mirror of https://github.com/ArduPilot/ardupilot
1332 lines
49 KiB
C#
1332 lines
49 KiB
C#
using System;
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using System.Collections.Generic; // Lists
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using System.Text; // stringbuilder
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using System.Drawing; // pens etc
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using System.IO; // file io
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using System.IO.Ports; // serial
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using System.Windows.Forms; // Forms
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using System.Collections; // hashs
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using System.Text.RegularExpressions; // regex
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using System.Xml; // GE xml alt reader
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using System.Net; // dns, ip address
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using System.Net.Sockets; // tcplistner
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using GMap.NET;
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using GMap.NET.WindowsForms;
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using System.Globalization; // language
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using GMap.NET.WindowsForms.Markers;
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using ZedGraph; // Graphs
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using System.Drawing.Drawing2D;
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// written by michael oborne
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namespace ArdupilotMega.GCSViews
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{
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partial class FlightData : MyUserControl
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{
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ArdupilotMega.MAVLink comPort = MainV2.comPort;
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public static int threadrun = 0;
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StreamWriter swlog;
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int tickStart = 0;
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RollingPointPairList list1 = new RollingPointPairList(1200);
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RollingPointPairList list2 = new RollingPointPairList(1200);
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RollingPointPairList list3 = new RollingPointPairList(1200);
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RollingPointPairList list4 = new RollingPointPairList(1200);
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RollingPointPairList list5 = new RollingPointPairList(1200);
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System.Reflection.PropertyInfo list1item = null;
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System.Reflection.PropertyInfo list2item = null;
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System.Reflection.PropertyInfo list3item = null;
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System.Reflection.PropertyInfo list4item = null;
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System.Reflection.PropertyInfo list5item = null;
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CurveItem list1curve;
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CurveItem list2curve;
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CurveItem list3curve;
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CurveItem list4curve;
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CurveItem list5curve;
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bool huddropout = false;
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bool huddropoutresize = false;
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List<PointLatLng> trackPoints = new List<PointLatLng>();
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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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public static hud.HUD myhud = null;
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public static GMapControl mymap = null;
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AviWriter aviwriter;
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public SplitContainer MainHcopy = null;
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protected override void Dispose(bool disposing)
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{
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MainV2.config["FlightSplitter"] = MainH.SplitterDistance.ToString();
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base.Dispose(disposing);
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}
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public FlightData()
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{
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InitializeComponent();
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mymap = gMapControl1;
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myhud = hud1;
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MainHcopy = MainH;
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Control.CheckForIllegalCrossThreadCalls = false; // so can update display from another thread
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// setup default tuning graph
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chk_box_CheckedChanged((object)(new CheckBox() { Name = "roll", Checked = true }), new EventArgs());
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chk_box_CheckedChanged((object)(new CheckBox() { Name = "pitch", Checked = true }), new EventArgs());
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chk_box_CheckedChanged((object)(new CheckBox() { Name = "nav_roll", Checked = true }), new EventArgs());
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chk_box_CheckedChanged((object)(new CheckBox() { Name = "nav_pitch", Checked = true }), new EventArgs());
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List<string> list = new List<string>();
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//foreach (object obj in Enum.GetValues(typeof(MAVLink.MAV_ACTION)))
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{
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list.Add("RETURN");
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list.Add("HALT");
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list.Add("CONTINUE");
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list.Add("SET_MANUAL");
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list.Add("SET_AUTO");
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list.Add("STORAGE_READ");
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list.Add("STORAGE_WRITE");
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list.Add("CALIBRATE_RC");
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list.Add("NAVIGATE");
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list.Add("LOITER");
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list.Add("TAKEOFF");
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}
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CMB_action.DataSource = list;
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CMB_modes.DataSource = Enum.GetNames(typeof(Common.apmmodes));
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CMB_setwp.SelectedIndex = 0;
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CreateChart(zg1);
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// config map
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gMapControl1.MapType = MapType.GoogleSatellite;
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gMapControl1.MinZoom = 1;
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gMapControl1.CacheLocation = Path.GetDirectoryName(Application.ExecutablePath) + "/gmapcache/";
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gMapControl1.OnMapZoomChanged += new MapZoomChanged(gMapControl1_OnMapZoomChanged);
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gMapControl1.Zoom = 3;
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polygons = new GMapOverlay(gMapControl1, "polygons");
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gMapControl1.Overlays.Add(polygons);
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routes = new GMapOverlay(gMapControl1, "routes");
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gMapControl1.Overlays.Add(routes);
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try
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{
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if (MainV2.getConfig("GspeedMAX") != "")
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{
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Gspeed.MaxValue = float.Parse(MainV2.getConfig("GspeedMAX"));
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}
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}
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catch { }
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}
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void tabControl1_DrawItem(object sender, DrawItemEventArgs e)
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{
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// Draw the background of the ListBox control for each item.
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//e.DrawBackground();
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// Define the default color of the brush as black.
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Brush myBrush = Brushes.Black;
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LinearGradientBrush linear = new LinearGradientBrush(e.Bounds, Color.FromArgb(0x94, 0xc1, 0x1f), Color.FromArgb(0xcd, 0xe2, 0x96), LinearGradientMode.Vertical);
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e.Graphics.FillRectangle(linear, e.Bounds);
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// Draw the current item text based on the current Font
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// and the custom brush settings.
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e.Graphics.DrawString(((TabControl)sender).TabPages[e.Index].Text.ToString(),
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e.Font, myBrush, e.Bounds, StringFormat.GenericDefault);
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// If the ListBox has focus, draw a focus rectangle around the selected item.
