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ardupilot/Tools/ArdupilotMegaPlanner/Setup/Setup.cs

1696 lines
63 KiB
C#
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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
namespace ArdupilotMega.Setup
{
public partial class Setup : Form
{
internal GCSViews.Configuration Configuration;
bool run = false;
bool startup = false;
bool inpwmdetect = false;
const float rad2deg = (float)(180 / Math.PI);
const float deg2rad = (float)(1.0 / rad2deg);
float[] rcmin = new float[8];
float[] rcmax = new float[8];
float[] rctrim = new float[8];
Timer timer = new Timer();
public Setup()
{
InitializeComponent();
for (int a = 0; a < rcmin.Length; a++)
{
rcmin[a] = 3000;
rcmax[a] = 0;
rctrim[a] = 1500;
}
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, MainV2.cs.raterc);
timer.Tick += new EventHandler(timer_Tick);
timer.Enabled = true;
timer.Interval = 100;
timer.Start();
}
void timer_Tick(object sender, EventArgs e)
{
try
{
MainV2.cs.UpdateCurrentSettings(currentStateBindingSource);
}
catch { }
float pwm = 0;
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) // APM
{
if (MainV2.comPort.param.ContainsKey("FLTMODE_CH"))
{
switch ((int)(float)MainV2.comPort.param["FLTMODE_CH"])
{
case 5:
pwm = MainV2.cs.ch5in;
break;
case 6:
pwm = MainV2.cs.ch6in;
break;
case 7:
pwm = MainV2.cs.ch7in;
break;
case 8:
pwm = MainV2.cs.ch8in;
break;
default:
break;
}
LBL_flightmodepwm.Text = MainV2.comPort.param["FLTMODE_CH"].ToString() + ": " + pwm.ToString();
}
}
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
{
pwm = MainV2.cs.ch5in;
LBL_flightmodepwm.Text = "5: " + MainV2.cs.ch5in.ToString();
}
Control[] fmodelist = new Control[] { CMB_fmode1, CMB_fmode2, CMB_fmode3, CMB_fmode4, CMB_fmode5, CMB_fmode6 };
foreach (Control ctl in fmodelist)
{
ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
}
byte no = readSwitch(pwm);
fmodelist[no].BackColor = Color.Green;
if (tabControl1.SelectedTab == tabHeli)
{
if (MainV2.comPort.param["HSV_MAN"] == null || MainV2.comPort.param["HSV_MAN"].ToString() == "0")
return;
if (HS3.minline == 0)
HS3.minline = 2200;
if (HS4.minline == 0)
HS4.minline = 2200;
HS3.minline = Math.Min(HS3.minline, (int)MainV2.cs.ch3in);
HS3.maxline = Math.Max(HS3.maxline, (int)MainV2.cs.ch3in);
HS4.minline = Math.Min(HS4.minline, (int)MainV2.cs.ch4in);
HS4.maxline = Math.Max(HS4.maxline, (int)MainV2.cs.ch4in);
if (!inpwmdetect)
{
HS3_Paint(null, null);
HS4_Paint(null, null);
}
else
{
try
{
HS3.minline = int.Parse(COL_MIN.Text);
HS3.maxline = int.Parse(COL_MAX.Text);
HS4.maxline = int.Parse(HS4_MIN.Text);
HS4.minline = int.Parse(HS4_MAX.Text);
}
catch { }
}
}
}
// from arducopter code
byte readSwitch(float inpwm)
{
int pulsewidth = (int)inpwm; // default for Arducopter
if (pulsewidth > 1230 && pulsewidth <= 1360) return 1;
if (pulsewidth > 1360 && pulsewidth <= 1490) return 2;
if (pulsewidth > 1490 && pulsewidth <= 1620) return 3;
if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual
if (pulsewidth >= 1750) return 5; // Hardware Manual
return 0;
}
private void BUT_Calibrateradio_Click(object sender, EventArgs e)
{
if (run)
{
BUT_Calibrateradio.Text = "Please goto the next tab";
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.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);
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.MAV_DATA_STREAM_RC_CHANNELS, oldrc);
}
catch { }
if (Configuration != null)
{
Configuration.startup = true;
Configuration.processToScreen();
Configuration.startup = false;
}
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 = "Please goto the next tab";
}
private void tabControl1_SelectedIndexChanged(object sender, EventArgs e)
{
int monosux = 0;
monosux *= 5;
if (tabControl1.SelectedTab == tabRadioIn)
{
startup = true;
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
groupBoxElevons.Visible = false;
}
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
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;
}
