mirror of https://github.com/ArduPilot/ardupilot
292 lines
12 KiB
C#
292 lines
12 KiB
C#
using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Drawing;
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using System.Data;
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using System.Linq;
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using System.Text;
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using System.Windows.Forms;
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using ArdupilotMega.Controls.BackstageView;
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using ArdupilotMega.Utilities;
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using ArdupilotMega.Controls;
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namespace ArdupilotMega.GCSViews.ConfigurationView
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{
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public partial class ConfigFlightModes : BackStageViewContentPanel
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{
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Timer timer = new Timer();
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public ConfigFlightModes()
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{
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InitializeComponent();
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}
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void timer_Tick(object sender, EventArgs e)
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{
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try
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{
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MainV2.cs.UpdateCurrentSettings(currentStateBindingSource);
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}
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catch { }
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float pwm = 0;
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane || MainV2.cs.firmware == MainV2.Firmwares.ArduRover) // APM
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{
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if (MainV2.comPort.param.ContainsKey("FLTMODE_CH"))
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{
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switch ((int)(float)MainV2.comPort.param["FLTMODE_CH"])
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{
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case 5:
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pwm = MainV2.cs.ch5in;
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break;
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case 6:
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pwm = MainV2.cs.ch6in;
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break;
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case 7:
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pwm = MainV2.cs.ch7in;
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break;
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case 8:
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pwm = MainV2.cs.ch8in;
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break;
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default:
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break;
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}
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LBL_flightmodepwm.Text = MainV2.comPort.param["FLTMODE_CH"].ToString() + ": " + pwm.ToString();
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}
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}
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
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{
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pwm = MainV2.cs.ch5in;
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LBL_flightmodepwm.Text = "5: " + MainV2.cs.ch5in.ToString();
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}
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Control[] fmodelist = new Control[] { CMB_fmode1, CMB_fmode2, CMB_fmode3, CMB_fmode4, CMB_fmode5, CMB_fmode6 };
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foreach (Control ctl in fmodelist)
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{
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ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
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}
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byte no = readSwitch(pwm);
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fmodelist[no].BackColor = Color.Green;
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}
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// from arducopter code
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byte readSwitch(float inpwm)
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{
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int pulsewidth = (int)inpwm; // default for Arducopter
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if (pulsewidth > 1230 && pulsewidth <= 1360) return 1;
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if (pulsewidth > 1360 && pulsewidth <= 1490) return 2;
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if (pulsewidth > 1490 && pulsewidth <= 1620) return 3;
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if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual
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if (pulsewidth >= 1750) return 5; // Hardware Manual
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return 0;
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}
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private void BUT_SaveModes_Click(object sender, EventArgs e)
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{
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try
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{
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MainV2.comPort.setParam("FLTMODE1", (float)Int32.Parse(CMB_fmode1.SelectedValue.ToString()));
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MainV2.comPort.setParam("FLTMODE2", (float)Int32.Parse(CMB_fmode2.SelectedValue.ToString()));
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MainV2.comPort.setParam("FLTMODE3", (float)Int32.Parse(CMB_fmode3.SelectedValue.ToString()));
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MainV2.comPort.setParam("FLTMODE4", (float)Int32.Parse(CMB_fmode4.SelectedValue.ToString()));
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MainV2.comPort.setParam("FLTMODE5", (float)Int32.Parse(CMB_fmode5.SelectedValue.ToString()));
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MainV2.comPort.setParam("FLTMODE6", (float)Int32.Parse(CMB_fmode6.SelectedValue.ToString()));
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
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{
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float value = (float)(CB_simple1.Checked ? (int)SimpleMode.Simple1 : 0) + (CB_simple2.Checked ? (int)SimpleMode.Simple2 : 0) + (CB_simple3.Checked ? (int)SimpleMode.Simple3 : 0)
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+ (CB_simple4.Checked ? (int)SimpleMode.Simple4 : 0) + (CB_simple5.Checked ? (int)SimpleMode.Simple5 : 0) + (CB_simple6.Checked ? (int)SimpleMode.Simple6 : 0);
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if (MainV2.comPort.param.ContainsKey("SIMPLE"))
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MainV2.comPort.setParam("SIMPLE", value);
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}
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}
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catch { CustomMessageBox.Show("Failed to set Flight modes"); }
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BUT_SaveModes.Text = "Complete";
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}
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[Flags]
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public enum SimpleMode
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{
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None = 0,
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Simple1 = 1,
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Simple2 = 2,
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Simple3 = 4,
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Simple4 = 8,
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Simple5 = 16,
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Simple6 = 32,
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}
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private void ConfigFlightModes_Load(object sender, EventArgs e)
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{
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if (!MainV2.comPort.BaseStream.IsOpen)
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{
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this.Enabled = false;
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return;
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}
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else
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{
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this.Enabled = true;
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}
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) // APM
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{
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CB_simple1.Visible = false;
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CB_simple2.Visible = false;
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CB_simple3.Visible = false;
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CB_simple4.Visible = false;
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CB_simple5.Visible = false;
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CB_simple6.Visible = false;
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var flightModes = EnumTranslator.Translate<Common.apmmodes>();
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CMB_fmode1.DataSource = flightModes.ToList();
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CMB_fmode1.ValueMember = "Key";
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CMB_fmode1.DisplayMember = "Value";
