mirror of https://github.com/ArduPilot/ardupilot
1202 lines
46 KiB
C#
1202 lines
46 KiB
C#
using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Drawing;
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using System.Text;
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using System.Windows.Forms;
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using System.IO;
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using System.IO.Ports;
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using System.Text.RegularExpressions;
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using System.Collections;
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using System.Globalization;
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using System.Threading;
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using DirectShowLib;
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using System.Runtime.InteropServices;
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namespace ArdupilotMega.GCSViews
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{
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public partial class Configuration : MyUserControl
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{
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Hashtable param = new Hashtable();
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Hashtable changes = new Hashtable();
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static Hashtable tooltips = new Hashtable();
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internal bool startup = true;
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List<CultureInfo> languages = new List<CultureInfo>();
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public class GCSBitmapInfo
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{
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public int Width { get; set; }
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public int Height { get; set; }
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public long Fps { get; set; }
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public string Standard { get; set; }
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public AMMediaType Media { get; set; }
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public GCSBitmapInfo(int width, int height, long fps, string standard, AMMediaType media)
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{
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Width = width;
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Height = height;
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Fps = fps;
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Standard = standard;
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Media = media;
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}
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public override string ToString()
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{
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return Width.ToString() + " x " + Height.ToString() + String.Format(" {0:0.00} fps ", 10000000.0 / Fps) + Standard;
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}
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}
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public struct paramsettings // hk's
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{
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public string name;
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public float minvalue;
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public float maxvalue;
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public float normalvalue;
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public float scale;
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public string desc;
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}
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public Configuration()
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{
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InitializeComponent();
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//this.Width = this.Parent.Width;
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//this.Height = this.Parent.Height;
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// fix for dup name
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//XTRK_ANGLE_CD1.Name = "XTRK_ANGLE_CD";
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XTRK_GAIN_SC1.Name = "XTRK_GAIN_SC";
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// enable disable relevbant hardware tabs
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if (MainV2.APMFirmware == MainV2.Firmwares.ArduPlane)
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{
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this.ConfigTabs.SuspendLayout();
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ConfigTabs.SelectedIndex = 0;
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TabAP.Enabled = true;
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TabAC.Enabled = false;
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this.ConfigTabs.ResumeLayout();
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}
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else
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{
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this.ConfigTabs.SuspendLayout();
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ConfigTabs.SelectedIndex = 1;
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TabAP.Enabled = false;
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TabAC.Enabled = true;
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this.ConfigTabs.ResumeLayout();
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}
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}
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private void Configuration_Load(object sender, EventArgs e)
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{
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startup = true;
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// read tooltips
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if (tooltips.Count == 0)
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readToolTips();
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// ensure the fields are populated before setting them
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CH7_OPT.DataSource = Enum.GetNames(typeof(Common.ac2ch7modes));
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TUNE.DataSource = Enum.GetNames(typeof(Common.ac2ch6modes));
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// prefill all fields
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param = MainV2.comPort.param;
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processToScreen();
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// setup up camera button states
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if (MainV2.cam != null)
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{
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BUT_videostart.Enabled = false;
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CHK_hudshow.Checked = GCSViews.FlightData.myhud.hudon;
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}
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else
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{
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BUT_videostart.Enabled = true;
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}
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// setup speech states
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if (MainV2.config["speechenable"] != null)
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CHK_enablespeech.Checked = bool.Parse(MainV2.config["speechenable"].ToString());
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if (MainV2.config["speechwaypointenabled"] != null)
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CHK_speechwaypoint.Checked = bool.Parse(MainV2.config["speechwaypointenabled"].ToString());
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if (MainV2.config["speechmodeenabled"] != null)
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CHK_speechmode.Checked = bool.Parse(MainV2.config["speechmodeenabled"].ToString());
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if (MainV2.config["speechcustomenabled"] != null)
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CHK_speechcustom.Checked = bool.Parse(MainV2.config["speechcustomenabled"].ToString());
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if (MainV2.config["speechbatteryenabled"] != null)
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CHK_speechbattery.Checked = bool.Parse(MainV2.config["speechbatteryenabled"].ToString());
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if (MainV2.config["speechaltenabled"] != null)
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CHK_speechaltwarning.Checked = bool.Parse(MainV2.config["speechaltenabled"].ToString());
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// this can't fail because it set at startup
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NUM_tracklength.Value = int.Parse(MainV2.config["NUM_tracklength"].ToString());
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// get wps on connect
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if (MainV2.config["loadwpsonconnect"] != null)
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CHK_loadwponconnect.Checked = bool.Parse(MainV2.config["loadwpsonconnect"].ToString());
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// setup other config state
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if (MainV2.config["CHK_resetapmonconnect"] != null)
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CHK_resetapmonconnect.Checked = bool.Parse(MainV2.config["CHK_resetapmonconnect"].ToString());
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CMB_rateattitude.Text = MainV2.cs.rateattitude.ToString();
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CMB_rateposition.Text = MainV2.cs.rateposition.ToString();
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CMB_raterc.Text = MainV2.cs.raterc.ToString();
