mirror of https://github.com/ArduPilot/ardupilot
1638 lines
60 KiB
C#
1638 lines
60 KiB
C#
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;
|
|
}
|
|
|
|
MessageBox.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];
|
|
|
|
}
|
|
}
|
|
|
|
MessageBox.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 { MessageBox.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;
|
|
}
|
|
|
|
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");
|
|
|
|
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) { MessageBox.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()));
|
|
}
|
|
|
|
if (TXT_ampspervolt.Text == "13.6612")
|
|
{
|
|
CMB_batmonsensortype.SelectedIndex = 1;
|
|
}
|
|
else if (TXT_ampspervolt.Text == "27.3224")
|
|
{
|
|
CMB_batmonsensortype.SelectedIndex = 2;
|
|
}
|
|
else if (TXT_ampspervolt.Text == "54.64481")
|
|
{
|
|
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
|
|
{
|
|
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 { MessageBox.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)
|
|
{
|
|
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; }
|
|
|
|
TXT_declination.Text = dec.ToString();
|
|
|
|
MainV2.comPort.setParam("COMPASS_DEC", dec * deg2rad);
|
|
}
|
|
}
|
|
catch { MessageBox.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)
|
|
{
|
|
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_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 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 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)
|
|
{
|
|
MessageBox.Show("Not Available");
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("BATT_CAPACITY", float.Parse(TXT_battcapacity.Text));
|
|
}
|
|
}
|
|
catch { MessageBox.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)
|
|
{
|
|
MessageBox.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 { MessageBox.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)
|
|
{
|
|
MessageBox.Show("Not Available");
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("INPUT_VOLTS", float.Parse(TXT_inputvoltage.Text));
|
|
}
|
|
}
|
|
catch { MessageBox.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 { MessageBox.Show("Invalid number entered"); return; }
|
|
|
|
try
|
|
{
|
|
if (MainV2.comPort.param["VOLT_DIVIDER"] == null)
|
|
{
|
|
MessageBox.Show("Not Available");
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("VOLT_DIVIDER", float.Parse(TXT_divider.Text));
|
|
}
|
|
}
|
|
catch { MessageBox.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)
|
|
{
|
|
MessageBox.Show("Not Available");
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("VOLT_DIVIDER", float.Parse(TXT_divider.Text));
|
|
}
|
|
}
|
|
catch { MessageBox.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)
|
|
{
|
|
MessageBox.Show("Not Available");
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("AMP_PER_VOLT", float.Parse(TXT_ampspervolt.Text));
|
|
}
|
|
}
|
|
catch { MessageBox.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 { 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 (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
|
|
{
|
|
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();
|
|
}
|
|
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 { 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("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 { 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("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 { 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 == 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 { 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_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
|
|
{
|
|
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 (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);
|
|
MessageBox.Show("Disabled Dip Switchs");
|
|
}
|
|
catch { MessageBox.Show("Error Disableing Dip Switch"); }
|
|
}
|
|
try
|
|
{
|
|
int i = normalreverse == false ? 1 : -1;
|
|
MainV2.comPort.setParam(name, i);
|
|
}
|
|
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);
|
|
}
|
|
|
|
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 { MessageBox.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 { MessageBox.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)
|
|
{
|
|
MessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("FLOW_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
|
|
}
|
|
}
|
|
catch { MessageBox.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)
|
|
{
|
|
MessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("SONAR_TYPE", ((ComboBox)sender).SelectedIndex);
|
|
}
|
|
}
|
|
catch { MessageBox.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)
|
|
{
|
|
MessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("ELEVON_MIXING", ((CheckBox)sender).Checked == true ? 1 : 0);
|
|
}
|
|
}
|
|
catch { MessageBox.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)
|
|
{
|
|
MessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("ELEVON_REVERSE", ((CheckBox)sender).Checked == true ? 1 : 0);
|
|
}
|
|
}
|
|
catch { MessageBox.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)
|
|
{
|
|
MessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("ELEVON_CH1_REV", ((CheckBox)sender).Checked == true ? 1 : 0);
|
|
}
|
|
}
|
|
catch { MessageBox.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)
|
|
{
|
|
MessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("ELEVON_CH2_REV", ((CheckBox)sender).Checked == true ? 1 : 0);
|
|
}
|
|
}
|
|
catch { MessageBox.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)
|
|
{
|
|
MessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("H1_ENABLE", ((RadioButton)sender).Checked == true ? 1 : 0);
|
|
}
|
|
}
|
|
catch { MessageBox.Show("Set H1_ENABLE Failed"); }
|
|
}
|
|
}
|
|
} |