if (tabControl1.SelectedTab == tabModes)
{
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) // APM
{
CB_simple1.Visible = false;
CB_simple2.Visible = false;
CB_simple3.Visible = false;
CB_simple4.Visible = false;
CB_simple5.Visible = false;
CB_simple6.Visible = false;
CMB_fmode1.Items.Clear();
CMB_fmode2.Items.Clear();
CMB_fmode3.Items.Clear();
CMB_fmode4.Items.Clear();
CMB_fmode5.Items.Clear();
CMB_fmode6.Items.Clear();
CMB_fmode1.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
CMB_fmode2.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
CMB_fmode3.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
CMB_fmode4.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
CMB_fmode5.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
CMB_fmode6.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
try
{
CMB_fmode1.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE1"].ToString()).ToString();
CMB_fmode2.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE2"].ToString()).ToString();
CMB_fmode3.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE3"].ToString()).ToString();
CMB_fmode4.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE4"].ToString()).ToString();
CMB_fmode5.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE5"].ToString()).ToString();
CMB_fmode6.Text = Common.apmmodes.MANUAL.ToString();
CMB_fmode6.Enabled = false;
}
catch { }
}
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
{
CMB_fmode1.Items.Clear();
CMB_fmode2.Items.Clear();
CMB_fmode3.Items.Clear();
CMB_fmode4.Items.Clear();
CMB_fmode5.Items.Clear();
CMB_fmode6.Items.Clear();
CMB_fmode1.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
CMB_fmode2.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
CMB_fmode3.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
CMB_fmode4.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
CMB_fmode5.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
CMB_fmode6.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
try
{
CMB_fmode1.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE1"].ToString()).ToString();
CMB_fmode2.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE2"].ToString()).ToString();
CMB_fmode3.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE3"].ToString()).ToString();
CMB_fmode4.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE4"].ToString()).ToString();
CMB_fmode5.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE5"].ToString()).ToString();
CMB_fmode6.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE6"].ToString()).ToString();
CMB_fmode6.Enabled = true;
int simple = int.Parse(MainV2.comPort.param["SIMPLE"].ToString());
CB_simple1.Checked = ((simple >> 0 & 1) == 1);
CB_simple2.Checked = ((simple >> 1 & 1) == 1);
CB_simple3.Checked = ((simple >> 2 & 1) == 1);
CB_simple4.Checked = ((simple >> 3 & 1) == 1);
CB_simple5.Checked = ((simple >> 4 & 1) == 1);
CB_simple6.Checked = ((simple >> 5 & 1) == 1);
}
catch { }
}
}
if (tabControl1.SelectedTab == tabHardware)
{
startup = true;
if (MainV2.comPort.param["ARSPD_ENABLE"] != null)
CHK_enableairspeed.Checked = MainV2.comPort.param["ARSPD_ENABLE"].ToString() == "1" ? true : false;
if (MainV2.comPort.param["SONAR_ENABLE"] != null)
CHK_enablesonar.Checked = MainV2.comPort.param["SONAR_ENABLE"].ToString() == "1" ? true : false;
if (MainV2.comPort.param["MAG_ENABLE"] != null)
CHK_enablecompass.Checked = MainV2.comPort.param["MAG_ENABLE"].ToString() == "1" ? true : false;
if (MainV2.comPort.param["COMPASS_DEC"] != null)
TXT_declination.Text = (float.Parse(MainV2.comPort.param["COMPASS_DEC"].ToString()) * rad2deg).ToString();
if (MainV2.comPort.param["SONAR_TYPE"] != null)
CMB_sonartype.SelectedIndex = int.Parse(MainV2.comPort.param["SONAR_TYPE"].ToString());
if (MainV2.comPort.param["FLOW_ENABLE"] != null)
CHK_enableoptflow.Checked = MainV2.comPort.param["FLOW_ENABLE"].ToString() == "1" ? true : false;
startup = false;
}
if (tabControl1.SelectedTab == tabBattery)
{
startup = true;
bool not_supported = false;