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CMB_ratestatus.Text = MainV2.cs.ratestatus.ToString();
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CMB_ratesensors.Text = MainV2.cs.ratesensors.ToString();
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if (MainV2.config["CHK_GDIPlus"] != null)
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CHK_GDIPlus.Checked = bool.Parse(MainV2.config["CHK_GDIPlus"].ToString());
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//set hud color state
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string hudcolor = (string)MainV2.config["hudcolor"];
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CMB_osdcolor.DataSource = Enum.GetNames(typeof(KnownColor));
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if (hudcolor != null)
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{
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int index = CMB_osdcolor.Items.IndexOf(hudcolor);
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CMB_osdcolor.SelectedIndex = index;
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}
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else
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{
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int index = CMB_osdcolor.Items.IndexOf("White");
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CMB_osdcolor.SelectedIndex = index;
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}
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// set distance/speed unit states
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CMB_distunits.DataSource = Enum.GetNames(typeof(Common.distances));
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CMB_speedunits.DataSource = Enum.GetNames(typeof(Common.speeds));
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if (MainV2.config["distunits"] != null)
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CMB_distunits.Text = MainV2.config["distunits"].ToString();
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if (MainV2.config["speedunits"] != null)
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CMB_speedunits.Text = MainV2.config["speedunits"].ToString();
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// setup language selection
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CultureInfo ci = null;
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foreach (string name in new string[] { "en-US", "zh-Hans", "zh-TW", "ru-RU", "Fr", "Pl", "it-IT", "es-ES" })
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{
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ci = CultureInfoEx.GetCultureInfo(name);
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if (ci != null)
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languages.Add(ci);
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}
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CMB_language.DisplayMember = "DisplayName";
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CMB_language.DataSource = languages;
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ci = Thread.CurrentThread.CurrentUICulture;
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for (int i = 0; i < languages.Count; i++)
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{
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if (ci.IsChildOf(languages[i]))
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{
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CMB_language.SelectedIndex = i;
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break;
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}
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}
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CMB_language.SelectedIndexChanged += CMB_language_SelectedIndexChanged;
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startup = false;
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}
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string[] genpids()
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{
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List<string> temp = new List<string>();
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// pids
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for (double a = 8.00; a >= -0.001; a -= 0.001)
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{
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temp.Add(a.ToString("0.0##"));
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}
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// Nav angles + throttle
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for (int a = 100; a >= -90; a -= 1)
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{
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temp.Add(a.ToString("0.0#"));
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}
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// imax
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for (int a = 8000; a >= -4500; a -= 100)
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{
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temp.Add(a.ToString("0.0#"));
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}
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// FS pulse
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for (int a = 1200; a >= 900; a -= 1)
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{
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temp.Add(a.ToString("0.0#"));
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}
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return temp.ToArray();
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}
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void readToolTips()
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{
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System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Configuration));
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string data = resources.GetString("MAVParam");
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if (data == null)
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{
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data = global::ArdupilotMega.Properties.Resources.MAVParam;
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}
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string[] tips = data.Split(new char[] { '\r', '\n' }, StringSplitOptions.RemoveEmptyEntries);
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foreach (var tip in tips)
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{
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if (!tip.StartsWith("||"))
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continue;
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string[] cols = tip.Split(new string[] { "||" }, 9, StringSplitOptions.None);
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if (cols.Length >= 8)
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{
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paramsettings param = new paramsettings();
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try
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{
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param.name = cols[1];
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param.desc = AddNewLinesForTooltip(cols[7]);
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param.scale = float.Parse(cols[5]);
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param.minvalue = float.Parse(cols[2]);
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param.maxvalue = float.Parse(cols[3]);
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param.normalvalue = float.Parse(cols[4]);
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}
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catch { }
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tooltips[cols[1]] = param;
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}
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}
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}
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// from http://stackoverflow.com/questions/2512781/winforms-big-paragraph-tooltip/2512895#2512895
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private const int maximumSingleLineTooltipLength = 50;
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private static string AddNewLinesForTooltip(string text)
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{
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if (text.Length < maximumSingleLineTooltipLength)
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return text;
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int lineLength = (int)Math.Sqrt((double)text.Length) * 2;
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StringBuilder sb = new StringBuilder();
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int currentLinePosition = 0;
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for (int textIndex = 0; textIndex < text.Length; textIndex++)
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{
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// If we have reached the target line length and the next
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// character is whitespace then begin a new line.
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if (currentLinePosition >= lineLength &&
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char.IsWhiteSpace(text[textIndex]))
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{
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sb.Append(Environment.NewLine);
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currentLinePosition = 0;
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}
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// If we have just started a new line, skip all the whitespace.
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if (currentLinePosition == 0)
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while (textIndex < text.Length && char.IsWhiteSpace(text[textIndex]))
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textIndex++;
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// Append the next character.