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e.DrawFocusRectangle();
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}
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void gMapControl1_OnMapZoomChanged()
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{
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Zoomlevel.Value = Convert.ToDecimal(gMapControl1.Zoom);
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}
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private void FlightData_Load(object sender, EventArgs e)
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{
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System.Threading.Thread t11 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
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{
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IsBackground = true,
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Name = "FlightData updater"
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};
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t11.Start();
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//MainH.threads.Add(t11);
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Zoomlevel.Minimum = gMapControl1.MinZoom;
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Zoomlevel.Maximum = gMapControl1.MaxZoom + 1;
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Zoomlevel.Value = Convert.ToDecimal(gMapControl1.Zoom);
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}
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private void mainloop()
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{
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//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
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//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
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threadrun = 1;
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EndPoint Remote = (EndPoint)(new IPEndPoint(IPAddress.Any, 0));
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DateTime lastdata = DateTime.MinValue;
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DateTime tracklast = DateTime.Now.AddSeconds(0);
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DateTime tunning = DateTime.Now.AddSeconds(0);
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DateTime vidrec = DateTime.Now.AddSeconds(0);
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DateTime waypoints = DateTime.Now.AddSeconds(0);
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//comPort.stopall(true);
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while (threadrun == 1)
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{
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if (threadrun == 0) { return; }
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if (MainV2.givecomport == true)
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{
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System.Threading.Thread.Sleep(20);
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continue;
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}
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if (!comPort.BaseStream.IsOpen)
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lastdata = DateTime.MinValue;
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// re-request servo data
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if (!(lastdata.AddSeconds(8) > DateTime.Now) && comPort.BaseStream.IsOpen)
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{
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Console.WriteLine("REQ streams - flightdata");
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try
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{
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//System.Threading.Thread.Sleep(1000);
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//comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_CONTROLLER, 0); // request servoout
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comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTENDED_STATUS, MainV2.cs.ratestatus); // mode
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comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_POSITION, MainV2.cs.rateposition); // request gps
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comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA1, MainV2.cs.rateattitude); // request attitude
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comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA2, MainV2.cs.rateattitude); // request vfr
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comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
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comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, MainV2.cs.raterc); // request rc info
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}
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catch { }
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lastdata = DateTime.Now; // prevent flooding
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}
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if (!MainV2.comPort.logreadmode)
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System.Threading.Thread.Sleep(100); // max is only ever 10 hz
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try
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{
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if (aviwriter != null && vidrec.AddMilliseconds(100) <= DateTime.Now)
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{
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vidrec = DateTime.Now;
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hud1.streamjpgenable = true;
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//aviwriter.avi_start("test.avi");
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// add a frame
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aviwriter.avi_add(hud1.streamjpg.ToArray(), (uint)hud1.streamjpg.Length);
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// write header - so even partial files will play
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aviwriter.avi_end(hud1.Width, hud1.Height, 10);
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}
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}
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catch { }
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if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
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{
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if (comPort.BaseStream.IsOpen)
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MainV2.comPort.logreadmode = false;
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DateTime logplayback = MainV2.comPort.lastlogread;
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try
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{