if (MainV2.comPort.param["BATT_MONITOR"] != null)
{
if (MainV2.comPort.param["BATT_MONITOR"].ToString() != "0.0")
{
CMB_batmontype.SelectedIndex = getIndex(CMB_batmontype,(int)float.Parse(MainV2.comPort.param["BATT_MONITOR"].ToString()));
}
if (TXT_ampspervolt.Text == "13.6612")
{
CMB_batmonsensortype.SelectedIndex = 1;
}
else if (TXT_ampspervolt.Text == "27.3224")
{
CMB_batmonsensortype.SelectedIndex = 2;
}
else if (TXT_ampspervolt.Text == "54.64481")
{
CMB_batmonsensortype.SelectedIndex = 3;
}
else
{
CMB_batmonsensortype.SelectedIndex = 0;
}
}
if (MainV2.comPort.param["BATT_CAPACITY"] != null)
TXT_battcapacity.Text = MainV2.comPort.param["BATT_CAPACITY"].ToString();
if (MainV2.comPort.param["INPUT_VOLTS"] != null)
TXT_inputvoltage.Text = MainV2.comPort.param["INPUT_VOLTS"].ToString();
else
not_supported = true;
TXT_voltage.Text = MainV2.cs.battery_voltage.ToString();
TXT_measuredvoltage.Text = TXT_voltage.Text;
if (MainV2.comPort.param["VOLT_DIVIDER"] != null)
TXT_divider.Text = MainV2.comPort.param["VOLT_DIVIDER"].ToString();
else
not_supported = true;
if (MainV2.comPort.param["AMP_PER_VOLT"] != null)
TXT_ampspervolt.Text = MainV2.comPort.param["AMP_PER_VOLT"].ToString();
else
not_supported = true;
if (not_supported)
{
TXT_inputvoltage.Enabled = false;
TXT_measuredvoltage.Enabled = false;
TXT_divider.Enabled = false;
TXT_ampspervolt.Enabled = false;
}
startup = false;
}
if (tabControl1.SelectedTab == tabArducopter)
{
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
tabArducopter.Enabled = false;
return;
}
}
if (tabControl1.SelectedTab == tabHeli)
{
if (MainV2.comPort.param["GYR_ENABLE"] == null)
{
tabHeli.Enabled = false;
return;
}
startup = true;
try
{
if (MainV2.comPort.param.ContainsKey("H1_ENABLE"))
{
CCPM.Checked = MainV2.comPort.param["H1_ENABLE"].ToString() == "0" ? true : false;
H1_ENABLE.Checked = !CCPM.Checked;
}
foreach (string value in MainV2.comPort.param.Keys)
{
if (value == "")
continue;
Control[] control = tabHeli.Controls.Find(value, true);
if (control.Length > 0)
{
if (control[0].GetType() == typeof(TextBox))
{
TextBox temp = (TextBox)control[0];
string option = MainV2.comPort.param[value].ToString();
temp.Text = option;
}
if (control[0].GetType() == typeof(NumericUpDown))
{
NumericUpDown temp = (NumericUpDown)control[0];
string option = MainV2.comPort.param[value].ToString();
temp.Text = option;
}
if (control[0].GetType() == typeof(CheckBox))
{
CheckBox temp = (CheckBox)control[0];
string option = MainV2.comPort.param[value].ToString();
temp.Checked = option == "1" ? true : false;
}
if (control[0].GetType() == typeof(MyTrackBar))
{
MyTrackBar temp = (MyTrackBar)control[0];
string option = MainV2.comPort.param[value].ToString();
temp.Value = int.Parse(option);
}
}
}
HS1_REV.Checked = MainV2.comPort.param["HS1_REV"].ToString() == "-1";
HS2_REV.Checked = MainV2.comPort.param["HS2_REV"].ToString() == "-1";
HS3_REV.Checked = MainV2.comPort.param["HS3_REV"].ToString() == "-1";
HS4_REV.Checked = MainV2.comPort.param["HS4_REV"].ToString() == "-1";
}
catch { }
startup = false;
}
}
int getIndex(ComboBox ctl, int no)
{
foreach (var item in ctl.Items)
{
int ans = int.Parse(item.ToString().Substring(0, 1));
if (ans == no)
return ctl.Items.IndexOf(item);
}
return -1;
}
private void BUT_SaveModes_Click(object sender, EventArgs e)
{
try
{
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) // APM
{
MainV2.comPort.setParam("FLTMODE1", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode1.Text));
MainV2.comPort.setParam("FLTMODE2", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode2.Text));
MainV2.comPort.setParam("FLTMODE3", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode3.Text));
MainV2.comPort.setParam("FLTMODE4", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode4.Text));
MainV2.comPort.setParam("FLTMODE5", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode5.Text));
MainV2.comPort.setParam("FLTMODE6", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode6.Text));
}
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
