INPUT_VOLTS"].ToString();
else
not_supported = true;
TXT_voltage.Text = MainV2.cs.battery_voltage.ToString();
TXT_measuredvoltage.Text = TXT_voltage.Text;
if (MainV2.comPort.param["VOLT_DIVIDER"] != null)
TXT_divider.Text = MainV2.comPort.param["VOLT_DIVIDER"].ToString();
else
not_supported = true;
if (MainV2.comPort.param["AMP_PER_VOLT"] != null)
TXT_ampspervolt.Text = MainV2.comPort.param["AMP_PER_VOLT"].ToString();
else
not_supported = true;
if (not_supported)
{
TXT_inputvoltage.Enabled = false;
TXT_measuredvoltage.Enabled = false;
TXT_divider.Enabled = false;
TXT_ampspervolt.Enabled = false;
}
startup = false;
}
if (tabControl1.SelectedTab == tabArducopter)
{
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
tabArducopter.Enabled = false;
return;
}
}
if (tabControl1.SelectedTab == tabHeli)
{
if (MainV2.comPort.param["GYR_ENABLE"] == null)
{
tabHeli.Enabled = false;
return;
}
startup = true;
try
{
if (MainV2.comPort.param.ContainsKey("H1_ENABLE"))
{
CCPM.Checked = MainV2.comPort.param["H1_ENABLE"].ToString() == "0" ? true : false;
H1_ENABLE.Checked = !CCPM.Checked;
}
foreach (string value in MainV2.comPort.param.Keys)
{
if (value == "")
continue;
Control[] control = tabHeli.Controls.Find(value, true);
if (control.Length > 0)
{
if (control[0].GetType() == typeof(TextBox))
{
TextBox temp = (TextBox)control[0];
string option = MainV2.comPort.param[value].ToString();
temp.Text = option;
}
if (control[0].GetType() == typeof(NumericUpDown))
{
NumericUpDown temp = (NumericUpDown)control[0];
string option = MainV2.comPort.param[value].ToString();
temp.Text = option;
}
if (control[0].GetType() == typeof(CheckBox))
{
CheckBox temp = (CheckBox)control[0];
string option = MainV2.comPort.param[value].ToString();
temp.Checked = option == "1" ? true : false;
}
if (control[0].GetType() == typeof(MyTrackBar))
{
MyTrackBar temp = (MyTrackBar)control[0];
string option = MainV2.comPort.param[value].ToString();
temp.Value = int.Parse(option);
}
}
}
HS1_REV.Checked = MainV2.comPort.param["HS1_REV"].ToString() == "-1";
HS2_REV.Checked = MainV2.comPort.param["HS2_REV"].ToString() == "-1";
HS3_REV.Checked = MainV2.comPort.param["HS3_REV"].ToString() == "-1";
HS4_REV.Checked = MainV2.comPort.param["HS4_REV"].ToString() == "-1";
}
catch { }
startup = false;
}
}
int getIndex(ComboBox ctl, int no)
{
foreach (var item in ctl.Items)
{
int ans = int.Parse(item.ToString().Substring(0, 1));
if (ans == no)
return ctl.Items.IndexOf(item);
}
return -1;
}
private void BUT_SaveModes_Click(object sender, EventArgs e)
{
try
{
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) // APM
{
MainV2.comPort.setParam("FLTMODE1", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode1.Text));
MainV2.comPort.setParam("FLTMODE2", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode2.Text));
MainV2.comPort.setParam("FLTMODE3", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode3.Text));
MainV2.comPort.setParam("FLTMODE4", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode4.Text));
MainV2.comPort.setParam("FLTMODE5", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode5.Text));
MainV2.comPort.setParam("FLTMODE6", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode6.Text));
}
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
{
MainV2.comPort.setParam("FLTMODE1", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode1.Text));
MainV2.comPort.setParam("FLTMODE2", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode2.Text));
MainV2.comPort.setParam("FLTMODE3", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode3.Text));
MainV2.comPort.setParam("FLTMODE4", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode4.Text));