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MainV2.comPort.readPacket();
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}
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catch { }
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updateLogPlayPosition();
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int act = (int)(MainV2.comPort.lastlogread - logplayback).TotalMilliseconds;
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if (act > 9999 || act < 0)
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act = 1;
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int ts = 1;
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try
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{
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ts = (int)(act / (double)NUM_playbackspeed.Value);
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}
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catch { } // cross thread
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if (ts > 0)
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System.Threading.Thread.Sleep(ts);
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tracklast = tracklast.AddMilliseconds(ts - act);
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tunning = tunning.AddMilliseconds(ts - act);
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if (tracklast.Month != DateTime.Now.Month)
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{
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tracklast = DateTime.Now;
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tunning = DateTime.Now;
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}
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if (MainV2.comPort.logplaybackfile.BaseStream.Position == MainV2.comPort.logplaybackfile.BaseStream.Length)
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{
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MainV2.comPort.logreadmode = false;
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}
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}
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try
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{
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//Console.WriteLine(DateTime.Now.Millisecond);
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MainV2.cs.UpdateCurrentSettings(bindingSource1);
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//Console.WriteLine(DateTime.Now.Millisecond + " done ");
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if (tunning.AddMilliseconds(50) < DateTime.Now && CB_tuning.Checked == true)
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{
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double time = (Environment.TickCount - tickStart) / 1000.0;
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if (list1item != null)
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list1.Add(time, (float)list1item.GetValue((object)MainV2.cs, null));
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if (list2item != null)
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list2.Add(time, (float)list2item.GetValue((object)MainV2.cs, null));
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if (list3item != null)
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list3.Add(time, (float)list3item.GetValue((object)MainV2.cs, null));
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if (list4item != null)
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list4.Add(time, (float)list4item.GetValue((object)MainV2.cs, null));
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if (list5item != null)
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list5.Add(time, (float)list5item.GetValue((object)MainV2.cs, null));
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}
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if (tracklast.AddSeconds(1) < DateTime.Now)
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{
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if (trackPoints.Count > int.Parse(MainV2.config["NUM_tracklength"].ToString()))
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{
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trackPoints.RemoveRange(0, trackPoints.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
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}
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if (MainV2.cs.lat != 0)
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trackPoints.Add(new PointLatLng(MainV2.cs.lat, MainV2.cs.lng));
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if (CB_tuning.Checked == false) // draw if in view
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{
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if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
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{
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// this is for the pulled wp list from a mavlink logfile
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FlightPlanner.pointlist.Clear();
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FlightPlanner.pointlist.AddRange(MainV2.comPort.wps);
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}
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gMapControl1.HoldInvalidation = true;
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routes.Markers.Clear();
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routes.Routes.Clear();
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route = new GMapRoute(trackPoints, "track");
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//track.Stroke = Pens.Red;
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//route.Stroke = new Pen(Color.FromArgb(144, Color.Red));
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//route.Stroke.Width = 5;
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//route.Tag = "track";
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routes.Routes.Add(route);
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if (waypoints.AddSeconds(10) < DateTime.Now)
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{
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//Console.WriteLine("Doing FD WP's");
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polygons.Markers.Clear();
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foreach (PointLatLngAlt plla in FlightPlanner.pointlist)
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{
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if (plla == null)
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break;
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addpolygonmarker(plla.Tag, plla.Lng, plla.Lat, (int)plla.Alt);
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}
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RegeneratePolygon();
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waypoints = DateTime.Now;
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}
