mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-07 08:28:30 -04:00
39640e8d94
prep for ac2 2.0.43 - simple mode modify some scaling in Config add hud speed warning. add link quality and time to HUD fix ac2 logs, relative alt. prep for mavlink 1.0 add time to tlog > plain text conversion
965 lines
36 KiB
C#
965 lines
36 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.Data;
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using System.Drawing;
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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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namespace ArdupilotMega.Setup
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{
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public partial class Setup : Form
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{
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internal GCSViews.Configuration Configuration;
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bool run = false;
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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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float[] rcmin = new float[8];
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float[] rcmax = new float[8];
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float[] rctrim = new float[8];
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Timer timer = new Timer();
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public Setup()
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{
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InitializeComponent();
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for (int a = 0; a < rcmin.Length; a++)
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{
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rcmin[a] = 3000;
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rcmax[a] = 0;
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rctrim[a] = 1500;
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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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}
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void timer_Tick(object sender, EventArgs e)
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{
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MainV2.cs.UpdateCurrentSettings(currentStateBindingSource);
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float pwm = 0;
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) // APM
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{
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pwm = MainV2.cs.ch8in;
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LBL_flightmodepwm.Text = "8: " + MainV2.cs.ch8in.ToString();
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}
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
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{
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pwm = MainV2.cs.ch5in;
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LBL_flightmodepwm.Text = "5: " + MainV2.cs.ch5in.ToString();
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}
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Control[] fmodelist = new Control[] { CMB_fmode1, CMB_fmode2, CMB_fmode3, CMB_fmode4, CMB_fmode5, CMB_fmode6 };
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foreach (Control ctl in fmodelist)
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{
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ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
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}
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byte no = readSwitch(pwm);
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fmodelist[no].BackColor = Color.Green;
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if (tabControl1.SelectedTab == tabHeli)
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{
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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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}
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}
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// from arducopter code
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byte readSwitch(float inpwm)
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{
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int pulsewidth = (int)inpwm; // default for Arducopter
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if (pulsewidth > 1230 && pulsewidth <= 1360) return 1;
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if (pulsewidth > 1360 && pulsewidth <= 1490) return 2;
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if (pulsewidth > 1490 && pulsewidth <= 1620) return 3;
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if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual
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if (pulsewidth >= 1750) return 5; // Hardware Manual
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return 0;
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}
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private void BUT_Calibrateradio_Click(object sender, EventArgs e)
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{
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if (run)
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{
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BUT_Calibrateradio.Text = "Please goto the next tab";
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run = false;
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return;
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}
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MessageBox.Show("Ensure your transmitter is on and receiver is powered and connected\nEnsure your motor does not have power/no props!!!");
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byte oldrc = MainV2.cs.raterc;
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byte oldatt = MainV2.cs.rateattitude;
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byte oldpos = MainV2.cs.rateposition;
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byte oldstatus = MainV2.cs.ratestatus;
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MainV2.cs.raterc = 10;
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MainV2.cs.rateattitude = 0;
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MainV2.cs.rateposition = 0;
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MainV2.cs.ratestatus = 0;
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MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, 10);
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BUT_Calibrateradio.Text = "Click when Done";