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if (textIndex < text.Length) sb.Append(text[textIndex]);
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currentLinePosition++;
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}
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return sb.ToString();
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}
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void disableNumericUpDownControls(Control inctl)
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{
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foreach (Control ctl in inctl.Controls)
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{
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if (ctl.Controls.Count > 0)
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{
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disableNumericUpDownControls(ctl);
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}
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if (ctl.GetType() == typeof(NumericUpDown))
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{
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ctl.Enabled = false;
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}
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}
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}
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internal void processToScreen()
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{
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toolTip1.RemoveAll();
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Params.Rows.Clear();
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disableNumericUpDownControls(TabAC);
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disableNumericUpDownControls(TabAP);
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// process hashdefines and update display
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foreach (string value in param.Keys)
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{
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if (value == null || value == "")
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continue;
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//System.Diagnostics.Debug.WriteLine("Doing: " + value);
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Params.Rows.Add();
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Params.Rows[Params.RowCount - 1].Cells[Command.Index].Value = value;
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Params.Rows[Params.RowCount - 1].Cells[Value.Index].Value = ((float)param[value]).ToString("0.###");
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try
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{
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if (tooltips[value] != null)
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{
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Params.Rows[Params.RowCount - 1].Cells[Command.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
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//Params.Rows[Params.RowCount - 1].Cells[RawValue.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
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Params.Rows[Params.RowCount - 1].Cells[Value.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
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//Params.Rows[Params.RowCount - 1].Cells[Default.Index].Value = ((paramsettings)tooltips[value]).normalvalue;
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//Params.Rows[Params.RowCount - 1].Cells[mavScale.Index].Value = ((paramsettings)tooltips[value]).scale;
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//Params.Rows[Params.RowCount - 1].Cells[Value.Index].Value = float.Parse(Params.Rows[Params.RowCount - 1].Cells[RawValue.Index].Value.ToString()) / float.Parse(Params.Rows[Params.RowCount - 1].Cells[mavScale.Index].Value.ToString());
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}
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}
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catch { }
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string name = value;
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Control[] text = this.Controls.Find(name, true);
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foreach (Control ctl in text)
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{
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try
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{
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if (ctl.GetType() == typeof(NumericUpDown))
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{
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NumericUpDown thisctl = ((NumericUpDown)ctl);
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thisctl.Maximum = 9000;
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thisctl.Minimum = -9000;
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thisctl.Value = (decimal)(float)param[value];
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thisctl.Increment = (decimal)0.001;
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if (thisctl.Name.EndsWith("_P") || thisctl.Name.EndsWith("_I") || thisctl.Name.EndsWith("_D")
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|| thisctl.Name.EndsWith("_LOW") || thisctl.Name.EndsWith("_HIGH") || thisctl.Value == 0
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|| thisctl.Value.ToString("0.###", new System.Globalization.CultureInfo("en-US")).Contains("."))
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{
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thisctl.DecimalPlaces = 3;
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}
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else
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{
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thisctl.Increment = (decimal)1;
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thisctl.DecimalPlaces = 1;
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}
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if (thisctl.Name.EndsWith("_IMAX"))
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{
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thisctl.Maximum = 180;
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thisctl.Minimum = -180;
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}
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thisctl.Enabled = true;
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thisctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
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thisctl.Validated += null;
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if (tooltips[value] != null)
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{
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try
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{
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toolTip1.SetToolTip(ctl, ((paramsettings)tooltips[value]).desc);
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}
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catch { }
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}
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thisctl.Validated += new EventHandler(EEPROM_View_float_TextChanged);
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}
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else if (ctl.GetType() == typeof(ComboBox))
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{
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ComboBox thisctl = ((ComboBox)ctl);
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thisctl.SelectedIndex = (int)(float)param[value];
