mirror of https://github.com/ArduPilot/ardupilot
370 lines
13 KiB
C#
370 lines
13 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.Controls;
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namespace ArdupilotMega.GCSViews.ConfigurationView
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{
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public partial class ConfigRadioInput : BackStageViewContentPanel
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{
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bool startup = false;
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bool run = false;
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float[] rcmin = new float[8];
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float[] rcmax = new float[8];
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float[] rctrim = new float[8];
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Timer timer = new Timer();
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public ConfigRadioInput()
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{
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InitializeComponent();
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// setup rc calib extents
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for (int a = 0; a < rcmin.Length; a++)
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{
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rcmin[a] = 3000;
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rcmax[a] = 0;
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rctrim[a] = 1500;
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}
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// setup rc update
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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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void timer_Tick(object sender, EventArgs e)
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{
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// update all linked controls - 10hz
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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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}
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private void ConfigRadioInput_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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startup = true;
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
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{
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try
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{
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CHK_mixmode.Checked = MainV2.comPort.param["ELEVON_MIXING"].ToString() == "1";
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CHK_elevonrev.Checked = MainV2.comPort.param["ELEVON_REVERSE"].ToString() == "1";
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CHK_elevonch1rev.Checked = MainV2.comPort.param["ELEVON_CH1_REV"].ToString() == "1";
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CHK_elevonch2rev.Checked = MainV2.comPort.param["ELEVON_CH2_REV"].ToString() == "1";
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}
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catch { } // this will fail on arducopter
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}
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else
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{
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groupBoxElevons.Visible = false;
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}
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try
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{
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CHK_revch1.Checked = MainV2.comPort.param["RC1_REV"].ToString() == "-1";
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CHK_revch2.Checked = MainV2.comPort.param["RC2_REV"].ToString() == "-1";
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CHK_revch3.Checked = MainV2.comPort.param["RC3_REV"].ToString() == "-1";
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CHK_revch4.Checked = MainV2.comPort.param["RC4_REV"].ToString() == "-1";
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}
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catch (Exception ex) { CustomMessageBox.Show("Missing RC rev Param " + ex.ToString()); }
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startup = false;
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}
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private void BUT_Calibrateradio_Click(object sender, EventArgs e)
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{
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if (run)
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{
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BUT_Calibrateradio.Text = "Completed";
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run = false;
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return;
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}
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CustomMessageBox.Show("Ensure your transmitter is on and receiver is powered and connected\nEnsure your motor does not have power/no props!!!");
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byte oldrc = MainV2.cs.raterc;
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byte oldatt = MainV2.cs.rateattitude;
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byte oldpos = MainV2.cs.rateposition;
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byte oldstatus = MainV2.cs.ratestatus;
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MainV2.cs.raterc = 10;
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MainV2.cs.rateattitude = 0;
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MainV2.cs.rateposition = 0;
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MainV2.cs.ratestatus = 0;
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try
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{
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MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, 10);
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}
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catch { }
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BUT_Calibrateradio.Text = "Click when Done";
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run = true;
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while (run)
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{
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Application.DoEvents();
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System.Threading.Thread.Sleep(5);
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MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true, MainV2.comPort);
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// check for non 0 values
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if (MainV2.cs.ch1in > 800 && MainV2.cs.ch1in < 2200)
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{
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rcmin[0] = Math.Min(rcmin[0], MainV2.cs.ch1in);
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rcmax[0] = Math.Max(rcmax[0], MainV2.cs.ch1in);
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rcmin[1] = Math.Min(rcmin[1], MainV2.cs.ch2in);
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rcmax[1] = Math.Max(rcmax[1], MainV2.cs.ch2in);
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rcmin[2] = Math.Min(rcmin[2], MainV2.cs.ch3in);
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rcmax[2] = Math.Max(rcmax[2], MainV2.cs.ch3in);
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rcmin[3] = Math.Min(rcmin[3], MainV2.cs.ch4in);
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rcmax[3] = Math.Max(rcmax[3], MainV2.cs.ch4in);
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rcmin[4] = Math.Min(rcmin[4], MainV2.cs.ch5in);
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rcmax[4] = Math.Max(rcmax[4], MainV2.cs.ch5in);
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rcmin[5] = Math.Min(rcmin[5], MainV2.cs.ch6in);
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rcmax[5] = Math.Max(rcmax[5], MainV2.cs.ch6in);
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rcmin[6] = Math.Min(rcmin[6], MainV2.cs.ch7in);
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rcmax[6] = Math.Max(rcmax[6], MainV2.cs.ch7in);
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rcmin[7] = Math.Min(rcmin[7], MainV2.cs.ch8in);
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rcmax[7] = Math.Max(rcmax[7], MainV2.cs.ch8in);
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BARroll.minline = (int)rcmin[0];
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BARroll.maxline = (int)rcmax[0];
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BARpitch.minline = (int)rcmin[1];
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BARpitch.maxline = (int)rcmax[1];
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BARthrottle.minline = (int)rcmin[2];
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BARthrottle.maxline = (int)rcmax[2];
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BARyaw.minline = (int)rcmin[3];
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BARyaw.maxline = (int)rcmax[3];
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BAR5.minline = (int)rcmin[4];
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BAR5.maxline = (int)rcmax[4];
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BAR6.minline = (int)rcmin[5];
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BAR6.maxline = (int)rcmax[5];
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BAR7.minline = (int)rcmin[6];
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BAR7.maxline = (int)rcmax[6];
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BAR8.minline = (int)rcmin[7];
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BAR8.maxline = (int)rcmax[7];
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}
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}
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CustomMessageBox.Show("Ensure all your sticks are centered and throttle is down, and click ok to continue");
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MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true, MainV2.comPort);
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rctrim[0] = MainV2.cs.ch1in;
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rctrim[1] = MainV2.cs.ch2in;
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rctrim[2] = MainV2.cs.ch3in;
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rctrim[3] = MainV2.cs.ch4in;
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rctrim[4] = MainV2.cs.ch5in;
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rctrim[5] = MainV2.cs.ch6in;
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rctrim[6] = MainV2.cs.ch7in;
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rctrim[7] = MainV2.cs.ch8in;