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run = true;
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while (run)
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{
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Application.DoEvents();
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System.Threading.Thread.Sleep(5);
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MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true);
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if (MainV2.cs.ch1in > 800 && MainV2.cs.ch1in < 2200)
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{
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rcmin[0] = Math.Min(rcmin[0], MainV2.cs.ch1in);
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rcmax[0] = Math.Max(rcmax[0], MainV2.cs.ch1in);
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rcmin[1] = Math.Min(rcmin[1], MainV2.cs.ch2in);
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rcmax[1] = Math.Max(rcmax[1], MainV2.cs.ch2in);
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rcmin[2] = Math.Min(rcmin[2], MainV2.cs.ch3in);
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rcmax[2] = Math.Max(rcmax[2], MainV2.cs.ch3in);
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rcmin[3] = Math.Min(rcmin[3], MainV2.cs.ch4in);
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rcmax[3] = Math.Max(rcmax[3], MainV2.cs.ch4in);
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rcmin[4] = Math.Min(rcmin[4], MainV2.cs.ch5in);
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rcmax[4] = Math.Max(rcmax[4], MainV2.cs.ch5in);
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rcmin[5] = Math.Min(rcmin[5], MainV2.cs.ch6in);
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rcmax[5] = Math.Max(rcmax[5], MainV2.cs.ch6in);
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rcmin[6] = Math.Min(rcmin[6], MainV2.cs.ch7in);
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rcmax[6] = Math.Max(rcmax[6], MainV2.cs.ch7in);
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rcmin[7] = Math.Min(rcmin[7], MainV2.cs.ch8in);
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rcmax[7] = Math.Max(rcmax[7], MainV2.cs.ch8in);
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BARroll.minline = (int)rcmin[0];
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BARroll.maxline = (int)rcmax[0];
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BARpitch.minline = (int)rcmin[1];
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BARpitch.maxline = (int)rcmax[1];
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BARthrottle.minline = (int)rcmin[2];
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BARthrottle.maxline = (int)rcmax[2];
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BARyaw.minline = (int)rcmin[3];
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BARyaw.maxline = (int)rcmax[3];
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BAR5.minline = (int)rcmin[4];
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BAR5.maxline = (int)rcmax[4];
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BAR6.minline = (int)rcmin[5];
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BAR6.maxline = (int)rcmax[5];
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BAR7.minline = (int)rcmin[6];
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BAR7.maxline = (int)rcmax[6];
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BAR8.minline = (int)rcmin[7];
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BAR8.maxline = (int)rcmax[7];
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}
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}
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MessageBox.Show("Ensure all your sticks are centered, and click ok to continue");
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MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true);
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rctrim[0] = MainV2.cs.ch1in;
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rctrim[1] = MainV2.cs.ch2in;
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rctrim[2] = MainV2.cs.ch3in;
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rctrim[3] = MainV2.cs.ch4in;
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rctrim[4] = MainV2.cs.ch5in;
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rctrim[5] = MainV2.cs.ch6in;
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rctrim[6] = MainV2.cs.ch7in;
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rctrim[7] = MainV2.cs.ch8in;
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string data = "---------------\n";
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for (int a = 0; a < 8; a++)
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{
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// we want these to save no matter what
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BUT_Calibrateradio.Text = "Saving";
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try
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{
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if (rcmin[a] != rcmax[a])
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{
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MainV2.comPort.setParam("RC" + (a + 1).ToString("0") + "_MIN", rcmin[a]);
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MainV2.comPort.setParam("RC" + (a + 1).ToString("0") + "_MAX", rcmax[a]);
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}
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if (rctrim[a] < 1195 && rctrim[a] > 1205)
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MainV2.comPort.setParam("RC" + (a + 1).ToString("0") + "_TRIM", rctrim[a]);
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}
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catch { MessageBox.Show("Failed to set Channel " + (a + 1).ToString()); }
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data = data +"CH" + (a+1) + " " + rcmin[a] + " | " + rcmax[a] + "\n";
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}
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MainV2.cs.raterc = oldrc;
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MainV2.cs.rateattitude = oldatt;
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MainV2.cs.rateposition = oldpos;
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MainV2.cs.ratestatus = oldstatus;
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MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, oldrc);
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if (Configuration != null)
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{
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Configuration.startup = true;
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Configuration.processToScreen();