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thisctl.Validated += new EventHandler(ComboBox_Validated);
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}
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}
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catch { }
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}
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if (text.Length == 0)
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{
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//Console.WriteLine(name + " not found");
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}
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}
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Params.Sort(Params.Columns[0], ListSortDirection.Ascending);
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}
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void ComboBox_Validated(object sender, EventArgs e)
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{
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EEPROM_View_float_TextChanged(sender, e);
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}
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void Configuration_Validating(object sender, CancelEventArgs e)
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{
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EEPROM_View_float_TextChanged(sender, e);
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}
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internal void EEPROM_View_float_TextChanged(object sender, EventArgs e)
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{
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float value = 0;
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string name = ((Control)sender).Name;
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// do domainupdown state check
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try
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{
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if (sender.GetType() == typeof(NumericUpDown))
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{
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value = float.Parse(((Control)sender).Text);
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changes[name] = value;
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}
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else if (sender.GetType() == typeof(ComboBox))
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{
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value = ((ComboBox)sender).SelectedIndex;
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changes[name] = value;
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}
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((Control)sender).BackColor = Color.Green;
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}
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catch (Exception)
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{
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((Control)sender).BackColor = Color.Red;
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}
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try
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{
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// enable roll and pitch pairing for ac2
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if (CHK_lockrollpitch.Checked)
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{
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if (name.StartsWith("RATE_") || name.StartsWith("STB_") || name.StartsWith("ACRO_"))
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{
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if (name.Contains("_RLL_"))
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{
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string newname = name.Replace("_RLL_", "_PIT_");
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foreach (DataGridViewRow row in Params.Rows)
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{
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if (row.Cells[0].Value.ToString() == newname)
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{
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row.Cells[1].Value = float.Parse(((Control)sender).Text);
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break;
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}
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}
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}
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else if (name.Contains("_PIT_"))
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{
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string newname = name.Replace("_PIT_", "_RLL_");
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foreach (DataGridViewRow row in Params.Rows)
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{
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if (row.Cells[0].Value.ToString() == newname)
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{
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row.Cells[1].Value = float.Parse(((Control)sender).Text);
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break;
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}
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}
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}
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}
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}
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// keep nav_lat and nav_lon paired
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if (name.Contains("NAV_LAT_"))
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{
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string newname = name.Replace("NAV_LAT_", "NAV_LON_");
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foreach (DataGridViewRow row in Params.Rows)
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{
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if (row.Cells[0].Value.ToString() == newname)
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{
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row.Cells[1].Value = float.Parse(((Control)sender).Text);
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break;
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}
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}
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}
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// keep nav_lat and nav_lon paired
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if (name.Contains("HLD_LAT_"))
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{
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string newname = name.Replace("HLD_LAT_", "HLD_LON_");
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foreach (DataGridViewRow row in Params.Rows)
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{
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if (row.Cells[0].Value.ToString() == newname)
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{
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row.Cells[1].Value = float.Parse(((Control)sender).Text);
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break;
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}
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}
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}
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}
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catch { }
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try
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{
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// set param table as well