MainV2.comPort.setParam("FLTMODE5", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode5.Text));
MainV2.comPort.setParam("FLTMODE6", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode6.Text));
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.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,
}
private void TXT_declination_Validating(object sender, CancelEventArgs e)
{
float ans = 0;
e.Cancel = !float.TryParse(TXT_declination.Text, out ans);
}
private void TXT_declination_Validated(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["COMPASS_DEC"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
float dec = 0.0f;
try
{
string declination = TXT_declination.Text;
float.TryParse(declination, out dec);
float deg = (float)((int)dec);
float mins = (dec - deg);
if (dec > 0)
{
dec += ((mins) / 60.0f);
}
else
{
dec -= ((mins) / 60.0f);
}
}
catch { CustomMessageBox.Show("Invalid input!"); return; }
TXT_declination.Text = dec.ToString();
MainV2.comPort.setParam("COMPASS_DEC", dec * deg2rad);
}
}
catch { CustomMessageBox.Show("Set COMPASS_DEC Failed"); }
}
private void CHK_enablecompass_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["MAG_ENABLE"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("MAG_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
}
}
catch { CustomMessageBox.Show("Set MAG_ENABLE Failed"); }
}
//((CheckBox)sender).Checked = !((CheckBox)sender).Checked;
private void CHK_enablesonar_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["SONAR_ENABLE"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("SONAR_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
}
}
catch { CustomMessageBox.Show("Set SONAR_ENABLE Failed"); }
}
private void CHK_enableairspeed_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["ARSPD_ENABLE"] == null)
{
CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
}
else
{
MainV2.comPort.setParam("ARSPD_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
}
}
catch { CustomMessageBox.Show("Set ARSPD_ENABLE Failed"); }
}
private void CHK_enablebattmon_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (((CheckBox)sender).Checked == false)
{
CMB_batmontype.SelectedIndex = 0;
}
else
{
if (CMB_batmontype.SelectedIndex <= 0)
CMB_batmontype.SelectedIndex = 1;
}
}
catch { CustomMessageBox.Show("Set BATT_MONITOR Failed"); }
}
private void TXT_battcapacity_Validating(object sender, CancelEventArgs e)
{
float ans = 0;
e.Cancel = !float.TryParse(TXT_battcapacity.Text, out ans);
}
private void TXT_battcapacity_Validated(object sender, EventArgs e)
{
if (startup || ((TextBox)sender).Enabled == false)
return;
try
{
if (MainV2.comPort.param["BATT_CAPACITY"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("BATT_CAPACITY", float.Parse(TXT_battcapacity.Text));
}
}
catch { CustomMessageBox.Show("Set BATT_CAPACITY Failed"); }
}
private void CMB_batmontype_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["BATT_MONITOR"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
int selection = int.Parse(CMB_batmontype.Text.Substring(0,1));
CMB_batmonsensortype.Enabled = true;
TXT_voltage.Enabled = false;
if (selection == 0)
{
CMB_batmonsensortype.Enabled = false;
groupBox4.Enabled = false;
}
else if (selection == 4)
{
CMB_batmonsensortype.Enabled = true;
groupBox4.Enabled = true;
TXT_ampspervolt.Enabled = true;
}
else if (selection == 3)
{
groupBox4.Enabled = true;
CMB_batmonsensortype.Enabled = false;
TXT_ampspervolt.Enabled = false;
TXT_inputvoltage.Enabled = true;
TXT_measuredvoltage.Enabled = true;
TXT_divider.Enabled = true;
}
MainV2.comPort.setParam("BATT_MONITOR", selection);
}
}
