mirror of https://github.com/ArduPilot/ardupilot
365 lines
13 KiB
C#
365 lines
13 KiB
C#
using System;
|
|
using System.Collections.Generic;
|
|
using System.ComponentModel;
|
|
using System.Drawing;
|
|
using System.Data;
|
|
using System.Linq;
|
|
using System.Text;
|
|
using System.Windows.Forms;
|
|
using ArdupilotMega.Controls.BackstageView;
|
|
using ArdupilotMega.Controls;
|
|
|
|
namespace ArdupilotMega.GCSViews.ConfigurationView
|
|
{
|
|
public partial class ConfigRadioInput : UserControl, IActivate, IDeactivate
|
|
{
|
|
bool startup = false;
|
|
bool run = false;
|
|
|
|
float[] rcmin = new float[8];
|
|
float[] rcmax = new float[8];
|
|
float[] rctrim = new float[8];
|
|
|
|
Timer timer = new Timer();
|
|
|
|
public ConfigRadioInput()
|
|
{
|
|
InitializeComponent();
|
|
|
|
// setup rc calib extents
|
|
for (int a = 0; a < rcmin.Length; a++)
|
|
{
|
|
rcmin[a] = 3000;
|
|
rcmax[a] = 0;
|
|
rctrim[a] = 1500;
|
|
}
|
|
|
|
// setup rc update
|
|
timer.Tick += new EventHandler(timer_Tick);
|
|
}
|
|
|
|
public void Deactivate()
|
|
{
|
|
timer.Stop();
|
|
}
|
|
|
|
void timer_Tick(object sender, EventArgs e)
|
|
{
|
|
// update all linked controls - 10hz
|
|
try
|
|
{
|
|
MainV2.cs.UpdateCurrentSettings(currentStateBindingSource);
|
|
}
|
|
catch { }
|
|
}
|
|
|
|
public void Activate()
|
|
{
|
|
timer.Enabled = true;
|
|
timer.Interval = 100;
|
|
timer.Start();
|
|
|
|
startup = true;
|
|
|
|
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
|
|
{
|
|
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
|
|
}
|
|
else
|
|
{
|
|
groupBoxElevons.Visible = false;
|
|
}
|
|
try
|
|
{
|
|
CHK_revch1.Checked = MainV2.comPort.param["RC1_REV"].ToString() == "-1";
|
|
CHK_revch2.Checked = MainV2.comPort.param["RC2_REV"].ToString() == "-1";
|
|
CHK_revch3.Checked = MainV2.comPort.param["RC3_REV"].ToString() == "-1";
|
|
CHK_revch4.Checked = MainV2.comPort.param["RC4_REV"].ToString() == "-1";
|
|
}
|
|
catch (Exception ex) { CustomMessageBox.Show("Missing RC rev Param " + ex.ToString()); }
|
|
startup = false;
|
|
}
|
|
|
|
private void BUT_Calibrateradio_Click(object sender, EventArgs e)
|
|
{
|
|
if (run)
|
|
{
|
|
BUT_Calibrateradio.Text = "Completed";
|
|
run = false;
|
|
return;
|
|
}
|
|
|
|
CustomMessageBox.Show("Ensure your transmitter is on and receiver is powered and connected\nEnsure your motor does not have power/no props!!!");
|
|
|
|
byte oldrc = MainV2.cs.raterc;
|
|
byte oldatt = MainV2.cs.rateattitude;
|
|
byte oldpos = MainV2.cs.rateposition;
|
|
byte oldstatus = MainV2.cs.ratestatus;
|
|
|
|
MainV2.cs.raterc = 10;
|
|
MainV2.cs.rateattitude = 0;
|
|
MainV2.cs.rateposition = 0;
|
|
MainV2.cs.ratestatus = 0;
|
|
|
|
try
|
|
{
|
|
|
|
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.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);
|
|
|
|
// check for non 0 values
|
|
if (MainV2.cs.ch1in > 800 && MainV2.cs.ch1in < 2200)
|
|
{
|
|