{
MainV2.comPort.setParam("FLTMODE1", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode1.Text));
MainV2.comPort.setParam("FLTMODE2", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode2.Text));
MainV2.comPort.setParam("FLTMODE3", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode3.Text));
MainV2.comPort.setParam("FLTMODE4", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode4.Text));
MainV2.comPort.setParam("FLTMODE5", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode5.Text));
MainV2.comPort.setParam("FLTMODE6", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode6.Text));
float value = (float)(CB_simple1.Checked ? (int)SimpleMode.Simple1 : 0) + (CB_simple2.Checked ? (int)SimpleMode.Simple2 : 0) + (CB_simple3.Checked ? (int)SimpleMode.Simple3 : 0)
+ (CB_simple4.Checked ? (int)SimpleMode.Simple4 : 0) + (CB_simple5.Checked ? (int)SimpleMode.Simple5 : 0) + (CB_simple6.Checked ? (int)SimpleMode.Simple6 : 0);
if (MainV2.comPort.param.ContainsKey("SIMPLE"))
MainV2.comPort.setParam("SIMPLE", value);
}
}
catch { CustomMessageBox.Show("Failed to set Flight modes"); }
BUT_SaveModes.Text = "Complete";
}
[Flags]
public enum SimpleMode
{
None = 0,
Simple1 = 1,
Simple2 = 2,
Simple3 = 4,
Simple4 = 8,
Simple5 = 16,
Simple6 = 32,
}
private void TXT_declination_Validating(object sender, CancelEventArgs e)
{
float ans = 0;
e.Cancel = !float.TryParse(TXT_declination.Text, out ans);
}
private void TXT_declination_Validated(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["COMPASS_DEC"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
float dec = 0.0f;
try
{
string declination = TXT_declination.Text;
float.TryParse(declination, out dec);
float deg = (float)((int)dec);
float mins = (dec - deg);
if (dec > 0)
{
dec += ((mins) / 60.0f);
}
else
{
dec -= ((mins) / 60.0f);
}
}
catch { CustomMessageBox.Show("Invalid input!"); return; }
TXT_declination.Text = dec.ToString();
MainV2.comPort.setParam("COMPASS_DEC", dec * deg2rad);
}
}
catch { CustomMessageBox.Show("Set COMPASS_DEC Failed"); }
}
private void CHK_enablecompass_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["MAG_ENABLE"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("MAG_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
}
}
catch { CustomMessageBox.Show("Set MAG_ENABLE Failed"); }
}
//((CheckBox)sender).Checked = !((CheckBox)sender).Checked;
private void CHK_enablesonar_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["SONAR_ENABLE"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("SONAR_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
}
}
catch { CustomMessageBox.Show("Set SONAR_ENABLE Failed"); }
}
private void CHK_enableairspeed_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["ARSPD_ENABLE"] == null)
{
CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
}
else
{
MainV2.comPort.setParam("ARSPD_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
}
}
catch { CustomMessageBox.Show("Set ARSPD_ENABLE Failed"); }
}
private void CHK_enablebattmon_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (((CheckBox)sender).Checked == false)
{
CMB_batmontype.SelectedIndex = 0;
}
else
{
if (CMB_batmontype.SelectedIndex <= 0)
CMB_batmontype.SelectedIndex = 1;
}
}
catch { CustomMessageBox.Show("Set BATT_MONITOR Failed"); }
}
private void TXT_battcapacity_Validating(object sender, CancelEventArgs e)
{
float ans = 0;
e.Cancel = !float.TryParse(TXT_battcapacity.Text, out ans);
}
private void TXT_battcapacity_Validated(object sender, EventArgs e)
{
if (startup || ((TextBox)sender).Enabled == false)
return;
try
{
if (MainV2.comPort.param["BATT_CAPACITY"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("BATT_CAPACITY", float.Parse(TXT_battcapacity.Text));
}
}
catch { CustomMessageBox.Show("Set BATT_CAPACITY Failed"); }
}
private void CMB_batmontype_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["BATT_MONITOR"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
int selection = int.Parse(CMB_batmontype.Text.Substring(0,1));