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//routes.Polygons.Add(poly);
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if (trackPoints.Count > 0)
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{
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PointLatLng currentloc = new PointLatLng(MainV2.cs.lat, MainV2.cs.lng);
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduPilotMega)
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{
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routes.Markers.Add(new GMapMarkerPlane(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing,MainV2.cs.target_bearing));
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}
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else
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{
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routes.Markers.Add(new GMapMarkerQuad(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing));
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}
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if (trackPoints[trackPoints.Count - 1].Lat != 0 && (DateTime.Now.Second % 4 == 0) && CHK_autopan.Checked)
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{
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updateMapPosition(currentloc);
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}
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if (trackPoints.Count == 1 && gMapControl1.Zoom == 3) // 3 is the default load zoom
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{
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updateMapPosition(currentloc);
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updateMapZoom(17);
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//gMapControl1.ZoomAndCenterMarkers("routes");// ZoomAndCenterRoutes("routes");
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}
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}
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gMapControl1.HoldInvalidation = false;
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gMapControl1.Invalidate();
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Application.DoEvents();
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GC.Collect();
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}
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tracklast = DateTime.Now;
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}
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}
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catch (Exception ex) { Console.WriteLine("FD Main loop exception "+ ex.ToString()); }
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}
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Console.WriteLine("FD Main loop exit");
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}
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private void updateMapPosition(PointLatLng currentloc)
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{
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this.BeginInvoke((MethodInvoker)delegate()
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{
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try
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{
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gMapControl1.Position = currentloc;
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hud1.Refresh();
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}
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catch { }
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});
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}
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private void updateMapZoom(int zoom)
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{
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this.BeginInvoke((MethodInvoker)delegate()
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{
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try
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{
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gMapControl1.Zoom = zoom;
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}
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catch { }
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});
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}
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private void updateLogPlayPosition()
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{
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this.BeginInvoke((MethodInvoker)delegate()
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{
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tracklog.Value = (int)(MainV2.comPort.logplaybackfile.BaseStream.Position / (double)MainV2.comPort.logplaybackfile.BaseStream.Length * 100);
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lbl_logpercent.Text = (MainV2.comPort.logplaybackfile.BaseStream.Position / (double)MainV2.comPort.logplaybackfile.BaseStream.Length).ToString("0.00%");
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});
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}
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private void addpolygonmarker(string tag, double lng, double lat, int alt)
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{
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try
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{
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PointLatLng point = new PointLatLng(lat, lng);
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GMapMarkerGoogleGreen m = new GMapMarkerGoogleGreen(point);
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m.ToolTipMode = MarkerTooltipMode.Always;
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m.ToolTipText = tag;
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m.Tag = tag;
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GMapMarkerRect mBorders = new GMapMarkerRect(point);
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{
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mBorders.InnerMarker = m;
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mBorders.MainMap = gMapControl1;
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try
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{
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mBorders.wprad = (int)float.Parse(ArdupilotMega.MainV2.config["TXT_WPRad"].ToString());
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}
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catch { }
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}
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polygons.Markers.Add(m);
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polygons.Markers.Add(mBorders);
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}
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catch (Exception) { }
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}
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/// <summary>