catch { CustomMessageBox.Show("Set BATT_MONITOR Failed"); }
}
private void TXT_inputvoltage_Validating(object sender, CancelEventArgs e)
{
float ans = 0;
e.Cancel = !float.TryParse(TXT_inputvoltage.Text, out ans);
}
private void TXT_inputvoltage_Validated(object sender, EventArgs e)
{
if (startup || ((TextBox)sender).Enabled == false)
return;
try
{
if (MainV2.comPort.param["INPUT_VOLTS"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("INPUT_VOLTS", float.Parse(TXT_inputvoltage.Text));
}
}
catch { CustomMessageBox.Show("Set INPUT_VOLTS Failed"); }
}
private void TXT_measuredvoltage_Validating(object sender, CancelEventArgs e)
{
float ans = 0;
e.Cancel = !float.TryParse(TXT_measuredvoltage.Text, out ans);
}
private void TXT_measuredvoltage_Validated(object sender, EventArgs e)
{
if (startup || ((TextBox)sender).Enabled == false)
return;
try
{
float measuredvoltage = float.Parse(TXT_measuredvoltage.Text);
float voltage = float.Parse(TXT_voltage.Text);
float divider = float.Parse(TXT_divider.Text);
if (voltage == 0)
return;
float new_divider = (measuredvoltage * divider) / voltage;
TXT_divider.Text = new_divider.ToString();
}
catch { CustomMessageBox.Show("Invalid number entered"); return; }
try
{
if (MainV2.comPort.param["VOLT_DIVIDER"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("VOLT_DIVIDER", float.Parse(TXT_divider.Text));
}
}
catch { CustomMessageBox.Show("Set VOLT_DIVIDER Failed"); }
}
private void TXT_divider_Validating(object sender, CancelEventArgs e)
{
float ans = 0;
e.Cancel = !float.TryParse(TXT_divider.Text, out ans);
}
private void TXT_divider_Validated(object sender, EventArgs e)
{
if (startup || ((TextBox)sender).Enabled == false)
return;
try
{
if (MainV2.comPort.param["VOLT_DIVIDER"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("VOLT_DIVIDER", float.Parse(TXT_divider.Text));
}
}
catch { CustomMessageBox.Show("Set VOLT_DIVIDER Failed"); }
}
private void TXT_ampspervolt_Validating(object sender, CancelEventArgs e)
{
float ans = 0;
e.Cancel = !float.TryParse(TXT_ampspervolt.Text, out ans);
}
private void TXT_ampspervolt_Validated(object sender, EventArgs e)
{
if (startup || ((TextBox)sender).Enabled == false)
return;
try
{
if (MainV2.comPort.param["AMP_PER_VOLT"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("AMP_PER_VOLT", float.Parse(TXT_ampspervolt.Text));
}
}
catch { CustomMessageBox.Show("Set AMP_PER_VOLT Failed"); }
}
private void BUT_reset_Click(object sender, EventArgs e)
{
try
{
MainV2.comPort.setParam("SYSID_SW_MREV", UInt16.MaxValue);
}
catch { CustomMessageBox.Show("Set SYSID_SW_MREV Failed"); return; }
MainV2.giveComport = true;
ICommsSerial comPortT = MainV2.comPort.BaseStream;
comPortT.DtrEnable = false;
if (comPortT.IsOpen)
comPortT.Close();
System.Threading.Thread.Sleep(200);
try
{
comPortT.DtrEnable = true;
comPortT.Open();
}
catch (Exception ex) { MainV2.giveComport = false; CustomMessageBox.Show("Invalid Comport Settings : " + ex.Message); return; }
BUT_reset.Text = "Rebooting (17 sec)";
BUT_reset.Refresh();
Application.DoEvents();
Sleep(17000, comPortT); // wait for boot/reset
comPortT.DtrEnable = false;
Sleep(200, comPortT);
comPortT.DtrEnable = true;
Sleep(200, comPortT);
comPortT.DtrEnable = false;
comPortT.Close();
MainV2.giveComport = false;
try
{
MainV2.comPort.Open(true);
}
catch
{
CustomMessageBox.Show("Failed to re-connect : Please try again");
this.Close();
}
BUT_reset.Text = "Please goto next tab";
}
void Sleep(int ms, ICommsSerial comPortT)
{
DateTime start = DateTime.Now;
Console.WriteLine("sleep in");
while (start.AddMilliseconds(ms) > DateTime.Now)
{
while (comPortT.BytesToRead > 0)
{