CMB_batmonsensortype.Enabled = true;
TXT_voltage.Enabled = false;
if (selection == 0)
{
CMB_batmonsensortype.Enabled = false;
groupBox4.Enabled = false;
}
else if (selection == 4)
{
CMB_batmonsensortype.Enabled = true;
groupBox4.Enabled = true;
TXT_ampspervolt.Enabled = true;
}
else if (selection == 3)
{
groupBox4.Enabled = true;
CMB_batmonsensortype.Enabled = false;
TXT_ampspervolt.Enabled = false;
TXT_inputvoltage.Enabled = true;
TXT_measuredvoltage.Enabled = true;
TXT_divider.Enabled = true;
}
MainV2.comPort.setParam("BATT_MONITOR", selection);
}
}
catch { CustomMessageBox.Show("Set BATT_MONITOR Failed"); }
}
private void TXT_inputvoltage_Validating(object sender, CancelEventArgs e)
{
float ans = 0;
e.Cancel = !float.TryParse(TXT_inputvoltage.Text, out ans);
}
private void TXT_inputvoltage_Validated(object sender, EventArgs e)
{
if (startup || ((TextBox)sender).Enabled == false)
return;
try
{
if (MainV2.comPort.param["INPUT_VOLTS"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("INPUT_VOLTS", float.Parse(TXT_inputvoltage.Text));
}
}
catch { CustomMessageBox.Show("Set INPUT_VOLTS Failed"); }
}
private void TXT_measuredvoltage_Validating(object sender, CancelEventArgs e)
{
float ans = 0;
e.Cancel = !float.TryParse(TXT_measuredvoltage.Text, out ans);
}
private void TXT_measuredvoltage_Validated(object sender, EventArgs e)
{
if (startup || ((TextBox)sender).Enabled == false)
return;
try
{
float measuredvoltage = float.Parse(TXT_measuredvoltage.Text);
float voltage = float.Parse(TXT_voltage.Text);
float divider = float.Parse(TXT_divider.Text);
if (voltage == 0)
return;
float new_divider = (measuredvoltage * divider) / voltage;
TXT_divider.Text = new_divider.ToString();
}
catch { CustomMessageBox.Show("Invalid number entered"); return; }
try
{
if (MainV2.comPort.param["VOLT_DIVIDER"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("VOLT_DIVIDER", float.Parse(TXT_divider.Text));
}
}
catch { CustomMessageBox.Show("Set VOLT_DIVIDER Failed"); }
}
private void TXT_divider_Validating(object sender, CancelEventArgs e)
{
float ans = 0;
e.Cancel = !float.TryParse(TXT_divider.Text, out ans);
}
private void TXT_divider_Validated(object sender, EventArgs e)
{
if (startup || ((TextBox)sender).Enabled == false)
return;
try
{
if (MainV2.comPort.param["VOLT_DIVIDER"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("VOLT_DIVIDER", float.Parse(TXT_divider.Text));
}
}
catch { CustomMessageBox.Show("Set VOLT_DIVIDER Failed"); }
}
private void TXT_ampspervolt_Validating(object sender, CancelEventArgs e)
{
float ans = 0;
e.Cancel = !float.TryParse(TXT_ampspervolt.Text, out ans);
}
private void TXT_ampspervolt_Validated(object sender, EventArgs e)
{
if (startup || ((TextBox)sender).Enabled == false)
return;
try
{
if (MainV2.comPort.param["AMP_PER_VOLT"] == null)
{
CustomMessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("AMP_PER_VOLT", float.Parse(TXT_ampspervolt.Text));
}
}
catch { CustomMessageBox.Show("Set AMP_PER_VOLT Failed"); }
}
private void BUT_reset_Click(object sender, EventArgs e)
{
try
{
MainV2.comPort.setParam("SYSID_SW_MREV", UInt16.MaxValue);
}
catch { CustomMessageBox.Show("Set SYSID_SW_MREV Failed"); return; }
MainV2.giveComport = true;
ICommsSerial comPortT = MainV2.comPort.BaseStream;
comPortT.DtrEnable = false;
if (comPortT.IsOpen)
comPortT.Close();
System.Threading.Thread.Sleep(200);
try
{
comPortT.DtrEnable = true;
comPortT.Open();
}
catch (Exception ex) { MainV2.giveComport = false; CustomMessageBox.Show("Invalid Comport Settings : " + ex.Message); return; }
BUT_reset.Text = "Rebooting (17 sec)";
BUT_reset.Refresh();
Application.DoEvents();
Sleep(17000, comPortT); // wait for boot/reset
comPortT.DtrEnable = false;
Sleep(200, comPortT);
comPortT.DtrEnable = true;
Sleep(200, comPortT);
comPortT.DtrEnable = false;
comPortT.Close();
MainV2.giveComport = false;
try
{
MainV2.comPort.Open(true);
}
catch
{
CustomMessageBox.Show("Failed to re-connect : Please try again");
this.Close();
}