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foreach (DataGridViewRow row in Params.Rows)
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{
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if (row.Cells[0].Value.ToString() == name)
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{
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if (sender.GetType() == typeof(NumericUpDown))
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{
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row.Cells[1].Value = float.Parse(((Control)sender).Text);
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}
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else if (sender.GetType() == typeof(ComboBox))
|
|
{
|
|
row.Cells[1].Value = ((ComboBox)sender).SelectedIndex;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
catch { }
|
|
//((Control)sender).Focus();
|
|
}
|
|
|
|
void Params_CellValueChanged(object sender, DataGridViewCellEventArgs e)
|
|
{
|
|
if (e.RowIndex == -1 || e.ColumnIndex == -1 || startup == true || e.ColumnIndex != 1)
|
|
return;
|
|
try
|
|
{
|
|
if (Params[Command.Index, e.RowIndex].Value.ToString().EndsWith("_REV") && (Params[Command.Index, e.RowIndex].Value.ToString().StartsWith("RC") || Params[Command.Index, e.RowIndex].Value.ToString().StartsWith("HS")))
|
|
{
|
|
if (Params[e.ColumnIndex, e.RowIndex].Value.ToString() == "0")
|
|
Params[e.ColumnIndex, e.RowIndex].Value = "-1";
|
|
}
|
|
|
|
Params[e.ColumnIndex, e.RowIndex].Style.BackColor = Color.Green;
|
|
changes[Params[0, e.RowIndex].Value] = float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString());
|
|
}
|
|
catch (Exception)
|
|
{
|
|
Params[e.ColumnIndex, e.RowIndex].Style.BackColor = Color.Red;
|
|
}
|
|
|
|
// set control as well
|
|
Control[] text = this.Controls.Find(Params[0, e.RowIndex].Value.ToString(), true);
|
|
try
|
|
{
|
|
if (text.Length > 0)
|
|
{
|
|
if (text[0].GetType() == typeof(NumericUpDown))
|
|
{
|
|
decimal option = (decimal)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString()));
|
|
((NumericUpDown)text[0]).Value = option;
|
|
((NumericUpDown)text[0]).BackColor = Color.Green;
|
|
}
|
|
else if (text[0].GetType() == typeof(ComboBox))
|
|
{
|
|
int option = (int)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString()));
|
|
((ComboBox)text[0]).SelectedIndex = option;
|
|
((ComboBox)text[0]).BackColor = Color.Green;
|
|
}
|
|
}
|
|
}
|
|
catch { ((Control)text[0]).BackColor = Color.Red; }
|
|
|
|
Params.Focus();
|
|
}
|
|
|
|
private void BUT_load_Click(object sender, EventArgs e)
|
|
{
|
|
OpenFileDialog ofd = new OpenFileDialog();
|
|
ofd.AddExtension = true;
|
|
ofd.DefaultExt = ".param";
|
|
ofd.RestoreDirectory = true;
|
|
ofd.Filter = "Param List|*.param;*.parm";
|
|
DialogResult dr = ofd.ShowDialog();
|
|
if (dr == DialogResult.OK)
|
|
{
|
|
StreamReader sr = new StreamReader(ofd.OpenFile());
|
|
while (!sr.EndOfStream)
|
|
{
|
|
string line = sr.ReadLine();
|
|
|
|
if (line.Contains("NOTE:"))
|
|
CustomMessageBox.Show(line, "Saved Note");
|
|
|
|
int index = line.IndexOf(',');
|
|
|
|
int index2 = line.IndexOf(',', index + 1);
|
|
|
|
if (index == -1)
|
|
continue;
|
|
|
|
if (index2 != -1)
|
|
line = line.Replace(',', '.');
|
|
|
|
string name = line.Substring(0, index);
|
|
float value = float.Parse(line.Substring(index + 1), new System.Globalization.CultureInfo("en-US"));
|
|
|
|
MAVLink.modifyParamForDisplay(true, name, ref value);
|
|
|
|
// set param table as well
|
|
foreach (DataGridViewRow row in Params.Rows)
|
|
{
|
|
if (name == "SYSID_SW_MREV")
|
|
continue;
|
|
if (name == "WP_TOTAL")
|
|
continue;
|
|
if (name == "CMD_TOTAL")
|
|
continue;
|
|
if (name == "FENCE_TOTAL")
|
|
continue;
|
|
if (name == "SYS_NUM_RESETS")
|
|
continue;
|
|
if (name == "ARSPD_OFFSET")
|
|
continue;
|
|
if (name == "GND_ABS_PRESS")
|
|
continue;
|
|
if (name == "GND_TEMP")
|
|
continue;
|
|
if (name == "CMD_INDEX")
|
|
continue;
|
|
if (name == "LOG_LASTFILE")
|
|
continue;
|
|
if (row.Cells[0].Value.ToString() == name)
|
|
{
|
|
if (row.Cells[1].Value.ToString() != value.ToString())
|
|
row.Cells[1].Value = value;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
sr.Close();
|
|
}
|
|
}
|
|
|
|
private void BUT_save_Click(object sender, EventArgs e)
|
|
{
|
|
SaveFileDialog sfd = new SaveFileDialog();
|
|
sfd.AddExtension = true;
|
|
sfd.DefaultExt = ".param";
|
|
sfd.RestoreDirectory = true;
|
|
sfd.Filter = "Param List|*.param;*.parm";
|
|
DialogResult dr = sfd.ShowDialog();
|
|
if (dr == DialogResult.OK)
|
|
{
|
|
StreamWriter sw = new StreamWriter(sfd.OpenFile());
|
|
string input = DateTime.Now + " Frame : + | Arducopter Kit | Kit motors";
|
|
if (MainV2.APMFirmware == MainV2.Firmwares.ArduPlane)
|
|
{
|
|
input = DateTime.Now + " Plane: Skywalker";
|
|
}
|
|
Common.InputBox("Custom Note", "Enter your Notes/Frame Type etc", ref input);
|
|
if (input != "")
|
|
sw.WriteLine("NOTE: " + input.Replace(',', '|'));
|
|
foreach (DataGridViewRow row in Params.Rows)
|
|
{
|
|
float value = float.Parse(row.Cells[1].Value.ToString());
|
|
|
|
MAVLink.modifyParamForDisplay(false, row.Cells[0].Value.ToString(), ref value);
|
|
|
|
sw.WriteLine(row.Cells[0].Value.ToString() + "," + value.ToString(new System.Globalization.CultureInfo("en-US")));
|
|
}
|
|
sw.Close();
|
|
}
|
|
}
|
|
|
|
private void BUT_writePIDS_Click(object sender, EventArgs e)
|
|
{
|
|
|
|
Hashtable temp = (Hashtable)changes.Clone();
|
|
|
|
foreach (string value in temp.Keys)
|
|
{
|
|
try
|
|
{
|
|
MainV2.comPort.setParam(value, (float)changes[value]);
|
|
|
|
try
|
|
{
|
|
// set control as well
|
|
Control[] text = this.Controls.Find(value, true);
|
|
if (text.Length > 0)
|
|
{
|
|
((Control)text[0]).BackColor = Color.FromArgb(0x43, 0x44, 0x45);
|
|
}
|
|
}
|
|
catch { }
|
|
|
|
try
|
|
{
|
|
// set param table as well
|
|
foreach (DataGridViewRow row in Params.Rows)
|
|
{
|
|
if (row.Cells[0].Value.ToString() == value)
|
|
{
|
|
row.Cells[1].Style.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
|
|
changes.Remove(value);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
catch { }
|
|
|
|
}
|
|
catch { CustomMessageBox.Show("Set " + value + " Failed"); }
|
|
}
|
|
}
|
|
|
|
const float rad2deg = (float)(180 / Math.PI);
|
|
const float deg2rad = (float)(1.0 / rad2deg);
|
|
|
|
private void Planner_TabIndexChanged(object sender, EventArgs e)
|
|
{
|
|
if (ConfigTabs.SelectedTab == TabSetup)
|
|
{
|
|
if (!MainV2.comPort.BaseStream.IsOpen)
|
|
{
|
|
CustomMessageBox.Show("Please Connect First");
|
|
ConfigTabs.SelectedIndex = 0;
|
|
}
|
|
else
|
|
{
|
|
|
|
Setup.Setup temp = new Setup.Setup();
|
|
|
|
temp.Configuration = this;
|
|
|
|
ThemeManager.ApplyThemeTo(temp);
|
|
|
|
temp.ShowDialog();
|
|
|
|
startup = true;
|
|
processToScreen();
|
|
startup = false;
|
|
}
|
|
}
|
|
}
|
|
|
|
private void BUT_videostart_Click(object sender, EventArgs e)
|
|
{
|
|
// stop first
|
|
BUT_videostop_Click(sender, e);
|
|
|
|
GCSBitmapInfo bmp = (GCSBitmapInfo)CMB_videoresolutions.SelectedItem;
|
|
|
|
try
|
|
{
|
|
MainV2.cam = new WebCamService.Capture(CMB_videosources.SelectedIndex, bmp.Media);
|
|
|
|
MainV2.cam.showhud = CHK_hudshow.Checked;
|
|
|
|
MainV2.cam.Start();
|
|
|
|
MainV2.config["video_options"] = CMB_videoresolutions.SelectedIndex;
|
|
|
|
BUT_videostart.Enabled = false;
|
|
}
|
|
catch (Exception ex) { CustomMessageBox.Show("Camera Fail: " + ex.Message); }
|
|
|
|
}
|
|
|
|
private void BUT_videostop_Click(object sender, EventArgs e)
|
|
{
|
|
BUT_videostart.Enabled = true;
|
|
if (MainV2.cam != null)
|
|
{
|
|
MainV2.cam.Dispose();
|
|
MainV2.cam = null;
|
|
}
|
|
}
|
|
|
|
private void CMB_videosources_MouseClick(object sender, MouseEventArgs e)
|
|
{
|
|
// the reason why i dont populate this list is because on linux/mac this call will fail.