Console.Write((char)comPortT.ReadByte());
}
System.Threading.Thread.Sleep(1);
}
Console.WriteLine("sleep out");
}
private void pictureBoxQuad_Click(object sender, EventArgs e)
{
try
{
MainV2.comPort.setParam("FRAME", 0f);
CustomMessageBox.Show("Set to +");
}
catch { CustomMessageBox.Show("Set frame failed"); }
}
private void pictureBoxQuadX_Click(object sender, EventArgs e)
{
try
{
MainV2.comPort.setParam("FRAME", 1f);
CustomMessageBox.Show("Set to x");
}
catch { CustomMessageBox.Show("Set frame failed"); }
}
private void Setup_Load(object sender, EventArgs e)
{
if (!MainV2.comPort.BaseStream.IsOpen)
{
CustomMessageBox.Show("Please Connect First");
this.Close();
}
else
{
tabControl1_SelectedIndexChanged(null, new EventArgs());
}
}
private void TXT_srvpos1_Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
Gservoloc.Value0 = test;
try
{
MainV2.comPort.setParam("HSV_MAN", 1); // randy request
MainV2.comPort.setParam(((TextBox)sender).Name, test);
System.Threading.Thread.Sleep(100);
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
}
catch { CustomMessageBox.Show("Set " + ((TextBox)sender).Name + " failed"); }
}
private void TXT_srvpos2_Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
Gservoloc.Value1 = test;
try
{
MainV2.comPort.setParam("HSV_MAN", 1); // randy request
MainV2.comPort.setParam(((TextBox)sender).Name, test);
System.Threading.Thread.Sleep(100);
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
}
catch { CustomMessageBox.Show("Set " + ((TextBox)sender).Name + " failed"); }
}
private void TXT_srvpos3_Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
Gservoloc.Value2 = test;
try
{
MainV2.comPort.setParam("HSV_MAN", 1); // randy request
MainV2.comPort.setParam(((TextBox)sender).Name, test);
System.Threading.Thread.Sleep(100);
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
}
catch { CustomMessageBox.Show("Set " + ((TextBox)sender).Name + " failed"); }
}
private void BUT_0collective_Click(object sender, EventArgs e)
{
CustomMessageBox.Show("Make sure your blades are at 0 degrees");
try
{
MainV2.comPort.setParam("COL_MID", MainV2.cs.ch3in);
COL_MID.Text = MainV2.comPort.param["COL_MID"].ToString();
}
catch { CustomMessageBox.Show("Set COL_MID_ failed"); }
}
private void HS1_REV_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == false ? 1.0f : -1.0f);
}
private void HS2_REV_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == false ? 1.0f : -1.0f);
}
private void HS3_REV_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == false ? 1.0f : -1.0f);
}
private void HS4_REV_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == false ? 1.0f : -1.0f);
HS4.reverse = !HS4.reverse;
}
private void HS1_TRIM_ValueChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((NumericUpDown)sender).Name, (float)((NumericUpDown)sender).Value);
}
private void HS2_TRIM_ValueChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((NumericUpDown)sender).Name, (float)((NumericUpDown)sender).Value);
}
private void HS3_TRIM_ValueChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((NumericUpDown)sender).Name, (float)((NumericUpDown)sender).Value);
}
private void HS4_TRIM_ValueChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((NumericUpDown)sender).Name, (float)((NumericUpDown)sender).Value);
}
private void ROL_MAX__Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
MainV2.comPort.setParam(((TextBox)sender).Name, test);
}
private void PIT_MAX__Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
MainV2.comPort.setParam(((TextBox)sender).Name, test);
}
private void GYR_GAIN__Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing || ((TextBox)sender).Enabled == false)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