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Configuration.startup = false;
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}
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MessageBox.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");
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BUT_Calibrateradio.Text = "Please goto the next tab";
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}
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private void tabControl1_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (tabControl1.SelectedTab == tabModes)
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{
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) // APM
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{
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CB_simple1.Visible = false;
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CB_simple2.Visible = false;
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CB_simple3.Visible = false;
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CB_simple4.Visible = false;
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CB_simple5.Visible = false;
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CB_simple6.Visible = false;
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CMB_fmode1.Items.Clear();
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CMB_fmode2.Items.Clear();
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CMB_fmode3.Items.Clear();
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CMB_fmode4.Items.Clear();
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CMB_fmode5.Items.Clear();
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CMB_fmode6.Items.Clear();
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CMB_fmode1.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
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CMB_fmode2.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
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CMB_fmode3.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
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CMB_fmode4.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
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CMB_fmode5.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
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CMB_fmode6.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
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try
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{
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CMB_fmode1.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE1"].ToString()).ToString();
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CMB_fmode2.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE2"].ToString()).ToString();
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CMB_fmode3.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE3"].ToString()).ToString();
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CMB_fmode4.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE4"].ToString()).ToString();
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CMB_fmode5.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE5"].ToString()).ToString();
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CMB_fmode6.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE6"].ToString()).ToString();
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}
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catch { }
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}
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
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{
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CMB_fmode1.Items.Clear();
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CMB_fmode2.Items.Clear();
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CMB_fmode3.Items.Clear();
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CMB_fmode4.Items.Clear();
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CMB_fmode5.Items.Clear();
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CMB_fmode6.Items.Clear();
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CMB_fmode1.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
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CMB_fmode2.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
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CMB_fmode3.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
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CMB_fmode4.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
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CMB_fmode5.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
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CMB_fmode6.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
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try
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{
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CMB_fmode1.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE1"].ToString()).ToString();
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CMB_fmode2.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE2"].ToString()).ToString();
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CMB_fmode3.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE3"].ToString()).ToString();
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CMB_fmode4.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE4"].ToString()).ToString();
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CMB_fmode5.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE5"].ToString()).ToString();
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CMB_fmode6.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE6"].ToString()).ToString();
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}
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catch { }
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}
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}
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if (tabControl1.SelectedTab == tabHardware)
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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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CHK_enableairspeed.Checked = MainV2.comPort.param["ARSPD_ENABLE"].ToString() == "1" ? true : false;
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if (MainV2.comPort.param["SONAR_ENABLE"] != null)
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CHK_enablesonar.Checked = MainV2.comPort.param["SONAR_ENABLE"].ToString() == "1" ? true : false;
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if (MainV2.comPort.param["MAG_ENABLE"] != null)