|
|
WebCamService.Capture capt = new WebCamService.Capture();
|
|
|
|
List<string> devices = WebCamService.Capture.getDevices();
|
|
|
|
CMB_videosources.DataSource = devices;
|
|
|
|
capt.Dispose();
|
|
}
|
|
|
|
private void CMB_videosources_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
int hr;
|
|
int count;
|
|
int size;
|
|
object o;
|
|
IBaseFilter capFilter = null;
|
|
ICaptureGraphBuilder2 capGraph = null;
|
|
AMMediaType media = null;
|
|
VideoInfoHeader v;
|
|
VideoStreamConfigCaps c;
|
|
List<GCSBitmapInfo> modes = new List<GCSBitmapInfo>();
|
|
|
|
// Get the ICaptureGraphBuilder2
|
|
capGraph = (ICaptureGraphBuilder2)new CaptureGraphBuilder2();
|
|
IFilterGraph2 m_FilterGraph = (IFilterGraph2)new FilterGraph();
|
|
|
|
DsDevice[] capDevices;
|
|
capDevices = DsDevice.GetDevicesOfCat(FilterCategory.VideoInputDevice);
|
|
|
|
// Add the video device
|
|
hr = m_FilterGraph.AddSourceFilterForMoniker(capDevices[CMB_videosources.SelectedIndex].Mon, null, "Video input", out capFilter);
|
|
try
|
|
{
|
|
DsError.ThrowExceptionForHR(hr);
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
CustomMessageBox.Show("Can not add video source\n" + ex.ToString());
|
|
return;
|
|
}
|
|
|
|
// Find the stream config interface
|
|
hr = capGraph.FindInterface(PinCategory.Capture, MediaType.Video, capFilter, typeof(IAMStreamConfig).GUID, out o);
|
|
DsError.ThrowExceptionForHR(hr);
|
|
|
|
IAMStreamConfig videoStreamConfig = o as IAMStreamConfig;
|
|
if (videoStreamConfig == null)
|
|
{
|
|
throw new Exception("Failed to get IAMStreamConfig");
|
|
}
|
|
|
|
hr = videoStreamConfig.GetNumberOfCapabilities(out count, out size);
|
|
DsError.ThrowExceptionForHR(hr);
|
|
IntPtr TaskMemPointer = Marshal.AllocCoTaskMem(size);
|
|
for (int i = 0; i < count; i++)
|
|
{
|
|
IntPtr ptr = IntPtr.Zero;
|
|
|
|
hr = videoStreamConfig.GetStreamCaps(i, out media, TaskMemPointer);
|
|
v = (VideoInfoHeader)Marshal.PtrToStructure(media.formatPtr, typeof(VideoInfoHeader));
|
|
c = (VideoStreamConfigCaps)Marshal.PtrToStructure(TaskMemPointer, typeof(VideoStreamConfigCaps));
|
|
modes.Add(new GCSBitmapInfo(v.BmiHeader.Width, v.BmiHeader.Height, c.MaxFrameInterval, c.VideoStandard.ToString(), media));
|
|
}
|
|
Marshal.FreeCoTaskMem(TaskMemPointer);
|
|
DsUtils.FreeAMMediaType(media);
|
|
|
|
CMB_videoresolutions.DataSource = modes;
|
|
|
|
if (MainV2.getConfig("video_options") != "" && CMB_videosources.Text != "")
|
|
{
|
|
CMB_videoresolutions.SelectedIndex = int.Parse(MainV2.getConfig("video_options"));
|
|
}
|
|
}
|
|
|
|
private void CHK_hudshow_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
GCSViews.FlightData.myhud.hudon = CHK_hudshow.Checked;
|
|
}
|
|
|
|
private void CHK_enablespeech_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
MainV2.speechEnable = CHK_enablespeech.Checked;
|
|
MainV2.config["speechenable"] = CHK_enablespeech.Checked;
|
|
if (MainV2.speechEngine != null)
|
|
MainV2.speechEngine.SpeakAsyncCancelAll();
|
|
}
|
|
private void CMB_language_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
MainV2.instance.changelanguage((CultureInfo)CMB_language.SelectedItem);
|
|
|
|
#if !DEBUG
|
|
MessageBox.Show("Please Restart the Planner");
|
|
|
|
Application.Exit();
|
|
#endif
|
|
}
|
|
|
|
private void CMB_osdcolor_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
if (CMB_osdcolor.Text != "")
|
|
{
|
|
MainV2.config["hudcolor"] = CMB_osdcolor.Text;
|
|
GCSViews.FlightData.myhud.hudcolor = Color.FromKnownColor((KnownColor)Enum.Parse(typeof(KnownColor), CMB_osdcolor.Text));
|
|
}
|
|
}
|
|
|
|
private void CHK_speechwaypoint_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
MainV2.config["speechwaypointenabled"] = ((CheckBox)sender).Checked.ToString();
|
|
|
|
if (((CheckBox)sender).Checked)
|
|
{
|
|
string speechstring = "Heading to Waypoint {wpn}";
|
|
if (MainV2.config["speechwaypoint"] != null)
|
|
speechstring = MainV2.config["speechwaypoint"].ToString();
|
|
Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
|
|
MainV2.config["speechwaypoint"] = speechstring;
|
|
}
|
|
}
|
|
|
|