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/// used to redraw the polygon
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/// </summary>
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void RegeneratePolygon()
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{
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List<PointLatLng> polygonPoints = new List<PointLatLng>();
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if (routes == null)
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return;
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foreach (GMapMarker m in polygons.Markers)
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{
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if (m is GMapMarkerRect)
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{
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m.Tag = polygonPoints.Count;
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polygonPoints.Add(m.Position);
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}
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}
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if (polygon == null)
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{
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polygon = new GMapPolygon(polygonPoints, "polygon test");
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polygons.Polygons.Add(polygon);
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}
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else
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{
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polygon.Points.Clear();
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polygon.Points.AddRange(polygonPoints);
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polygon.Stroke = new Pen(Color.Yellow, 4);
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if (polygons.Polygons.Count == 0)
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{
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polygons.Polygons.Add(polygon);
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}
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else
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{
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gMapControl1.UpdatePolygonLocalPosition(polygon);
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}
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}
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}
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|
|
GMapPolygon polygon;
|
|
GMapOverlay polygons;
|
|
GMapOverlay routes;
|
|
GMapRoute route;
|
|
|
|
public void CreateChart(ZedGraphControl zgc)
|
|
{
|
|
GraphPane myPane = zgc.GraphPane;
|
|
|
|
// Set the titles and axis labels
|
|
myPane.Title.Text = "Tuning";
|
|
myPane.XAxis.Title.Text = "Time (s)";
|
|
myPane.YAxis.Title.Text = "Unit";
|
|
|
|
// Show the x axis grid
|
|
myPane.XAxis.MajorGrid.IsVisible = true;
|
|
|
|
myPane.XAxis.Scale.Min = 0;
|
|
myPane.XAxis.Scale.Max = 5;
|
|
|
|
// Make the Y axis scale red
|
|
myPane.YAxis.Scale.FontSpec.FontColor = Color.White;
|
|
myPane.YAxis.Title.FontSpec.FontColor = Color.White;
|
|
// turn off the opposite tics so the Y tics don't show up on the Y2 axis
|
|
myPane.YAxis.MajorTic.IsOpposite = false;
|
|
myPane.YAxis.MinorTic.IsOpposite = false;
|
|
// Don't display the Y zero line
|
|
myPane.YAxis.MajorGrid.IsZeroLine = true;
|
|
// Align the Y axis labels so they are flush to the axis
|
|
myPane.YAxis.Scale.Align = AlignP.Inside;
|
|
// Manually set the axis range
|
|
//myPane.YAxis.Scale.Min = -1;
|
|
//myPane.YAxis.Scale.Max = 1;
|
|
|
|
// Fill the axis background with a gradient
|
|
//myPane.Chart.Fill = new Fill(Color.White, Color.LightGray, 45.0f);
|
|
|
|
// Sample at 50ms intervals
|
|
ZedGraphTimer.Interval = 100;
|
|
//timer1.Enabled = true;
|
|
//timer1.Start();
|
|
|
|
|
|
// Calculate the Axis Scale Ranges
|
|
zgc.AxisChange();
|
|
|
|
tickStart = Environment.TickCount;
|
|
|
|
|
|
}
|
|
|
|
private void timer1_Tick(object sender, EventArgs e)
|
|
{
|
|
// Make sure that the curvelist has at least one curve
|
|
if (zg1.GraphPane.CurveList.Count <= 0)
|
|
return;
|
|
|
|
// Get the first CurveItem in the graph
|
|
LineItem curve = zg1.GraphPane.CurveList[0] as LineItem;
|
|
if (curve == null)
|
|
return;
|
|
|
|
// Get the PointPairList
|
|
IPointListEdit list = curve.Points as IPointListEdit;
|
|
// If this is null, it means the reference at curve.Points does not
|
|
// support IPointListEdit, so we won't be able to modify it
|
|
if (list == null)
|
|
return;
|
|
|
|
// Time is measured in seconds
|
|
double time = (Environment.TickCount - tickStart) / 1000.0;
|
|
|
|
// Keep the X scale at a rolling 30 second interval, with one
|
|
// major step between the max X value and the end of the axis
|
|
Scale xScale = zg1.GraphPane.XAxis.Scale;
|
|
if (time > xScale.Max - xScale.MajorStep)
|
|
{
|
|
xScale.Max = time + xScale.MajorStep;
|
|
xScale.Min = xScale.Max - 10.0;
|
|
}
|
|
|
|
// Make sure the Y axis is rescaled to accommodate actual data
|
|
try
|
|
{
|
|
zg1.AxisChange();
|
|
}
|
|
catch { }
|
|
// Force a redraw
|
|
zg1.Invalidate();
|
|
|
|
}
|
|
|
|
private void FlightData_FormClosing(object sender, FormClosingEventArgs e)
|
|
{
|
|
ZedGraphTimer.Stop();
|
|
threadrun = 0;
|
|
if (comPort.BaseStream.IsOpen)
|
|
{
|
|
comPort.Close();
|
|
}
|
|
}
|
|
|
|
private void BUT_clear_track_Click(object sender, EventArgs e)
|
|
{
|
|
trackPoints.Clear();
|
|
}
|
|
|
|
private void BUT_save_log_Click(object sender, EventArgs e)
|
|
{
|
|
// close existing log first
|
|
if (swlog != null)
|
|
swlog.Close();
|
|
|
|
try
|
|
{
|
|
Directory.CreateDirectory(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs");
|
|
swlog = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd hh-mm") + " telem.log");
|
|
}
|
|
catch { MessageBox.Show("Log creation error"); }
|
|
}
|
|
|
|
private void BUTactiondo_Click(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
((Button)sender).Enabled = false;
|
|
comPort.doAction((MAVLink.MAV_ACTION)Enum.Parse(typeof(MAVLink.MAV_ACTION), "MAV_ACTION_" + CMB_action.Text));
|
|
}
|
|
catch { MessageBox.Show("The Command failed to execute"); }
|
|
((Button)sender).Enabled = true;
|
|
}
|
|
|
|
private void BUTrestartmission_Click(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
((Button)sender).Enabled = false;
|
|
|
|
//comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_RETURN); // set nav from
|
|
//System.Threading.Thread.Sleep(100);
|
|
comPort.setWPCurrent(1); // set nav to
|
|
//System.Threading.Thread.Sleep(100);
|
|
//comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_SET_AUTO); // set auto
|
|
}
|
|
catch { MessageBox.Show("The command failed to execute"); }
|
|
((Button)sender).Enabled = true;
|
|
}
|
|
|
|
private void FlightData_Resize(object sender, EventArgs e)
|
|
{
|
|
//Gspeed;
|
|
//Galt;
|
|
//Gheading;
|
|
//attitudeIndicatorInstrumentControl1;
|
|
}
|
|
|