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CMB_fmode2.DataSource = flightModes.ToList();
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CMB_fmode2.ValueMember = "Key";
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CMB_fmode2.DisplayMember = "Value";
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CMB_fmode3.DataSource = flightModes.ToList();
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CMB_fmode3.ValueMember = "Key";
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CMB_fmode3.DisplayMember = "Value";
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CMB_fmode4.DataSource = flightModes.ToList();
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CMB_fmode4.ValueMember = "Key";
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CMB_fmode4.DisplayMember = "Value";
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CMB_fmode5.DataSource = flightModes.ToList();
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CMB_fmode5.ValueMember = "Key";
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CMB_fmode5.DisplayMember = "Value";
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CMB_fmode6.DataSource = flightModes.ToList();
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CMB_fmode6.ValueMember = "Key";
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CMB_fmode6.DisplayMember = "Value";
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try
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{
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CMB_fmode1.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE1"].ToString()));
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CMB_fmode2.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE2"].ToString()));
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CMB_fmode3.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE3"].ToString()));
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CMB_fmode4.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE4"].ToString()));
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CMB_fmode5.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE5"].ToString()));
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CMB_fmode6.Text = Common.apmmodes.MANUAL.ToString();
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CMB_fmode6.Enabled = false;
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}
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catch { }
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}
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else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover) // APM
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{
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CB_simple1.Visible = false;
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CB_simple2.Visible = false;
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CB_simple3.Visible = false;
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CB_simple4.Visible = false;
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CB_simple5.Visible = false;
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CB_simple6.Visible = false;
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var flightModes = EnumTranslator.Translate<Common.aprovermodes>();
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CMB_fmode1.DataSource = flightModes.ToList();
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CMB_fmode1.ValueMember = "Key";
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CMB_fmode1.DisplayMember = "Value";
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CMB_fmode2.DataSource = flightModes.ToList();
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CMB_fmode2.ValueMember = "Key";
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CMB_fmode2.DisplayMember = "Value";
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CMB_fmode3.DataSource = flightModes.ToList();
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CMB_fmode3.ValueMember = "Key";
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CMB_fmode3.DisplayMember = "Value";
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CMB_fmode4.DataSource = flightModes.ToList();
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CMB_fmode4.ValueMember = "Key";
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CMB_fmode4.DisplayMember = "Value";
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CMB_fmode5.DataSource = flightModes.ToList();
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CMB_fmode5.ValueMember = "Key";
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CMB_fmode5.DisplayMember = "Value";
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CMB_fmode6.DataSource = flightModes.ToList();
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CMB_fmode6.ValueMember = "Key";
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CMB_fmode6.DisplayMember = "Value";
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try
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{
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CMB_fmode1.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.param["FLTMODE1"].ToString()));
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CMB_fmode2.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.param["FLTMODE2"].ToString()));
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CMB_fmode3.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.param["FLTMODE3"].ToString()));
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CMB_fmode4.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.param["FLTMODE4"].ToString()));
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CMB_fmode5.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.param["FLTMODE5"].ToString()));
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CMB_fmode6.Text = Common.aprovermodes.MANUAL.ToString();
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CMB_fmode6.Enabled = false;
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}
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catch { }
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} else if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
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{
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var flightModes = EnumTranslator.Translate<Common.ac2modes>();
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CMB_fmode1.DataSource = flightModes.ToList();
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CMB_fmode1.ValueMember = "Key";
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CMB_fmode1.DisplayMember = "Value";
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CMB_fmode2.DataSource = flightModes.ToList();
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CMB_fmode2.ValueMember = "Key";
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CMB_fmode2.DisplayMember = "Value";
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CMB_fmode3.DataSource = flightModes.ToList();
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CMB_fmode3.ValueMember = "Key";
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CMB_fmode3.DisplayMember = "Value";
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CMB_fmode4.DataSource = flightModes.ToList();
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CMB_fmode4.ValueMember = "Key";
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CMB_fmode4.DisplayMember = "Value";
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CMB_fmode5.DataSource = flightModes.ToList();
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CMB_fmode5.ValueMember = "Key";
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CMB_fmode5.DisplayMember = "Value";
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CMB_fmode6.DataSource = flightModes.ToList();
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CMB_fmode6.ValueMember = "Key";
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CMB_fmode6.DisplayMember = "Value";
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try
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{
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CMB_fmode1.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE1"].ToString()));
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CMB_fmode2.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE2"].ToString()));
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CMB_fmode3.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE3"].ToString()));
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CMB_fmode4.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE4"].ToString()));
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CMB_fmode5.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE5"].ToString()));
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CMB_fmode6.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE6"].ToString()));
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CMB_fmode6.Enabled = true;
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int simple = int.Parse(MainV2.comPort.param["SIMPLE"].ToString());
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CB_simple1.Checked = ((simple >> 0 & 1) == 1);
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CB_simple2.Checked = ((simple >> 1 & 1) == 1);
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CB_simple3.Checked = ((simple >> 2 & 1) == 1);
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CB_simple4.Checked = ((simple >> 3 & 1) == 1);
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CB_simple5.Checked = ((simple >> 4 & 1) == 1);
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CB_simple6.Checked = ((simple >> 5 & 1) == 1);
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}
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catch { }
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}
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timer.Tick += new EventHandler(timer_Tick);
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timer.Enabled = true;
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timer.Interval = 100;
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timer.Start();
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}
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}
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}
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