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CHK_enablecompass.Checked = MainV2.comPort.param["MAG_ENABLE"].ToString() == "1" ? true : false;
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if (MainV2.comPort.param["BATT_MONITOR"] != null)
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{
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if (MainV2.comPort.param["BATT_MONITOR"].ToString() != "0")
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{
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CHK_enablebattmon.Checked = true;
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CMB_batmontype.SelectedIndex = (int)float.Parse(MainV2.comPort.param["BATT_MONITOR"].ToString());
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}
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}
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if (MainV2.comPort.param["COMPASS_DEC"] != null)
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TXT_declination.Text = (float.Parse(MainV2.comPort.param["COMPASS_DEC"].ToString()) * rad2deg).ToString();
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if (MainV2.comPort.param["BATT_CAPACITY"] != null)
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TXT_battcapacity.Text = MainV2.comPort.param["BATT_CAPACITY"].ToString();
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startup = false;
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}
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if (tabControl1.SelectedTab == tabArducopter)
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{
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
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{
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tabArducopter.Enabled = false;
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return;
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}
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}
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if (tabControl1.SelectedTab == tabHeli)
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{
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if (MainV2.comPort.param["GYR_ENABLE_"] == null)
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{
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tabHeli.Enabled = false;
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return;
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}
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startup = true;
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try
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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 = tabHeli.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(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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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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}
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catch { }
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startup = false;
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}
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}
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private void BUT_SaveModes_Click(object sender, EventArgs e)
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{
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try
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{
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) // APM
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{
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MainV2.comPort.setParam("FLTMODE1", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode1.Text));
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MainV2.comPort.setParam("FLTMODE2", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode2.Text));
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MainV2.comPort.setParam("FLTMODE3", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode3.Text));
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MainV2.comPort.setParam("FLTMODE4", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode4.Text));
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MainV2.comPort.setParam("FLTMODE5", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode5.Text));
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MainV2.comPort.setParam("FLTMODE6", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode6.Text));
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}
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
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{
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MainV2.comPort.setParam("FLTMODE1", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode1.Text));
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MainV2.comPort.setParam("FLTMODE2", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode2.Text));
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MainV2.comPort.setParam("FLTMODE3", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode3.Text));
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MainV2.comPort.setParam("FLTMODE4", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode4.Text));
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MainV2.comPort.setParam("FLTMODE5", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode5.Text));
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MainV2.comPort.setParam("FLTMODE6", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode6.Text));
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float value = (float)(CB_simple1.Checked ? 1 : 0) + (CB_simple2.Checked ? 1 << 1 : 0) + (CB_simple3.Checked ? 1 <<2 : 0)
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+ (CB_simple4.Checked ? 1 << 3 : 0) + (CB_simple5.Checked ? 1 << 4 : 0) + (CB_simple6.Checked ? 1 << 5 : 0);
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MainV2.comPort.setParam("SIMPLE", value);
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}
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}
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catch { MessageBox.Show("Failed to set Flight modes"); }
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|
}
|
|
private void TXT_declination_Validating(object sender, CancelEventArgs e)
|
|
{
|
|
float ans = 0;
|
|
e.Cancel = !float.TryParse(TXT_declination.Text, out ans);
|
|
}
|
|
|
|
private void TXT_battcapacity_Validating(object sender, CancelEventArgs e)
|
|
{
|
|
float ans = 0;
|
|
e.Cancel = !float.TryParse(TXT_declination.Text, out ans);
|
|
}
|
|
|
|
private void CMB_batmontype_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
try
|
|
{
|
|
if (MainV2.comPort.param["BATT_MONITOR"] == null)
|
|
{
|
|
MessageBox.Show("Not Available");
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("BATT_MONITOR", CMB_batmontype.SelectedIndex);
