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Merge branch 'master' of https://code.google.com/p/ardupilot-mega

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This commit is contained in:
James Goppert 2011-11-29 14:00:15 -05:00
commit 2fd2f0b3ff
24 changed files with 665 additions and 328 deletions
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7
ArduCopter/ArduCopter.pde
View File

@ -748,12 +748,12 @@ static void medium_loop()
//-------------------------------------------------
case 3:
medium_loopCounter++;
// test
// perform next command
// --------------------
if(control_mode == AUTO){
if(home_is_set == true && g.command_total > 1){
update_commands(true);
update_commands();
}
}
@ -1374,6 +1374,9 @@ static void update_altitude()
current_loc.alt = baro_alt + home.alt;
climb_rate = baro_rate;
}
// manage bad data
climb_rate = constrain(climb_rate, -300, 300);
}
static void

53
ArduCopter/Log.pde
View File

@ -136,6 +136,7 @@ erase_logs(uint8_t argc, const Menu::arg *argv)
for(int j = 1; j <= DF_LAST_PAGE; j++) {
DataFlash.PageErase(j);
DataFlash.StartWrite(j); // We need this step to clean FileNumbers
if(j%128 == 0) Serial.printf_P(PSTR("+"));
}
g.log_last_filenumber.set_and_save(0);
@ -233,13 +234,9 @@ static byte get_num_logs(void)
// This function starts a new log file in the DataFlash
static void start_new_log()
{
uint16_t last_page;
if(g.log_last_filenumber < 1) {
last_page = 0;
} else {
last_page = find_last();
}
uint16_t last_page = find_last();
if(last_page == 1) last_page = 0;
g.log_last_filenumber.set_and_save(g.log_last_filenumber+1);
DataFlash.SetFileNumber(g.log_last_filenumber);
DataFlash.StartWrite(last_page + 1);
@ -724,30 +721,20 @@ static void Log_Write_Control_Tuning()
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_CONTROL_TUNING_MSG);
// yaw
DataFlash.WriteInt(dcm.yaw_sensor/100); //1
DataFlash.WriteInt(nav_yaw/100); //2
DataFlash.WriteInt(yaw_error/100); //3
// Alt hold
DataFlash.WriteInt(sonar_alt); //4
DataFlash.WriteInt(baro_alt); //5
DataFlash.WriteInt(next_WP.alt); //6
DataFlash.WriteInt(nav_throttle); //7
DataFlash.WriteInt(angle_boost); //8
DataFlash.WriteInt(manual_boost); //9
DataFlash.WriteInt(climb_rate); //10
#if HIL_MODE == HIL_MODE_ATTITUDE
DataFlash.WriteInt(0); //11
#else
DataFlash.WriteInt((int)(barometer.RawPress - barometer._offset_press));//11
#endif
DataFlash.WriteInt(g.rc_3.servo_out); //12
DataFlash.WriteInt(g.pi_alt_hold.get_integrator()); //13
DataFlash.WriteInt(g.pi_throttle.get_integrator()); //14
DataFlash.WriteInt(g.rc_1.control_in); // 0
DataFlash.WriteInt(g.rc_2.control_in); // 1
DataFlash.WriteInt(g.rc_3.control_in); // 2
DataFlash.WriteInt(g.rc_4.control_in); // 3
DataFlash.WriteInt(sonar_alt); // 4
DataFlash.WriteInt(baro_alt); // 5
DataFlash.WriteInt(next_WP.alt); // 6
DataFlash.WriteInt(nav_throttle); // 7
DataFlash.WriteInt(angle_boost); // 8
DataFlash.WriteInt(manual_boost); // 9
DataFlash.WriteInt(climb_rate); // 10
DataFlash.WriteInt(g.rc_3.servo_out); // 11
DataFlash.WriteInt(g.pi_alt_hold.get_integrator()); // 12
DataFlash.WriteInt(g.pi_throttle.get_integrator()); // 13
DataFlash.WriteByte(END_BYTE);
}
@ -759,11 +746,11 @@ static void Log_Read_Control_Tuning()
Serial.printf_P(PSTR("CTUN, "));
for(int8_t i = 1; i < 14; i++ ){
for(int8_t i = 0; i < 13; i++ ){
temp = DataFlash.ReadInt();
Serial.printf("%d, ", temp);
}
// read 13
temp = DataFlash.ReadInt();
Serial.printf("%d\n", temp);
}