try
{
MainV2.comPort.setParam(((TextBox)sender).Name, test);
}
catch { CustomMessageBox.Show("Failed to set Gyro Gain"); }
}
private void GYR_ENABLE__CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == true ? 1.0f : 0.0f);
}
private void BUT_levelac2_Click(object sender, EventArgs e)
{
try
{
#if MAVLINK10
int fixme; // needs to be accel only
MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION,1,1,1,1,1,1,1);
#else
MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_CALIBRATE_ACC);
#endif
BUT_levelac2.Text = "Complete";
}
catch
{
CustomMessageBox.Show("Failed to level : ac2 2.0.37+ is required");
}
}
private void linkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
{
try
{
//System.Diagnostics.Process.Start("http://www.ngdc.noaa.gov/geomagmodels/Declination.jsp");
System.Diagnostics.Process.Start("http://www.magnetic-declination.com/");
}
catch { CustomMessageBox.Show("Webpage open failed... do you have a virus?\nhttp://www.magnetic-declination.com/"); }
}
void reverseChannel(string name, bool normalreverse, Control progressbar)
{
if (normalreverse == true)
{
((HorizontalProgressBar2)progressbar).reverse = true;
((HorizontalProgressBar2)progressbar).BackgroundColor = Color.FromArgb(148, 193, 31);
((HorizontalProgressBar2)progressbar).ValueColor = Color.FromArgb(0x43, 0x44, 0x45);
}
else
{
((HorizontalProgressBar2)progressbar).reverse = false;
((HorizontalProgressBar2)progressbar).BackgroundColor = Color.FromArgb(0x43, 0x44, 0x45);
((HorizontalProgressBar2)progressbar).ValueColor = Color.FromArgb(148, 193, 31);
}
if (startup)
return;
if (MainV2.comPort.param["SWITCH_ENABLE"] != null && (float)MainV2.comPort.param["SWITCH_ENABLE"] == 1)
{
try
{
MainV2.comPort.setParam("SWITCH_ENABLE", 0);
CustomMessageBox.Show("Disabled Dip Switchs");
}
catch { CustomMessageBox.Show("Error Disableing Dip Switch"); }
}
try
{
int i = normalreverse == false ? 1 : -1;
MainV2.comPort.setParam(name, i);
}
catch { CustomMessageBox.Show("Error Reversing"); }
}
private void CHK_revch1_CheckedChanged(object sender, EventArgs e)
{
reverseChannel("RC1_REV", ((CheckBox)sender).Checked, BARroll);
}
private void CHK_revch2_CheckedChanged(object sender, EventArgs e)
{
reverseChannel("RC2_REV", ((CheckBox)sender).Checked, BARpitch);
}
private void CHK_revch3_CheckedChanged(object sender, EventArgs e)
{
reverseChannel("RC3_REV", ((CheckBox)sender).Checked, BARthrottle);
}
private void CHK_revch4_CheckedChanged(object sender, EventArgs e)
{
reverseChannel("RC4_REV", ((CheckBox)sender).Checked, BARyaw);
}
private void BUT_swash_manual_Click(object sender, EventArgs e)
{
try
{
if (MainV2.comPort.param["HSV_MAN"].ToString() == "1")
{
MainV2.comPort.setParam("COL_MIN", int.Parse(COL_MIN.Text));
MainV2.comPort.setParam("COL_MAX", int.Parse(COL_MAX.Text));
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
BUT_swash_manual.Text = "Manual";
COL_MAX.Enabled = false;
COL_MID.Enabled = false;
COL_MIN.Enabled = false;
BUT_0collective.Enabled = false;
}
else
{
COL_MAX.Text = "1500";
COL_MIN.Text = "1500";
MainV2.comPort.setParam("HSV_MAN", 1); // randy request
BUT_swash_manual.Text = "Save";
COL_MAX.Enabled = true;
COL_MID.Enabled = true;
COL_MIN.Enabled = true;
BUT_0collective.Enabled = true;
}
}
catch { CustomMessageBox.Show("Failed to set HSV_MAN"); }
}
private void BUT_HS4save_Click(object sender, EventArgs e)
{
try
{
if (MainV2.comPort.param["HSV_MAN"].ToString() == "1")
{
MainV2.comPort.setParam("HS4_MIN", int.Parse(HS4_MIN.Text));
MainV2.comPort.setParam("HS4_MAX", int.Parse(HS4_MAX.Text));
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