private void CHK_speechmode_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
MainV2.config["speechmodeenabled"] = ((CheckBox)sender).Checked.ToString();
|
|
|
|
if (((CheckBox)sender).Checked)
|
|
{
|
|
string speechstring = "Mode changed to {mode}";
|
|
if (MainV2.config["speechmode"] != null)
|
|
speechstring = MainV2.config["speechmode"].ToString();
|
|
Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
|
|
MainV2.config["speechmode"] = speechstring;
|
|
}
|
|
}
|
|
|
|
private void CHK_speechcustom_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
MainV2.config["speechcustomenabled"] = ((CheckBox)sender).Checked.ToString();
|
|
|
|
if (((CheckBox)sender).Checked)
|
|
{
|
|
string speechstring = "Heading to Waypoint {wpn}, altitude is {alt}, Ground speed is {gsp} ";
|
|
if (MainV2.config["speechcustom"] != null)
|
|
speechstring = MainV2.config["speechcustom"].ToString();
|
|
Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
|
|
MainV2.config["speechcustom"] = speechstring;
|
|
}
|
|
}
|
|
|
|
private void BUT_rerequestparams_Click(object sender, EventArgs e)
|
|
{
|
|
if (!MainV2.comPort.BaseStream.IsOpen)
|
|
return;
|
|
((MyButton)sender).Enabled = false;
|
|
try
|
|
{
|
|
|
|
MainV2.comPort.getParamList();
|
|
|
|
|
|
|
|
|
|
}
|
|
catch { CustomMessageBox.Show("Error: getting param list"); }
|
|
|
|
|
|
((MyButton)sender).Enabled = true;
|
|
startup = true;
|
|
Configuration_Load(null, null);
|
|
}
|
|
|
|
private void CHK_speechbattery_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
MainV2.config["speechbatteryenabled"] = ((CheckBox)sender).Checked.ToString();
|
|
|
|
if (((CheckBox)sender).Checked)
|
|
{
|
|
string speechstring = "WARNING, Battery at {batv} Volt";
|
|
if (MainV2.config["speechbattery"] != null)
|
|
speechstring = MainV2.config["speechbattery"].ToString();
|
|
Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
|
|
MainV2.config["speechbattery"] = speechstring;
|
|
|
|
speechstring = "9.6";
|
|
if (MainV2.config["speechbatteryvolt"] != null)
|
|
speechstring = MainV2.config["speechbatteryvolt"].ToString();
|
|
Common.InputBox("Battery Level", "What Voltage do you want to warn at?", ref speechstring);
|
|
MainV2.config["speechbatteryvolt"] = speechstring;
|
|
|
|
}
|
|
}
|
|
|
|
private void BUT_Joystick_Click(object sender, EventArgs e)
|
|
{
|
|
Form joy = new JoystickSetup();
|
|
ThemeManager.ApplyThemeTo(joy);
|
|
joy.Show();
|
|
}
|
|
|
|
private void CMB_distunits_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
MainV2.config["distunits"] = CMB_distunits.Text;
|
|
MainV2.instance.changeunits();
|
|
}
|
|
|
|
private void CMB_speedunits_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
MainV2.config["speedunits"] = CMB_speedunits.Text;
|
|
MainV2.instance.changeunits();
|
|
}
|
|
|
|
|
|
|
|
private void CMB_rateattitude_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
|
|
MainV2.cs.rateattitude = byte.Parse(((ComboBox)sender).Text);
|
|
}
|
|
|
|
private void CMB_rateposition_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
|
|
MainV2.cs.rateposition = byte.Parse(((ComboBox)sender).Text);
|
|
}
|
|
|
|
private void CMB_ratestatus_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
|
|
MainV2.cs.ratestatus = byte.Parse(((ComboBox)sender).Text);
|
|
}
|
|
|
|
private void CMB_raterc_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
|
|
MainV2.cs.raterc = byte.Parse(((ComboBox)sender).Text);
|
|
}
|
|
|
|
private void CHK_mavdebug_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
MainV2.comPort.debugmavlink = CHK_mavdebug.Checked;
|
|
}
|
|
|
|
private void CHK_resetapmonconnect_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
MainV2.config[((CheckBox)sender).Name] = ((CheckBox)sender).Checked.ToString();
|
|
}
|
|
|
|
private void CHK_speechaltwarning_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
MainV2.config["speechaltenabled"] = ((CheckBox)sender).Checked.ToString();
|
|
|
|
if (((CheckBox)sender).Checked)
|
|
{
|
|
string speechstring = "WARNING, low altitude {alt}";
|
|
if (MainV2.config["speechalt"] != null)
|
|
speechstring = MainV2.config["speechalt"].ToString();