|
|
if (CMB_batmontype.SelectedIndex != 0)
|
|
{
|
|
CHK_enablebattmon.Checked = true;
|
|
}
|
|
else
|
|
{
|
|
CHK_enablebattmon.Checked = false;
|
|
}
|
|
}
|
|
}
|
|
catch { MessageBox.Show("Set BATT_MONITOR Failed"); }
|
|
}
|
|
|
|
private void TXT_declination_Validated(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
try
|
|
{
|
|
if (MainV2.comPort.param["COMPASS_DEC"] == null)
|
|
{
|
|
MessageBox.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 { MessageBox.Show("Invalid input!"); return; }
|
|
|
|
MainV2.comPort.setParam("COMPASS_DEC", dec * deg2rad);
|
|
}
|
|
}
|
|
catch { MessageBox.Show("Set COMPASS_DEC Failed"); }
|
|
}
|
|
|
|
private void TXT_battcapacity_Validated(object sender, EventArgs e)
|
|
{
|
|
if (startup || ((TextBox)sender).Enabled == false)
|
|
return;
|
|
try
|
|
{
|
|
if (MainV2.comPort.param["BATT_CAPACITY"] == null)
|
|
{
|
|
MessageBox.Show("Not Available");
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("BATT_CAPACITY", float.Parse(TXT_battcapacity.Text));
|
|
}
|
|
}
|
|
catch { MessageBox.Show("Set BATT_CAPACITY Failed"); }
|
|
}
|
|
|
|
private void CHK_enablecompass_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
try
|
|
{
|
|
if (MainV2.comPort.param["MAG_ENABLE"] == null)
|
|
{
|
|
MessageBox.Show("Not Available");
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("MAG_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
|
|
}
|
|
}
|
|
catch { MessageBox.Show("Set MAG_ENABLE Failed"); }
|
|
}
|
|
|
|
//((CheckBox)sender).Checked = !((CheckBox)sender).Checked;
|
|
|
|
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 { MessageBox.Show("Set BATT_MONITOR Failed"); }
|
|
}
|
|
|
|
private void CHK_enablesonar_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
try
|
|
{
|
|
if (MainV2.comPort.param["SONAR_ENABLE"] == null)
|
|
{
|
|
MessageBox.Show("Not Available");
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("SONAR_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
|
|
}
|
|
}
|
|
catch { MessageBox.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)
|
|
{
|
|
MessageBox.Show("Not Available on "+ MainV2.cs.firmware.ToString());
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("ARSPD_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
|
|
}
|
|
}
|
|
catch { MessageBox.Show("Set ARSPD_ENABLE Failed"); }
|
|
}
|
|
|
|
private void BUT_reset_Click(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
MainV2.comPort.setParam("SYSID_SW_MREV", UInt16.MaxValue);
|
|
}
|
|
catch { MessageBox.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; MessageBox.Show("Invalid Comport Settings : " + ex.Message); return; }
|
|
|
|
BUT_reset.Text = "Rebooting (20 sec)";
|
|
BUT_reset.Refresh();
|
|
Application.DoEvents();
|
|
|
|
Sleep(20000, 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
|
|
{
|
|
MessageBox.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);
|
|
MessageBox.Show("Set to +");
|
|
}
|
|
catch { MessageBox.Show("Set frame failed"); }
|
|
}
|
|
|
|
private void pictureBoxQuadX_Click(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
MainV2.comPort.setParam("FRAME", 1f);
|
|
MessageBox.Show("Set to x");
|
|
}
|
|
catch { MessageBox.Show("Set frame failed"); }
|
|
}
|
|
|
|
private void Setup_Load(object sender, EventArgs e)
|
|
{
|
|
if (!MainV2.comPort.BaseStream.IsOpen)
|
|
{
|
|
MessageBox.Show("Please Connect First");
|
|
this.Close();
|
|
}
|
|
}
|
|
|
|
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(((TextBox)sender).Name, test);
|
|
|
|
}
|
|
catch { MessageBox.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(((TextBox)sender).Name, test);
|
|
}
|
|
catch { MessageBox.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(((TextBox)sender).Name, test);
|
|
}
|
|
catch { MessageBox.Show("Set " + ((TextBox)sender).Name + " failed"); }
|
|
}
|
|
|
|
private void BUT_0collective_Click(object sender, EventArgs e)
|
|
{
|
|
MessageBox.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 { MessageBox.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 == true ? 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 == true ? 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 == true ? 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 == true ? 1.0f : -1.0f);
|
|
}
|
|
|
|
private void HS1_TRIM_Scroll(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
MainV2.comPort.setParam(((MyTrackBar)sender).Name, (float)((MyTrackBar)sender).Value);
|
|
}
|
|
|
|
private void HS2_TRIM_Scroll(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
MainV2.comPort.setParam(((MyTrackBar)sender).Name, (float)((MyTrackBar)sender).Value);
|
|
}
|
|
|
|
private void HS3_TRIM_Scroll(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
MainV2.comPort.setParam(((MyTrackBar)sender).Name, (float)((MyTrackBar)sender).Value);
|
|
}
|
|
|
|
private void HS4_TRIM_Scroll(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
MainV2.comPort.setParam(((MyTrackBar)sender).Name, (float)((MyTrackBar)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 { MessageBox.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_saveheliconfig_Click(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
MainV2.comPort.setParam("COL_MIN_", HS3.minline);
|
|
MainV2.comPort.setParam("COL_MAX_", HS3.maxline);
|
|
|
|
MainV2.comPort.setParam("HS4_MIN", HS4.minline);
|
|
MainV2.comPort.setParam("HS4_MAX", HS4.maxline);
|
|
}
|
|
catch { MessageBox.Show("Failed to set min/max"); }
|
|
}
|
|
|
|
private void BUT_levelac2_Click(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_CALIBRATE_ACC);
|
|
|
|
BUT_levelac2.Text = "Complete";
|
|
}
|
|
catch
|
|
{
|
|
MessageBox.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 { MessageBox.Show("Webpage open failed... do you have a virus?\nhttp://www.magnetic-declination.com/"); }
|
|
}
|
|
|
|
void reverseChannel(string name,bool normalreverse,Control progressbar)
|
|
{
|
|
if (startup)
|
|
return;
|
|
if (MainV2.comPort.param["SWITCH_ENABLE"] != null && (float)MainV2.comPort.param["SWITCH_ENABLE"] == 1)
|
|
{
|
|
try
|
|
{
|
|
MainV2.comPort.setParam("SWITCH_ENABLE", 0);
|
|
MessageBox.Show("Disabled Dip Switchs");
|
|
}
|
|
catch { MessageBox.Show("Error Disableing Dip Switch"); }
|
|
}
|
|
try
|
|
{
|
|
int i = normalreverse == false ? 1 : -1;
|
|
MainV2.comPort.setParam(name, i);
|
|
|
|
if (normalreverse == true)
|
|
{
|
|
((HorizontalProgressBar2)progressbar).BackgroundColor = Color.FromArgb(148, 193, 31);
|
|
((HorizontalProgressBar2)progressbar).ValueColor = Color.FromArgb(0x43, 0x44, 0x45);
|
|
}
|
|
else
|
|
{
|
|
((HorizontalProgressBar2)progressbar).BackgroundColor = Color.FromArgb(0x43, 0x44, 0x45);
|
|
((HorizontalProgressBar2)progressbar).ValueColor = Color.FromArgb(148, 193, 31);
|
|
}
|
|
}
|
|
catch { MessageBox.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);
|
|
}
|
|
}
|
|
}
|