BUT_HS4save.Text = "Manual";
HS4_MAX.Enabled = false;
HS4_MIN.Enabled = false;
}
else
{
HS4_MIN.Text = "1500";
HS4_MAX.Text = "1500";
MainV2.comPort.setParam("HSV_MAN", 1); // randy request
BUT_HS4save.Text = "Save";
HS4_MAX.Enabled = true;
HS4_MIN.Enabled = true;
}
}
catch { CustomMessageBox.Show("Failed to set HSV_MAN"); }
}
private void tabHeli_Click(object sender, EventArgs e)
{
}
private void HS4_Paint(object sender, PaintEventArgs e)
{
try
{
if (int.Parse(HS4_MIN.Text) > HS4.minline)
HS4_MIN.Text = HS4.minline.ToString();
if (int.Parse(HS4_MAX.Text) < HS4.maxline)
HS4_MAX.Text = HS4.maxline.ToString();
}
catch { }
}
private void HS3_Paint(object sender, PaintEventArgs e)
{
try
{
if (int.Parse(COL_MIN.Text) > HS3.minline)
COL_MIN.Text = HS3.minline.ToString();
if (int.Parse(COL_MAX.Text) < HS3.maxline)
COL_MAX.Text = HS3.maxline.ToString();
}
catch { }
}
private void COL_MAX__Enter(object sender, EventArgs e)
{
inpwmdetect = true;
}
private void COL_MIN__Enter(object sender, EventArgs e)
{
inpwmdetect = true;
}
private void COL_MAX__Leave(object sender, EventArgs e)
{
inpwmdetect = false;
}
private void COL_MIN__Leave(object sender, EventArgs e)
{
inpwmdetect = false;
}
private void HS4_MIN_Enter(object sender, EventArgs e)
{
inpwmdetect = true;
}
private void HS4_MIN_Leave(object sender, EventArgs e)
{
inpwmdetect = false;
}
private void HS4_MAX_Enter(object sender, EventArgs e)
{
inpwmdetect = true;
}
private void HS4_MAX_Leave(object sender, EventArgs e)
{
inpwmdetect = false;
}
private void PWM_Validating(object sender, CancelEventArgs e)
{
Control temp = (Control)(sender);
if (int.Parse(temp.Text) < 900)
temp.Text = "900";
if (int.Parse(temp.Text) > 2100)
temp.Text = "2100";
}
private void Setup_FormClosing(object sender, FormClosingEventArgs e)
{
timer.Stop();
timer.Dispose();
tabControl1.SelectedIndex = 0;
// mono runs validation on all controls on exit. try and skip it
startup = true;
}
private void CHK_enableoptflow_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["FLOW_ENABLE"] == null)
{
CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
}
else
{
MainV2.comPort.setParam("FLOW_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
}
}
catch { CustomMessageBox.Show("Set FLOW_ENABLE Failed"); }
}
private void CMB_sonartype_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["SONAR_TYPE"] == null)
{
CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
}
else
{
MainV2.comPort.setParam("SONAR_TYPE", ((ComboBox)sender).SelectedIndex);
}
}
catch { CustomMessageBox.Show("Set SONAR_TYPE Failed"); }
}
private void CHK_mixmode_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["ELEVON_MIXING"] == null)
{
CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
}
else
{
MainV2.comPort.setParam("ELEVON_MIXING", ((CheckBox)sender).Checked == true ? 1 : 0);
}
}
catch { CustomMessageBox.Show("Set ELEVON_MIXING Failed"); }
}
private void CHK_elevonrev_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["ELEVON_REVERSE"] == null)
{
CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
}
else
{
MainV2.comPort.setParam("ELEVON_REVERSE", ((CheckBox)sender).Checked == true ? 1 : 0);
}
}
catch { CustomMessageBox.Show("Set ELEVON_REVERSE Failed"); }
}
private void CHK_elevonch1rev_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["ELEVON_CH1_REV"] == null)
{
CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
}
else
{
MainV2.comPort.setParam("ELEVON_CH1_REV", ((CheckBox)sender).Checked == true ? 1 : 0);
}
}
catch { CustomMessageBox.Show("Set ELEVON_CH1_REV Failed"); }
}
private void CHK_elevonch2rev_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["ELEVON_CH2_REV"] == null)