|
|
Common.InputBox("Notification", "What do you want it to say?", ref speechstring);
|
|
MainV2.config["speechalt"] = speechstring;
|
|
|
|
speechstring = "2";
|
|
if (MainV2.config["speechaltheight"] != null)
|
|
speechstring = MainV2.config["speechaltheight"].ToString();
|
|
Common.InputBox("Min Alt", "What altitude do you want to warn at? (relative to home)", ref speechstring);
|
|
MainV2.config["speechaltheight"] = (double.Parse(speechstring) / MainV2.cs.multiplierdist).ToString(); // save as m
|
|
|
|
}
|
|
}
|
|
|
|
private void CMB_osdcolor_DrawItem(object sender, DrawItemEventArgs e)
|
|
{
|
|
if (e.Index < 0)
|
|
return;
|
|
|
|
Graphics g = e.Graphics;
|
|
Rectangle rect = e.Bounds;
|
|
Brush brush = null;
|
|
|
|
if ((e.State & DrawItemState.Selected) == 0)
|
|
brush = new SolidBrush(CMB_osdcolor.BackColor);
|
|
else
|
|
brush = SystemBrushes.Highlight;
|
|
|
|
g.FillRectangle(brush, rect);
|
|
|
|
brush = new SolidBrush(Color.FromName((string)CMB_osdcolor.Items[e.Index]));
|
|
|
|
g.FillRectangle(brush, rect.X + 2, rect.Y + 2, 30, rect.Height - 4);
|
|
g.DrawRectangle(Pens.Black, rect.X + 2, rect.Y + 2, 30, rect.Height - 4);
|
|
|
|
if ((e.State & DrawItemState.Selected) == 0)
|
|
brush = new SolidBrush(CMB_osdcolor.ForeColor);
|
|
else
|
|
brush = SystemBrushes.HighlightText;
|
|
g.DrawString(CMB_osdcolor.Items[e.Index].ToString(),
|
|
CMB_osdcolor.Font, brush, rect.X + 35, rect.Top + rect.Height - CMB_osdcolor.Font.Height);
|
|
}
|
|
|
|
private void NUM_tracklength_ValueChanged(object sender, EventArgs e)
|
|
{
|
|
MainV2.config["NUM_tracklength"] = NUM_tracklength.Value.ToString();
|
|
|
|
}
|
|
|
|
private void CHK_loadwponconnect_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
MainV2.config["loadwpsonconnect"] = CHK_loadwponconnect.Checked.ToString();
|
|
}
|
|
|
|
private void BUT_compare_Click(object sender, EventArgs e)
|
|
{
|
|
Hashtable param2 = new Hashtable();
|
|
|
|
OpenFileDialog ofd = new OpenFileDialog();
|
|
ofd.AddExtension = true;
|
|
ofd.DefaultExt = ".param";
|
|
ofd.RestoreDirectory = true;
|
|
ofd.Filter = "Param List|*.param;*.parm";
|
|
DialogResult dr = ofd.ShowDialog();
|
|
if (dr == DialogResult.OK)
|
|
{
|
|
StreamReader sr = new StreamReader(ofd.OpenFile());
|
|
while (!sr.EndOfStream)
|
|
{
|
|
string line = sr.ReadLine();
|
|
|
|
if (line.Contains("NOTE:"))
|
|
CustomMessageBox.Show(line, "Saved Note");
|
|
|
|
int index = line.IndexOf(',');
|
|
|
|
if (index == -1)
|
|
continue;
|
|
|
|
string name = line.Substring(0, index);
|
|
float value = float.Parse(line.Substring(index + 1), new System.Globalization.CultureInfo("en-US"));
|
|
|
|
MAVLink.modifyParamForDisplay(true, name, ref value);
|
|
|
|
if (name == "SYSID_SW_MREV")
|
|
continue;
|
|
if (name == "WP_TOTAL")
|
|
continue;
|
|
if (name == "CMD_TOTAL")
|
|
continue;
|
|
|
|
param2[name] = value;
|
|
}
|
|
sr.Close();
|
|
|
|
ParamCompare temp = new ParamCompare(this, param, param2);
|
|
ThemeManager.ApplyThemeTo(temp);
|
|
temp.ShowDialog();
|
|
}
|
|
}
|
|
|
|
private void CHK_GDIPlus_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
if (startup)
|
|
return;
|
|
CustomMessageBox.Show("You need to restart the planner for this to take effect");
|
|
MainV2.config["CHK_GDIPlus"] = CHK_GDIPlus.Checked.ToString();
|
|
}
|
|
|
|
private void CHK_lockrollpitch_CheckedChanged(object sender, EventArgs e)
|
|
{
|
|
|
|
}
|
|
|
|
protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
|
|
{
|
|
if (keyData == Keys.F5)
|
|
{
|
|
BUT_rerequestparams_Click(BUT_rerequestparams, null);
|
|
return true;
|
|
}
|
|
if (keyData == (Keys.Control | Keys.S))
|
|
{
|
|
BUT_writePIDS_Click(BUT_writePIDS, null);
|
|
return true;
|
|
}
|
|
if (keyData == (Keys.Control | Keys.O))
|
|
{
|
|
BUT_load_Click(BUT_load, null);
|
|
return true;
|
|
}
|
|
return base.ProcessCmdKey(ref msg, keyData);
|
|
}
|
|
|
|
private void CMB_ratesensors_SelectedIndexChanged(object sender, EventArgs e)
|
|
{
|
|
MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
|
|
MainV2.cs.ratesensors = byte.Parse(((ComboBox)sender).Text);
|
|
}
|
|
}
|
|
} |