rcmin[0] = Math.Min(rcmin[0], MainV2.cs.ch1in);
|
|
rcmax[0] = Math.Max(rcmax[0], MainV2.cs.ch1in);
|
|
|
|
rcmin[1] = Math.Min(rcmin[1], MainV2.cs.ch2in);
|
|
rcmax[1] = Math.Max(rcmax[1], MainV2.cs.ch2in);
|
|
|
|
rcmin[2] = Math.Min(rcmin[2], MainV2.cs.ch3in);
|
|
rcmax[2] = Math.Max(rcmax[2], MainV2.cs.ch3in);
|
|
|
|
rcmin[3] = Math.Min(rcmin[3], MainV2.cs.ch4in);
|
|
rcmax[3] = Math.Max(rcmax[3], MainV2.cs.ch4in);
|
|
|
|
rcmin[4] = Math.Min(rcmin[4], MainV2.cs.ch5in);
|
|
rcmax[4] = Math.Max(rcmax[4], MainV2.cs.ch5in);
|
|
|
|
rcmin[5] = Math.Min(rcmin[5], MainV2.cs.ch6in);
|
|
rcmax[5] = Math.Max(rcmax[5], MainV2.cs.ch6in);
|
|
|
|
rcmin[6] = Math.Min(rcmin[6], MainV2.cs.ch7in);
|
|
rcmax[6] = Math.Max(rcmax[6], MainV2.cs.ch7in);
|
|
|
|
rcmin[7] = Math.Min(rcmin[7], MainV2.cs.ch8in);
|
|
rcmax[7] = Math.Max(rcmax[7], MainV2.cs.ch8in);
|
|
|
|
BARroll.minline = (int)rcmin[0];
|
|
BARroll.maxline = (int)rcmax[0];
|
|
|
|
BARpitch.minline = (int)rcmin[1];
|
|
BARpitch.maxline = (int)rcmax[1];
|
|
|
|
BARthrottle.minline = (int)rcmin[2];
|
|
BARthrottle.maxline = (int)rcmax[2];
|
|
|
|
BARyaw.minline = (int)rcmin[3];
|
|
BARyaw.maxline = (int)rcmax[3];
|
|
|
|
BAR5.minline = (int)rcmin[4];
|
|
BAR5.maxline = (int)rcmax[4];
|
|
|
|
BAR6.minline = (int)rcmin[5];
|
|
BAR6.maxline = (int)rcmax[5];
|
|
|
|
BAR7.minline = (int)rcmin[6];
|
|
BAR7.maxline = (int)rcmax[6];
|
|
|
|
BAR8.minline = (int)rcmin[7];
|
|
BAR8.maxline = (int)rcmax[7];
|
|
|
|
}
|
|
}
|
|
|
|
CustomMessageBox.Show("Ensure all your sticks are centered and throttle is down, and click ok to continue");
|
|
|
|
MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true, MainV2.comPort);
|
|
|
|
rctrim[0] = MainV2.cs.ch1in;
|
|
rctrim[1] = MainV2.cs.ch2in;
|
|
rctrim[2] = MainV2.cs.ch3in;
|
|
rctrim[3] = MainV2.cs.ch4in;
|
|
rctrim[4] = MainV2.cs.ch5in;
|
|
rctrim[5] = MainV2.cs.ch6in;
|
|
rctrim[6] = MainV2.cs.ch7in;
|
|
rctrim[7] = MainV2.cs.ch8in;
|
|
|
|
string data = "---------------\n";
|
|
|
|
for (int a = 0; a < 8; a++)
|
|
{
|
|
// we want these to save no matter what
|
|
BUT_Calibrateradio.Text = "Saving";
|
|
try
|
|
{
|
|
if (rcmin[a] != rcmax[a])
|
|
{
|
|
MainV2.comPort.setParam("RC" + (a + 1).ToString("0") + "_MIN", rcmin[a]);
|
|
MainV2.comPort.setParam("RC" + (a + 1).ToString("0") + "_MAX", rcmax[a]);
|
|
}
|
|
if (rctrim[a] < 1195 || rctrim[a] > 1205)
|
|
MainV2.comPort.setParam("RC" + (a + 1).ToString("0") + "_TRIM", rctrim[a]);
|
|
}
|
|
catch { CustomMessageBox.Show("Failed to set Channel " + (a + 1).ToString()); }
|
|
|
|
data = data + "CH" + (a + 1) + " " + rcmin[a] + " | " + rcmax[a] + "\n";
|
|
}
|
|
|
|
MainV2.cs.raterc = oldrc;
|
|
MainV2.cs.rateattitude = oldatt;
|
|
MainV2.cs.rateposition = oldpos;
|
|
MainV2.cs.ratestatus = oldstatus;
|
|
|
|
try
|
|
{
|
|
|
|
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, oldrc);
|
|
|
|
}
|
|
catch { }
|
|
|
|