|
private void CB_tuning_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (CB_tuning.Checked)
|
|
{
|
|
gMapControl1.Visible = false;
|
|
ZedGraphTimer.Enabled = true;
|
|
ZedGraphTimer.Start();
|
|
zg1.Visible = true;
|
|
}
|
|
else
|
|
{
|
|
gMapControl1.Visible = true;
|
|
ZedGraphTimer.Enabled = false;
|
|
ZedGraphTimer.Stop();
|
|
zg1.Visible = false;
|
|
}
|
|
}
|
|
|
|
private void SubMainHT_Panel1_Resize(object sender, EventArgs e)
|
|
{
|
|
hud1.Width = MainH.SplitterDistance;
|
|
|
|
SubMainLeft.SplitterDistance = hud1.Height + 2;
|
|
}
|
|
|
|
private void BUT_RAWSensor_Click(object sender, EventArgs e)
|
|
{
|
|
Form temp = new RAW_Sensor();
|
|
MainV2.fixtheme(temp);
|
|
temp.Show();
|
|
}
|
|
|
|
private void gMapControl1_Click(object sender, EventArgs e)
|
|
{
|
|
|
|
}
|
|
|
|
PointLatLng gotolocation = new PointLatLng();
|
|
|
|
private void gMapControl1_MouseDown(object sender, MouseEventArgs e)
|
|
{
|
|
gotolocation = gMapControl1.FromLocalToLatLng(e.X, e.Y);
|
|
}
|
|
|
|
private void goHereToolStripMenuItem_Click(object sender, EventArgs e)
|
|
{
|
|
if (!MainV2.comPort.BaseStream.IsOpen)
|
|
{
|
|
MessageBox.Show("Please Connect First");
|
|
return;
|
|
}
|
|
|
|
string alt = (100 * MainV2.cs.multiplierdist).ToString("0");
|
|
Common.InputBox("Enter Alt", "Enter Guided Mode Alt", ref alt);
|
|
|
|
int intalt = (int)(100 * MainV2.cs.multiplierdist);
|
|
if (!int.TryParse(alt, out intalt))
|
|
{
|
|
MessageBox.Show("Bad Alt");
|
|
return;
|
|
}
|
|
|
|
if (gotolocation.Lat == 0 || gotolocation.Lng == 0)
|
|
{
|
|
MessageBox.Show("Bad Lat/Long");
|
|
return;
|
|
}
|
|
|
|
Locationwp gotohere = new Locationwp();
|
|
|
|
gotohere.alt = (int)(intalt / MainV2.cs.multiplierdist * 100); // back to m
|
|
gotohere.lat = (int)(gotolocation.Lat * 10000000);
|
|
gotohere.lng = (int)(gotolocation.Lng * 10000000);
|
|
|
|
try
|
|
{
|
|
MainV2.givecomport = true;
|
|
|
|
MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
|
|
|
|
MainV2.givecomport = false;
|
|
}
|
|
catch (Exception ex) { MainV2.givecomport = false; MessageBox.Show("Error sending command : " + ex.Message); }
|
|
|
|
}
|
|
|
|
private void Zoomlevel_ValueChanged(object sender, EventArgs e)
|
|
{
|
|
if (gMapControl1.MaxZoom + 1 == (double)Zoomlevel.Value)
|
|
{
|
|
gMapControl1.Zoom = (double)Zoomlevel.Value - .1;
|
|
}
|
|
else
|
|
{
|
|
gMapControl1.Zoom = (double)Zoomlevel.Value;
|
|
}
|
|
}
|
|
|
|
private void gMapControl1_MouseMove(object sender, MouseEventArgs e)
|
|
{
|
|
PointLatLng point = gMapControl1.FromLocalToLatLng(e.X, e.Y);
|
|
|
|
if (e.Button == MouseButtons.Left)
|
|
{
|
|
double latdif = gotolocation.Lat - point.Lat;
|
|
double lngdif = gotolocation.Lng - point.Lng;
|
|
|
|
try
|
|
{
|
|
gMapControl1.Position = new PointLatLng(gMapControl1.Position.Lat + latdif, gMapControl1.Position.Lng + lngdif);
|
|
}
|
|
catch { }
|
|
}
|
|
}
|
|
|
|
private void FlightData_ParentChanged(object sender, EventArgs e)
|
|
{
|
|
if (MainV2.cam != null)
|
|
{
|
|
MainV2.cam.camimage += new WebCamService.CamImage(cam_camimage);
|
|
}
|
|
}
|
|
|
|
void cam_camimage(Image camimage)
|
|
{
|
|
hud1.bgimage = camimage;
|
|
}
|
|
|
|
private void BUT_Homealt_Click(object sender, EventArgs e)
|
|
{
|
|
if (MainV2.cs.altoffsethome != 0)
|
|
{
|
|
MainV2.cs.altoffsethome = 0;
|
|
}
|
|
else
|
|
{
|
|
MainV2.cs.altoffsethome = MainV2.cs.alt / MainV2.cs.multiplierdist;
|
|
}
|
|
}
|
|
|
|
private void gMapControl1_Resize(object sender, EventArgs e)
|
|
{
|
|
gMapControl1.Zoom = gMapControl1.Zoom + 0.01;
|
|
}
|
|
|
|
private void BUT_loadtelem_Click(object sender, EventArgs e)
|
|
{
|
|
OpenFileDialog fd = new OpenFileDialog();
|
|
fd.AddExtension = true;
|
|
fd.Filter = "Ardupilot Telemtry log (*.tlog)|*.tlog";
|
|
fd.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs";
|
|
fd.DefaultExt = ".tlog";
|
|
DialogResult result = fd.ShowDialog();
|
|
string file = fd.FileName;
|
|
if (file != "")
|
|
{
|
|
try
|
|
{
|
|
BUT_clear_track_Click(sender, e);
|
|
|
|
MainV2.comPort.logreadmode = false;
|
|
MainV2.comPort.logplaybackfile = new BinaryReader(File.OpenRead(file));
|
|
MainV2.comPort.lastlogread = DateTime.MinValue;
|
|
|
|
tracklog.Value = 0;
|
|
tracklog.Minimum = 0;
|
|
tracklog.Maximum = 100;
|
|
}
|
|
catch { MessageBox.Show("Error: Failed to write log file"); }
|
|
}
|
|
}
|
|
|
|
private void BUT_playlog_Click(object sender, EventArgs e)
|
|
{
|
|
if (MainV2.comPort.logreadmode)
|
|
{
|
|
MainV2.comPort.logreadmode = false;
|
|
}
|
|
else
|
|
{
|
|
BUT_clear_track_Click(sender, e);
|
|
MainV2.comPort.logreadmode = true;
|
|
}
|
|
}
|
|
|
|
private void tracklog_Scroll(object sender, EventArgs e)
|
|
{
|
|
BUT_clear_track_Click(sender, e);
|
|
|
|
MainV2.comPort.lastlogread = DateTime.MinValue;
|
|
|
|
if (MainV2.comPort.logplaybackfile != null)
|
|
MainV2.comPort.logplaybackfile.BaseStream.Position = (long)(MainV2.comPort.logplaybackfile.BaseStream.Length * (tracklog.Value / 100.0));
|
|
}
|
|
|
|
bool loaded = false;
|
|
|
|
private void MainH_SplitterMoved(object sender, SplitterEventArgs e)
|
|
{
|
|
if (loaded == true)
|
|
{ // startup check
|
|
MainV2.config["FlightSplitter"] = MainH.SplitterDistance.ToString();
|
|
}
|
|
loaded = true;
|
|
hud1.Width = MainH.Panel1.Width;
|
|
}
|
|
|
|
private void tabPage1_Resize(object sender, EventArgs e)
|
|
{
|
|
int mywidth;
|
|
|
|
if (tabGauges.Width < 500)
|
|
{
|
|
Gvspeed.Visible = false;
|
|
mywidth = tabGauges.Width / 3;
|
|
|
|
Gspeed.Height = mywidth;
|
|
Galt.Height = mywidth;
|
|
Gheading.Height = mywidth;
|
|
|
|
Gspeed.Location = new Point(0, 0);
|
|
}
|
|
else
|
|
{
|
|
Gvspeed.Visible = true;
|
|
mywidth = tabGauges.Width / 4;
|
|
|
|
Gvspeed.Height = mywidth;
|
|
Gspeed.Height = mywidth;
|
|
Galt.Height = mywidth;
|
|
Gheading.Height = mywidth;
|
|
|
|
Gvspeed.Location = new Point(0, 0);
|
|
Gspeed.Location = new Point(Gvspeed.Right, 0);
|
|
}
|
|
|
|
Galt.Location = new Point(Gspeed.Right, 0);
|
|
Gheading.Location = new Point(Galt.Right, 0);
|
|
|
|
}
|
|
|
|
private void BUT_setmode_Click(object sender, EventArgs e)
|
|
{
|
|
MAVLink.__mavlink_set_nav_mode_t navmode = new MAVLink.__mavlink_set_nav_mode_t();
|
|
|
|
MAVLink.__mavlink_set_mode_t mode = new MAVLink.__mavlink_set_mode_t();
|
|
|
|
if (Common.translateMode(CMB_modes.Text, ref navmode, ref mode))
|
|
{
|
|
MainV2.comPort.generatePacket((byte)MAVLink.MAVLINK_MSG_ID_SET_NAV_MODE, navmode);
|
|
System.Threading.Thread.Sleep(10);
|
|
MainV2.comPort.generatePacket((byte)MAVLink.MAVLINK_MSG_ID_SET_NAV_MODE, navmode);
|
|
System.Threading.Thread.Sleep(10);
|
|
MainV2.comPort.generatePacket((byte)MAVLink.MAVLINK_MSG_ID_SET_MODE, mode);
|
|
System.Threading.Thread.Sleep(10);
|
|
MainV2.comPort.generatePacket((byte)MAVLink.MAVLINK_MSG_ID_SET_MODE, mode);
|
|
}
|
|
}
|
|
|
|
private void BUT_setwp_Click(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
((Button)sender).Enabled = false;
|
|
comPort.setWPCurrent((ushort)CMB_setwp.SelectedIndex); // set nav to
|
|
}
|
|
catch { MessageBox.Show("The command failed to execute"); }
|
|