BUT_reset.Text = "Please goto next tab";
}
void Sleep(int ms, ICommsSerial comPortT)
{
DateTime start = DateTime.Now;
Console.WriteLine("sleep in");
while (start.AddMilliseconds(ms) > DateTime.Now)
{
while (comPortT.BytesToRead > 0)
{
Console.Write((char)comPortT.ReadByte());
}
System.Threading.Thread.Sleep(1);
}
Console.WriteLine("sleep out");
}
private void pictureBoxQuad_Click(object sender, EventArgs e)
{
try
{
MainV2.comPort.setParam("FRAME", 0f);
CustomMessageBox.Show("Set to +");
}
catch { CustomMessageBox.Show("Set frame failed"); }
}
private void pictureBoxQuadX_Click(object sender, EventArgs e)
{
try
{
MainV2.comPort.setParam("FRAME", 1f);
CustomMessageBox.Show("Set to x");
}
catch { CustomMessageBox.Show("Set frame failed"); }
}
private void Setup_Load(object sender, EventArgs e)
{
if (!MainV2.comPort.BaseStream.IsOpen)
{
CustomMessageBox.Show("Please Connect First");
this.Close();
}
else
{
tabControl1_SelectedIndexChanged(null, new EventArgs());
}
}
private void TXT_srvpos1_Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
Gservoloc.Value0 = test;
try
{
MainV2.comPort.setParam("HSV_MAN", 1); // randy request
MainV2.comPort.setParam(((TextBox)sender).Name, test);
System.Threading.Thread.Sleep(100);
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
}
catch { CustomMessageBox.Show("Set " + ((TextBox)sender).Name + " failed"); }
}
private void TXT_srvpos2_Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
Gservoloc.Value1 = test;
try
{
MainV2.comPort.setParam("HSV_MAN", 1); // randy request
MainV2.comPort.setParam(((TextBox)sender).Name, test);
System.Threading.Thread.Sleep(100);
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
}
catch { CustomMessageBox.Show("Set " + ((TextBox)sender).Name + " failed"); }
}
private void TXT_srvpos3_Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
Gservoloc.Value2 = test;
try
{
MainV2.comPort.setParam("HSV_MAN", 1); // randy request
MainV2.comPort.setParam(((TextBox)sender).Name, test);
System.Threading.Thread.Sleep(100);
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
}
catch { CustomMessageBox.Show("Set " + ((TextBox)sender).Name + " failed"); }
}
private void BUT_0collective_Click(object sender, EventArgs e)
{
CustomMessageBox.Show("Make sure your blades are at 0 degrees");
try
{
MainV2.comPort.setParam("COL_MID", MainV2.cs.ch3in);
COL_MID.Text = MainV2.comPort.param["COL_MID"].ToString();
}
catch { CustomMessageBox.Show("Set COL_MID_ failed"); }
}
private void HS1_REV_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == false ? 1.0f : -1.0f);
}
private void HS2_REV_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == false ? 1.0f : -1.0f);
}
private void HS3_REV_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == false ? 1.0f : -1.0f);
}
private void HS4_REV_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == false ? 1.0f : -1.0f);
HS4.reverse = !HS4.reverse;
}
private void HS1_TRIM_ValueChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((NumericUpDown)sender).Name, (float)((NumericUpDown)sender).Value);
}
private void HS2_TRIM_ValueChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((NumericUpDown)sender).Name, (float)((NumericUpDown)sender).Value);
}
private void HS3_TRIM_ValueChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((NumericUpDown)sender).Name, (float)((NumericUpDown)sender).Value);
}
private void HS4_TRIM_ValueChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((NumericUpDown)sender).Name, (float)((NumericUpDown)sender).Value);
}
private void ROL_MAX__Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
MainV2.comPort.setParam(((TextBox)sender).Name, test);
}
private void PIT_MAX__Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
MainV2.comPort.setParam(((TextBox)sender).Name, test);
}
private void GYR_GAIN__Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing || ((TextBox)sender).Enabled == false)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
try
{
MainV2.comPort.setParam(((TextBox)sender).Name, test);
}