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string data = "---------------\n";
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for (int a = 0; a < 8; a++)
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{
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// we want these to save no matter what
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BUT_Calibrateradio.Text = "Saving";
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try
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{
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if (rcmin[a] != rcmax[a])
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{
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MainV2.comPort.setParam("RC" + (a + 1).ToString("0") + "_MIN", rcmin[a]);
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MainV2.comPort.setParam("RC" + (a + 1).ToString("0") + "_MAX", rcmax[a]);
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}
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if (rctrim[a] < 1195 || rctrim[a] > 1205)
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MainV2.comPort.setParam("RC" + (a + 1).ToString("0") + "_TRIM", rctrim[a]);
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}
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catch { CustomMessageBox.Show("Failed to set Channel " + (a + 1).ToString()); }
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data = data + "CH" + (a + 1) + " " + rcmin[a] + " | " + rcmax[a] + "\n";
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}
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MainV2.cs.raterc = oldrc;
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MainV2.cs.rateattitude = oldatt;
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MainV2.cs.rateposition = oldpos;
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MainV2.cs.ratestatus = oldstatus;
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try
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{
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MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, oldrc);
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}
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catch { }
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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");
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BUT_Calibrateradio.Text = "Completed";
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}
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private void CHK_mixmode_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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try
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{
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if (MainV2.comPort.param["ELEVON_MIXING"] == null)
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{
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CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
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}
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else
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{
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MainV2.comPort.setParam("ELEVON_MIXING", ((CheckBox)sender).Checked == true ? 1 : 0);
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}
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}
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catch { CustomMessageBox.Show("Set ELEVON_MIXING Failed"); }
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}
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private void CHK_elevonrev_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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try
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{
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if (MainV2.comPort.param["ELEVON_REVERSE"] == null)
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{
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CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
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}
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else
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{
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MainV2.comPort.setParam("ELEVON_REVERSE", ((CheckBox)sender).Checked == true ? 1 : 0);
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}
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}
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catch { CustomMessageBox.Show("Set ELEVON_REVERSE Failed"); }
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}
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private void CHK_elevonch1rev_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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try
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{
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if (MainV2.comPort.param["ELEVON_CH1_REV"] == null)
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{
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CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
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}
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else
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{
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MainV2.comPort.setParam("ELEVON_CH1_REV", ((CheckBox)sender).Checked == true ? 1 : 0);
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}
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}
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catch { CustomMessageBox.Show("Set ELEVON_CH1_REV Failed"); }
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}
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private void CHK_elevonch2rev_CheckedChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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try
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{
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if (MainV2.comPort.param["ELEVON_CH2_REV"] == null)
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{
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CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
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}
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else
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{
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MainV2.comPort.setParam("ELEVON_CH2_REV", ((CheckBox)sender).Checked == true ? 1 : 0);
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}
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}
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catch { CustomMessageBox.Show("Set ELEVON_CH2_REV Failed"); }
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}
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private void CHK_revch1_CheckedChanged(object sender, EventArgs e)
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{
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reverseChannel("RC1_REV", ((CheckBox)sender).Checked, BARroll);
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}
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private void CHK_revch2_CheckedChanged(object sender, EventArgs e)
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{
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reverseChannel("RC2_REV", ((CheckBox)sender).Checked, BARpitch);
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}
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private void CHK_revch3_CheckedChanged(object sender, EventArgs e)
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{
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reverseChannel("RC3_REV", ((CheckBox)sender).Checked, BARthrottle);
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}
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private void CHK_revch4_CheckedChanged(object sender, EventArgs e)
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{
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reverseChannel("RC4_REV", ((CheckBox)sender).Checked, BARyaw);
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}
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void reverseChannel(string name, bool normalreverse, Control progressbar)
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{
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if (normalreverse == true)
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{
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((HorizontalProgressBar2)progressbar).reverse = true;
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((HorizontalProgressBar2)progressbar).BackgroundColor = Color.FromArgb(148, 193, 31);
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((HorizontalProgressBar2)progressbar).ValueColor = Color.FromArgb(0x43, 0x44, 0x45);
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}
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else
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{
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((HorizontalProgressBar2)progressbar).reverse = false;
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((HorizontalProgressBar2)progressbar).BackgroundColor = Color.FromArgb(0x43, 0x44, 0x45);
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((HorizontalProgressBar2)progressbar).ValueColor = Color.FromArgb(148, 193, 31);
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}
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if (startup)
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return;
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if (MainV2.comPort.param["SWITCH_ENABLE"] != null && (float)MainV2.comPort.param["SWITCH_ENABLE"] == 1)
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{
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try
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{
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MainV2.comPort.setParam("SWITCH_ENABLE", 0);
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CustomMessageBox.Show("Disabled Dip Switchs");
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}
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catch { CustomMessageBox.Show("Error Disableing Dip Switch"); }
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}
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try
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{
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int i = normalreverse == false ? 1 : -1;
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MainV2.comPort.setParam(name, i);
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}
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catch { CustomMessageBox.Show("Error Reversing"); }
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}
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}
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}
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