((Button)sender).Enabled = true;
|
|
}
|
|
|
|
private void CMB_setwp_Click(object sender, EventArgs e)
|
|
{
|
|
CMB_setwp.Items.Clear();
|
|
|
|
CMB_setwp.Items.Add("0 (Home)");
|
|
|
|
if (MainV2.comPort.param["WP_TOTAL"] != null)
|
|
{
|
|
int wps = int.Parse(MainV2.comPort.param["WP_TOTAL"].ToString());
|
|
for (int z = 1; z <= wps; z++)
|
|
{
|
|
CMB_setwp.Items.Add(z.ToString());
|
|
}
|
|
}
|
|
}
|
|
|
|
private void BUT_quickauto_Click(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
((Button)sender).Enabled = false;
|
|
comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_SET_AUTO);
|
|
}
|
|
catch { MessageBox.Show("The Command failed to execute"); }
|
|
((Button)sender).Enabled = true;
|
|
}
|
|
|
|
private void BUT_quickrtl_Click(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
((Button)sender).Enabled = false;
|
|
comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_RETURN);
|
|
}
|
|
catch { MessageBox.Show("The Command failed to execute"); }
|
|
((Button)sender).Enabled = true;
|
|
}
|
|
|
|
private void BUT_quickmanual_Click(object sender, EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
((Button)sender).Enabled = false;
|
|
comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_SET_MANUAL);
|
|
}
|
|
catch { MessageBox.Show("The Command failed to execute"); }
|
|
((Button)sender).Enabled = true;
|
|
}
|
|
|
|
private void BUT_log2kml_Click(object sender, EventArgs e)
|
|
{
|
|
Form frm = new MavlinkLog();
|
|
MainV2.fixtheme(frm);
|
|
frm.ShowDialog();
|
|
}
|
|
|
|
private void BUT_joystick_Click(object sender, EventArgs e)
|
|
{
|
|
Form joy = new JoystickSetup();
|
|
MainV2.fixtheme(joy);
|
|
joy.Show();
|
|
}
|
|
|
|
private void CMB_modes_Click(object sender, EventArgs e)
|
|
{
|
|
CMB_modes.DataSource = Enum.GetNames(Common.getModes());
|
|
}
|
|
|
|
private void hud1_DoubleClick(object sender, EventArgs e)
|
|
{
|
|
if (huddropout)
|
|
return;
|
|
|
|
SubMainLeft.Panel1Collapsed = true;
|
|
Form dropout = new Form();
|
|
dropout.Size = new System.Drawing.Size(hud1.Width, hud1.Height + 20);
|
|
SubMainLeft.Panel1.Controls.Remove(hud1);
|
|
dropout.Controls.Add(hud1);
|
|
dropout.Resize += new EventHandler(dropout_Resize);
|
|
dropout.FormClosed += new FormClosedEventHandler(dropout_FormClosed);
|
|
dropout.Show();
|
|
huddropout = true;
|
|
}
|
|
|
|
void dropout_FormClosed(object sender, FormClosedEventArgs e)
|
|
{
|
|
SubMainLeft.Panel1.Controls.Add(hud1);
|
|
SubMainLeft.Panel1Collapsed = false;
|
|
huddropout = false;
|
|
}
|
|
|
|
void dropout_Resize(object sender, EventArgs e)
|
|
{
|
|
if (huddropoutresize)
|
|
return;
|
|
|
|
huddropoutresize = true;
|
|
|
|
int hudw = hud1.Width;
|
|
int hudh = hud1.Height;
|
|
|
|
int formh = ((Form)sender).Height - 30;
|
|
int formw = ((Form)sender).Width;
|
|
|
|
if (((Form)sender).Height < hudh)
|
|
{
|
|
if (((Form)sender).WindowState == FormWindowState.Maximized)
|
|
{
|
|
Point tl = ((Form)sender).DesktopLocation;
|
|
((Form)sender).WindowState = FormWindowState.Normal;
|
|
((Form)sender).Location = tl;
|
|
}
|
|
((Form)sender).Width = (int)(formh * 1.333f);
|
|
((Form)sender).Height = (int)(formh) + 20;
|
|
}
|
|
hud1.Refresh();
|
|
huddropoutresize = false;
|
|
}
|
|
|
|
private void tabControl1_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
if (tabControl1.SelectedTab == tabStatus)
|
|
{
|
|
tabControl1.SuspendLayout();
|
|
|
|
foreach (Control temp in tabStatus.Controls)
|
|
{
|
|
temp.DataBindings.Clear();
|
|
//temp.Dispose();
|
|
}
|
|
//tabStatus.Controls.Clear();
|
|
|
|
int x = 10;
|
|
int y = 10;
|
|
|
|
object thisBoxed = MainV2.cs;
|
|
Type test = thisBoxed.GetType();
|
|
|
|
foreach (var field in test.GetProperties())
|
|
{
|
|
// field.Name has the field's name.
|
|
object fieldValue;
|
|
try
|
|
{
|
|
fieldValue = field.GetValue(thisBoxed, null); // Get value
|
|
}
|
|
catch { continue; }
|
|
|
|
// Get the TypeCode enumeration. Multiple types get mapped to a common typecode.
|
|
TypeCode typeCode = Type.GetTypeCode(fieldValue.GetType());
|
|
|
|
bool add = true;
|
|
|
|
MyLabel lbl1 = new MyLabel();
|
|
MyLabel lbl2 = new MyLabel();
|
|
try
|
|
{
|
|
lbl1 = (MyLabel)tabStatus.Controls.Find(field.Name, false)[0];
|
|
|
|
lbl2 = (MyLabel)tabStatus.Controls.Find(field.Name + "value", false)[0];
|
|
|
|
add = false;
|
|
}
|
|
catch { }
|
|
|
|
lbl1.Location = new Point(x, y);
|
|
lbl1.Size = new System.Drawing.Size(75, 13);
|
|
lbl1.Text = field.Name;
|
|
lbl1.Name = field.Name;
|
|
lbl2.AutoSize = false;
|
|
|
|
lbl2.Location = new Point(lbl1.Right + 5, y);
|
|
lbl2.Size = new System.Drawing.Size(50, 13);
|
|
//if (lbl2.Name == "")
|
|
lbl2.DataBindings.Add(new System.Windows.Forms.Binding("Text", this.bindingSource1, field.Name, true, System.Windows.Forms.DataSourceUpdateMode.OnValidation, ""));
|
|
lbl2.Name = field.Name + "value";
|
|
//lbl2.Text = fieldValue.ToString();
|
|
|
|
if (add)
|
|
{
|
|
tabStatus.Controls.Add(lbl1);
|
|
tabStatus.Controls.Add(lbl2);
|
|
}
|
|
|
|
//Application.DoEvents();
|
|
|
|
x += 0;
|
|
y += 15;
|
|
|
|
if (y > tabStatus.Height - 30)
|
|
{
|
|
x += 140;
|
|
y = 10;
|
|
}
|
|
}
|
|
|
|
tabStatus.Width = x;
|
|
|
|
tabControl1.ResumeLayout();
|
|
}
|
|
else
|
|
{
|
|
foreach (Control temp in tabStatus.Controls)
|
|
{
|
|
temp.DataBindings.Clear();
|
|
}
|
|
}
|
|
}
|
|
|
|
private void Gspeed_DoubleClick(object sender, EventArgs e)
|
|
{
|
|
string max = "60";
|
|
if (DialogResult.OK == Common.InputBox("Enter Max", "Enter Max Speed", ref max))
|
|
{
|
|
Gspeed.MaxValue = float.Parse(max);
|
|
MainV2.config["GspeedMAX"] = Gspeed.MaxValue.ToString();
|
|
}
|
|
}
|
|
|
|
private void recordHudToAVIToolStripMenuItem_Click(object sender, EventArgs e)
|
|
{
|
|
stopRecordToolStripMenuItem_Click(sender, e);
|
|
|
|
MessageBox.Show("Output avi will be saved to the log folder");
|
|
|
|
aviwriter = new AviWriter();
|
|
Directory.CreateDirectory(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs");
|
|
aviwriter.avi_start(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd hh-mm-ss") + ".avi");
|
|
|
|
recordHudToAVIToolStripMenuItem.Text = "Recording";
|
|
}
|
|
|
|
private void stopRecordToolStripMenuItem_Click(object sender, EventArgs e)
|
|
{
|
|
recordHudToAVIToolStripMenuItem.Text = "Start Recording";
|
|
|
|
if (aviwriter != null)
|
|
aviwriter.avi_close();
|
|
|
|
aviwriter = null;
|
|
}
|
|
|
|
void setupPropertyInfo(ref System.Reflection.PropertyInfo input, string name, object source)
|
|
{
|
|
Type test = source.GetType();
|
|
|
|
foreach (var field in test.GetProperties())
|
|
{
|
|
if (field.Name == name)
|
|
{
|
|
input = field;
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
private void zg1_DoubleClick(object sender, EventArgs e)
|
|
{
|
|
Form selectform = new Form()
|
|
{
|
|
Name = "select",
|
|
Width = 650,
|
|
Height = 250,
|
|
Text = "Graph This"
|
|
};
|
|
|
|
int x = 10;
|
|
int y = 10;
|
|
|
|
object thisBoxed = MainV2.cs;
|
|
Type test = thisBoxed.GetType();
|
|
|
|
foreach (var field in test.GetProperties())
|
|
{
|
|
// field.Name has the field's name.