{
CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
}
else
{
MainV2.comPort.setParam("ELEVON_CH2_REV", ((CheckBox)sender).Checked == true ? 1 : 0);
}
}
catch { CustomMessageBox.Show("Set ELEVON_CH2_REV Failed"); }
}
private void CMB_batmonsensortype_SelectedIndexChanged(object sender, EventArgs e)
{
int selection = int.Parse(CMB_batmonsensortype.Text.Substring(0,1));
if (selection == 1) // atto 45
{
float maxvolt = 13.6f;
float maxamps = 44.7f;
float mvpervolt = 242.3f;
float mvperamp = 73.20f;
// ~ 3.295v
float topvolt = (maxvolt * mvpervolt) / 1000;
// ~ 3.294v
float topamps = (maxamps * mvperamp) / 1000;
TXT_divider.Text = (maxvolt / topvolt).ToString();
TXT_ampspervolt.Text = (maxamps / topamps).ToString();
}
else if (selection == 2) // atto 90
{
float maxvolt = 50f;
float maxamps = 89.4f;
float mvpervolt = 63.69f;
float mvperamp = 36.60f;
float topvolt = (maxvolt * mvpervolt) / 1000;
float topamps = (maxamps * mvperamp) / 1000;
TXT_divider.Text = (maxvolt / topvolt).ToString();
TXT_ampspervolt.Text = (maxamps / topamps).ToString();
}
else if (selection == 3) // atto 180
{
float maxvolt = 50f;
float maxamps = 178.8f;
float mvpervolt = 63.69f;
float mvperamp = 18.30f;
float topvolt = (maxvolt * mvpervolt) / 1000;
float topamps = (maxamps * mvperamp) / 1000;
TXT_divider.Text = (maxvolt / topvolt).ToString();
TXT_ampspervolt.Text = (maxamps / topamps).ToString();
}
// enable to update
TXT_divider.Enabled = true;
TXT_ampspervolt.Enabled = true;
TXT_measuredvoltage.Enabled = true;
TXT_inputvoltage.Enabled = true;
// update
TXT_ampspervolt_Validated(TXT_ampspervolt, null);
TXT_divider_Validated(TXT_divider, null);
// disable
TXT_divider.Enabled = false;
TXT_ampspervolt.Enabled = false;
TXT_measuredvoltage.Enabled = false;
//reenable if needed
if (selection == 0)
{
TXT_divider.Enabled = true;
TXT_ampspervolt.Enabled = true;
TXT_measuredvoltage.Enabled = true;
TXT_inputvoltage.Enabled = true;
}
}
private void H1_ENABLE_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["H1_ENABLE"] == null)
{
CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
}
else
{
MainV2.comPort.setParam("H1_ENABLE", ((RadioButton)sender).Checked == true ? 1 : 0);
}
}
catch { CustomMessageBox.Show("Set H1_ENABLE Failed"); }
}
private void BUT_MagCalibration_Click(object sender, EventArgs e)
{
if (DialogResult.Yes == CustomMessageBox.Show("Use live data, or a log\n\nYes for Live data", "Mag Calibration", MessageBoxButtons.YesNo))
{
List<Tuple<float, float, float>> data = new List<Tuple<float, float, float>>();
byte backupratesens = MainV2.cs.ratesensors;
MainV2.cs.ratesensors = 10;
MainV2.comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS, MainV2.cs.ratesensors); // mag captures at 10 hz
CustomMessageBox.Show("Data will be collected for 30 seconds, Please click ok and move the apm around all axises");
DateTime deadline = DateTime.Now.AddSeconds(30);
float oldmx = 0;
float oldmy = 0;
float oldmz = 0;
while (deadline > DateTime.Now)
{
Application.DoEvents();
if (oldmx != MainV2.cs.mx &&
oldmy != MainV2.cs.my &&
oldmz != MainV2.cs.mz)
{
data.Add(new Tuple<float, float, float>(
MainV2.cs.mx - (float)MainV2.cs.mag_ofs_x,
MainV2.cs.my - (float)MainV2.cs.mag_ofs_y,
MainV2.cs.mz - (float)MainV2.cs.mag_ofs_z));
oldmx = MainV2.cs.mx;
oldmy = MainV2.cs.my;
oldmz = MainV2.cs.mz;
}
}
MainV2.cs.ratesensors = backupratesens;
if (data.Count < 10)
{
CustomMessageBox.Show("Log does not contain enough data");
return;
}
double[] ans = MagCalib.LeastSq(data);
MagCalib.SaveOffsets(ans);
}
else
{
MagCalib.ProcessLog();
}
}
}
}
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