CustomMessageBox.Show("Here are the detected radio options\nNOTE Channels not connected are displayed as 1500 +-2\nNormal values are around 1100 | 1900\nChannel:Min | Max \n" + data, "Radio");
|
|
|
|
BUT_Calibrateradio.Text = "Completed";
|
|
}
|
|
|
|
private void CHK_mixmode_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
try
|
|
{
|
|
if (MainV2.comPort.param["ELEVON_MIXING"] == null)
|
|
{
|
|
CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("ELEVON_MIXING", ((CheckBox)sender).Checked == true ? 1 : 0);
|
|
}
|
|
}
|
|
catch { CustomMessageBox.Show("Set ELEVON_MIXING Failed"); }
|
|
}
|
|
|
|
private void CHK_elevonrev_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
try
|
|
{
|
|
if (MainV2.comPort.param["ELEVON_REVERSE"] == null)
|
|
{
|
|
CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("ELEVON_REVERSE", ((CheckBox)sender).Checked == true ? 1 : 0);
|
|
}
|
|
}
|
|
catch { CustomMessageBox.Show("Set ELEVON_REVERSE Failed"); }
|
|
}
|
|
|
|
private void CHK_elevonch1rev_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
try
|
|
{
|
|
if (MainV2.comPort.param["ELEVON_CH1_REV"] == null)
|
|
{
|
|
CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("ELEVON_CH1_REV", ((CheckBox)sender).Checked == true ? 1 : 0);
|
|
}
|
|
}
|
|
catch { CustomMessageBox.Show("Set ELEVON_CH1_REV Failed"); }
|
|
}
|
|
|
|
private void CHK_elevonch2rev_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
try
|
|
{
|
|
if (MainV2.comPort.param["ELEVON_CH2_REV"] == null)
|
|
{
|
|
CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
|
|
}
|
|
else
|
|
{
|
|
MainV2.comPort.setParam("ELEVON_CH2_REV", ((CheckBox)sender).Checked == true ? 1 : 0);
|
|
}
|
|
}
|
|
catch { CustomMessageBox.Show("Set ELEVON_CH2_REV Failed"); }
|
|
}
|
|
|
|
private void 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);
|
|
}
|
|
|
|
void reverseChannel(string name, bool normalreverse, Control progressbar)
|
|
{
|
|
if (normalreverse == true)
|
|
{
|
|
((HorizontalProgressBar2)progressbar).reverse = true;
|
|
((HorizontalProgressBar2)progressbar).BackgroundColor = Color.FromArgb(148, 193, 31);
|
|
((HorizontalProgressBar2)progressbar).ValueColor = Color.FromArgb(0x43, 0x44, 0x45);
|
|
}
|
|
else
|
|
{
|
|
((HorizontalProgressBar2)progressbar).reverse = false;
|
|
((HorizontalProgressBar2)progressbar).BackgroundColor = Color.FromArgb(0x43, 0x44, 0x45);
|
|
((HorizontalProgressBar2)progressbar).ValueColor = Color.FromArgb(148, 193, 31);
|
|
}
|
|
|
|
if (startup)
|
|
return;
|
|
if (MainV2.comPort.param["SWITCH_ENABLE"] != null && (float)MainV2.comPort.param["SWITCH_ENABLE"] == 1)
|
|
{
|
|
try
|
|
{
|
|
MainV2.comPort.setParam("SWITCH_ENABLE", 0);
|
|
CustomMessageBox.Show("Disabled Dip Switchs");
|
|
}
|
|
catch { CustomMessageBox.Show("Error Disableing Dip Switch"); }
|
|
}
|
|
try
|
|
{
|
|
int i = normalreverse == false ? 1 : -1;
|
|
MainV2.comPort.setParam(name, i);
|
|
}
|
|
catch { CustomMessageBox.Show("Error Reversing"); }
|
|
}
|
|
}
|
|
}
|