catch { CustomMessageBox.Show("Failed to set Gyro Gain"); }
}
private void GYR_ENABLE__CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == true ? 1.0f : 0.0f);
}
private void BUT_levelac2_Click(object sender, EventArgs e)
{
try
{
#if MAVLINK10
int fixme; // needs to be accel only
MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION,1,1,1,1,1,1,1);
#else
MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_CALIBRATE_ACC);
#endif
BUT_levelac2.Text = "Complete";
}
catch
{
CustomMessageBox.Show("Failed to level : ac2 2.0.37+ is required");
}
}
private void linkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
{
try
{
//System.Diagnostics.Process.Start("http://www.ngdc.noaa.gov/geomagmodels/Declination.jsp");
System.Diagnostics.Process.Start("http://www.magnetic-declination.com/");
}
catch { CustomMessageBox.Show("Webpage open failed... do you have a virus?\nhttp://www.magnetic-declination.com/"); }
}
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"); }
}
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);
}
private void BUT_swash_manual_Click(object sender, EventArgs e)
{
try
{
if (MainV2.comPort.param["HSV_MAN"].ToString() == "1")
{
MainV2.comPort.setParam("COL_MIN", int.Parse(COL_MIN.Text));
MainV2.comPort.setParam("COL_MAX", int.Parse(COL_MAX.Text));
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
BUT_swash_manual.Text = "Manual";
COL_MAX.Enabled = false;
COL_MID.Enabled = false;
COL_MIN.Enabled = false;
BUT_0collective.Enabled = false;
}
else
{
COL_MAX.Text = "1500";
COL_MIN.Text = "1500";
MainV2.comPort.setParam("HSV_MAN", 1); // randy request
BUT_swash_manual.Text = "Save";
COL_MAX.Enabled = true;
COL_MID.Enabled = true;
COL_MIN.Enabled = true;
BUT_0collective.Enabled = true;
}
}
catch { CustomMessageBox.Show("Failed to set HSV_MAN"); }
}
private void BUT_HS4save_Click(object sender, EventArgs e)
{
try
{
if (MainV2.comPort.param["HSV_MAN"].ToString() == "1")
{
MainV2.comPort.setParam("HS4_MIN", int.Parse(HS4_MIN.Text));
MainV2.comPort.setParam("HS4_MAX", int.Parse(HS4_MAX.Text));
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
BUT_HS4save.Text = "Manual";
HS4_MAX.Enabled = false;
HS4_MIN.Enabled = false;
}
else
{
HS4_MIN.Text = "1500";
HS4_MAX.Text = "1500";
MainV2.comPort.setParam("HSV_MAN", 1); // randy request
BUT_HS4save.Text = "Save";
HS4_MAX.Enabled = true;
HS4_MIN.Enabled = true;
}
}
catch { CustomMessageBox.Show("Failed to set HSV_MAN"); }
}
private void tabHeli_Click(object sender, EventArgs e)
{
}
private void HS4_Paint(object sender, PaintEventArgs e)
{
try
{
if (int.Parse(HS4_MIN.Text) > HS4.minline)
HS4_MIN.Text = HS4.minline.ToString();
if (int.Parse(HS4_MAX.Text) < HS4.maxline)
HS4_MAX.Text = HS4.maxline.ToString();
}
catch { }
}
private void HS3_Paint(object sender, PaintEventArgs e)
{
try
{
if (int.Parse(COL_MIN.Text) > HS3.minline)
COL_MIN.Text = HS3.minline.ToString();
if (int.Parse(COL_MAX.Text) < HS3.maxline)
COL_MAX.Text = HS3.maxline.ToString();
}
catch { }
}
private void COL_MAX__Enter(object sender, EventArgs e)
{
inpwmdetect = true;
}
private void COL_MIN__Enter(object sender, EventArgs e)
{
inpwmdetect = true;
}
private void COL_MAX__Leave(object sender, EventArgs e)
{
inpwmdetect = false;
}
private void COL_MIN__Leave(object sender, EventArgs e)
{
inpwmdetect = false;
}
private void HS4_MIN_Enter(object sender, EventArgs e)
{
inpwmdetect = true;
}
private void HS4_MIN_Leave(object sender, EventArgs e)
{
inpwmdetect = false;
}
private void HS4_MAX_Enter(object sender, EventArgs e)
{
inpwmdetect = true;
}
private void HS4_MAX_Leave(object sender, EventArgs e)
{
inpwmdetect = false;
}
private void PWM_Validating(object sender, CancelEventArgs e)
{
Control temp = (Control)(sender);
if (int.Parse(temp.Text) < 900)
temp.Text = "900";
if (int.Parse(temp.Text) > 2100)
temp.Text = "2100";
}
private void Setup_FormClosing(object sender, FormClosingEventArgs e)
{
timer.Stop();
timer.Dispose();
tabControl1.SelectedIndex = 0;
// mono runs validation on all controls on exit. try and skip it