|
|
object fieldValue;
|
|
try
|
|
{
|
|
fieldValue = field.GetValue(thisBoxed, null); // Get value
|
|
}
|
|
catch { continue; }
|
|
|
|
// Get the TypeCode enumeration. Multiple types get mapped to a common typecode.
|
|
TypeCode typeCode = Type.GetTypeCode(fieldValue.GetType());
|
|
|
|
if (!(typeCode == TypeCode.Single || typeCode == TypeCode.Double || typeCode == TypeCode.Int32))
|
|
continue;
|
|
|
|
CheckBox chk_box = new CheckBox();
|
|
|
|
if (list1item != null && list1item.Name == field.Name)
|
|
chk_box.Checked = true;
|
|
if (list2item != null && list2item.Name == field.Name)
|
|
chk_box.Checked = true;
|
|
if (list3item != null && list3item.Name == field.Name)
|
|
chk_box.Checked = true;
|
|
if (list4item != null && list4item.Name == field.Name)
|
|
chk_box.Checked = true;
|
|
if (list5item != null && list5item.Name == field.Name)
|
|
chk_box.Checked = true;
|
|
|
|
chk_box.Text = field.Name;
|
|
chk_box.Name = field.Name;
|
|
chk_box.Location = new Point(x, y);
|
|
chk_box.Size = new System.Drawing.Size(100, 20);
|
|
chk_box.CheckedChanged += new EventHandler(chk_box_CheckedChanged);
|
|
|
|
selectform.Controls.Add(chk_box);
|
|
|
|
Application.DoEvents();
|
|
|
|
x += 0;
|
|
y += 20;
|
|
|
|
if (y > selectform.Height - 50)
|
|
{
|
|
x += 100;
|
|
y = 10;
|
|
}
|
|
}
|
|
MainV2.fixtheme(selectform);
|
|
selectform.Show();
|
|
}
|
|
|
|
void chk_box_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (((CheckBox)sender).Checked)
|
|
{
|
|
if (list1item == null)
|
|
{
|
|
setupPropertyInfo(ref list1item, ((CheckBox)sender).Name, MainV2.cs);
|
|
list1curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list1, Color.Red, SymbolType.None);
|
|
}
|
|
else if (list2item == null)
|
|
{
|
|
setupPropertyInfo(ref list2item, ((CheckBox)sender).Name, MainV2.cs);
|
|
list2curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list2, Color.Blue, SymbolType.None);
|
|
}
|
|
else if (list3item == null)
|
|
{
|
|
setupPropertyInfo(ref list3item, ((CheckBox)sender).Name, MainV2.cs);
|
|
list3curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list3, Color.Green, SymbolType.None);
|
|
}
|
|
else if (list4item == null)
|
|
{
|
|
setupPropertyInfo(ref list4item, ((CheckBox)sender).Name, MainV2.cs);
|
|
list4curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list4, Color.Orange, SymbolType.None);
|
|
}
|
|
else if (list5item == null)
|
|
{
|
|
setupPropertyInfo(ref list5item, ((CheckBox)sender).Name, MainV2.cs);
|
|
list5curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list5, Color.Yellow, SymbolType.None);
|
|
}
|
|
else
|
|
{
|
|
MessageBox.Show("Max 5 at a time.");
|
|
((CheckBox)sender).Checked = false;
|
|
}
|
|
MainV2.fixtheme(this);
|
|
}
|
|
else
|
|
{
|
|
// reset old stuff
|
|
if (list1item != null && list1item.Name == ((CheckBox)sender).Name)
|
|
{
|
|
list1item = null;
|
|
zg1.GraphPane.CurveList.Remove(list1curve);
|
|
}
|
|
if (list2item != null && list2item.Name == ((CheckBox)sender).Name)
|
|
{
|
|
list2item = null;
|
|
zg1.GraphPane.CurveList.Remove(list2curve);
|
|
}
|
|
if (list3item != null && list3item.Name == ((CheckBox)sender).Name)
|
|
{
|
|
list3item = null;
|
|
zg1.GraphPane.CurveList.Remove(list3curve);
|
|
}
|
|
if (list4item != null && list4item.Name == ((CheckBox)sender).Name)
|
|
{
|
|
list4item = null;
|
|
zg1.GraphPane.CurveList.Remove(list4curve);
|
|
}
|
|
if (list5item != null && list5item.Name == ((CheckBox)sender).Name)
|
|
{
|
|
list5item = null;
|
|
zg1.GraphPane.CurveList.Remove(list5curve);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
} |