startup = true;
}
private void CHK_enableoptflow_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["FLOW_ENABLE"] == null)
{
CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
}
else
{
MainV2.comPort.setParam("FLOW_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
}
}
catch { CustomMessageBox.Show("Set FLOW_ENABLE Failed"); }
}
private void CMB_sonartype_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["SONAR_TYPE"] == null)
{
CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
}
else
{
MainV2.comPort.setParam("SONAR_TYPE", ((ComboBox)sender).SelectedIndex);
}
}
catch { CustomMessageBox.Show("Set SONAR_TYPE Failed"); }
}
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 CMB_batmonsensortype_SelectedIndexChanged(object sender, EventArgs e)
{
int selection = int.Parse(CMB_batmonsensortype.Text.Substring(0,1));
if (selection == 1) // atto 45
{
float maxvolt = 13.6f;
float maxamps = 44.7f;
float mvpervolt = 242.3f;
float mvperamp = 73.20f;
// ~ 3.295v
float topvolt = (maxvolt * mvpervolt) / 1000;
// ~ 3.294v
float topamps = (maxamps * mvperamp) / 1000;
TXT_divider.Text = (maxvolt / topvolt).ToString();
TXT_ampspervolt.Text = (maxamps / topamps).ToString();
}
else if (selection == 2) // atto 90
{
float maxvolt = 50f;
float maxamps = 89.4f;
float mvpervolt = 63.69f;
float mvperamp = 36.60f;
float topvolt = (maxvolt * mvpervolt) / 1000;
float topamps = (maxamps * mvperamp) / 1000;
TXT_divider.Text = (maxvolt / topvolt).ToString();
TXT_ampspervolt.Text = (maxamps / topamps).ToString();
}
else if (selection == 3) // atto 180
{
float maxvolt = 50f;
float maxamps = 178.8f;
float mvpervolt = 63.69f;
float mvperamp = 18.30f;
float topvolt = (maxvolt * mvpervolt) / 1000;
float topamps = (maxamps * mvperamp) / 1000;
TXT_divider.Text = (maxvolt / topvolt).ToString();
TXT_ampspervolt.Text = (maxamps / topamps).ToString();
}
// enable to update
TXT_divider.Enabled = true;
TXT_ampspervolt.Enabled = true;
TXT_measuredvoltage.Enabled = true;
TXT_inputvoltage.Enabled = true;
// update
TXT_ampspervolt_Validated(TXT_ampspervolt, null);
TXT_divider_Validated(TXT_divider, null);
// disable
TXT_divider.Enabled = false;
TXT_ampspervolt.Enabled = false;
TXT_measuredvoltage.Enabled = false;
//reenable if needed
if (selection == 0)
{
TXT_divider.Enabled = true;
TXT_ampspervolt.Enabled = true;
TXT_measuredvoltage.Enabled = true;
TXT_inputvoltage.Enabled = true;
}
}
private void H1_ENABLE_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["H1_ENABLE"] == null)
{
CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
}
else
{
MainV2.comPort.setParam("H1_ENABLE", ((RadioButton)sender).Checked == true ? 1 : 0);
}
}
catch { CustomMessageBox.Show("Set H1_ENABLE Failed"); }
}
private void BUT_MagCalibration_Click(object sender, EventArgs e)
{
if (DialogResult.Yes == CustomMessageBox.Show("Use live data, or a log\n\nYes for Live data", "Mag Calibration", MessageBoxButtons.YesNo))
{
List<Tuple<float, float, float>> data = new List<Tuple<float, float, float>>();
byte backupratesens = MainV2.cs.ratesensors;
MainV2.cs.ratesensors = 10;
MainV2.comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS, MainV2.cs.ratesensors); // mag captures at 10 hz
CustomMessageBox.Show("Data will be collected for 30 seconds, Please click ok and move the apm around all axises");
DateTime deadline = DateTime.Now.AddSeconds(30);
float oldmx = 0;
float oldmy = 0;
float oldmz = 0;
while (deadline > DateTime.Now)
{
Application.DoEvents();
if (oldmx != MainV2.cs.mx &&
oldmy != MainV2.cs.my &&
oldmz != MainV2.cs.mz)
{
data.Add(new Tuple<float, float, float>(
MainV2.cs.mx - (float)MainV2.cs.mag_ofs_x,
MainV2.cs.my - (float)MainV2.cs.mag_ofs_y,
MainV2.cs.mz - (float)MainV2.cs.mag_ofs_z));
oldmx = MainV2.cs.mx;
oldmy = MainV2.cs.my;
oldmz = MainV2.cs.mz;
}
}
MainV2.cs.ratesensors = backupratesens;
double[] ans = MagCalib.LeastSq(data);
MagCalib.SaveOffsets(ans);
}
else
{
MagCalib.ProcessLog();
}
}
}
}
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