14
ArduCopter/commands.pde
View File

@ -146,7 +146,17 @@ static void set_next_WP(struct Location *wp)
// copy the current WP into the OldWP slot
// ---------------------------------------
prev_WP = next_WP;
if (next_WP.lat == 0 || command_nav_index <= 1){
prev_WP = current_loc;
}else{
if (get_distance(&current_loc, &next_WP) < 10)
prev_WP = next_WP;
else
prev_WP = current_loc;
}
//Serial.printf("set_next_WP #%d, ", command_nav_index);
//print_wp(&prev_WP, command_nav_index -1);
// Load the next_WP slot
// ---------------------
@ -165,7 +175,7 @@ static void set_next_WP(struct Location *wp)
// -----------------------------------
wp_totalDistance = get_distance(&current_loc, &next_WP);
wp_distance = wp_totalDistance;
target_bearing = get_bearing(&current_loc, &next_WP);
target_bearing = get_bearing(&prev_WP, &next_WP);
// to check if we have missed the WP
// ---------------------------------

14
ArduCopter/commands_logic.pde
View File

@ -103,8 +103,8 @@ static void process_now_command()
}
}
static void handle_no_commands()
{
//static void handle_no_commands()
//{
/*
switch (control_mode){
default:
@ -113,7 +113,7 @@ static void handle_no_commands()
}*/
//return;
//Serial.println("Handle No CMDs");
}
//}
/********************************************************************************/
// Verify command Handlers
@ -430,10 +430,10 @@ static bool verify_nav_wp()
}
}
static bool verify_loiter_unlim()
{
return false;
}
//static bool verify_loiter_unlim()
//{
// return false;
//}
static bool verify_loiter_time()
{

54
ArduCopter/commands_process.pde
View File

@ -4,6 +4,7 @@
//----------------------------------------
static void change_command(uint8_t cmd_index)
{
//Serial.printf("change_command: %d\n",cmd_index );
// limit range
cmd_index = min(g.command_total-1, cmd_index);
@ -17,18 +18,21 @@ static void change_command(uint8_t cmd_index)
//gcs_send_text_P(SEVERITY_LOW,PSTR("error: non-Nav cmd"));
} else {
//Serial.printf("APM:New cmd Index: %d\n", cmd_index);
// clear out command queue
init_commands();
// copy command to the queue
command_nav_queue = temp;
command_nav_index = cmd_index;
prev_nav_index = command_nav_index;
update_commands(false);
execute_nav_command();
}
}
// called by 10 Hz loop
// --------------------
static void update_commands(bool increment)
static void update_commands()
{
//Serial.printf("update_commands: %d\n",increment );
// A: if we do not have any commands there is nothing to do
// B: We have completed the mission, don't redo the mission
if (g.command_total <= 1 || g.command_index == 255)
@ -40,31 +44,17 @@ static void update_commands(bool increment)
// -------------------------------------------------------------------
if (command_nav_index < (g.command_total -1)) {
// load next index
if (increment)
command_nav_index++;
command_nav_index++;
command_nav_queue = get_cmd_with_index(command_nav_index);
if (command_nav_queue.id <= MAV_CMD_NAV_LAST ){
// This is what we report to MAVLINK
g.command_index = command_nav_index;
// Save CMD to Log
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Cmd(g.command_index + 1, &command_nav_queue);
// Act on the new command
process_nav_command();
// clear May indexes to force loading of more commands
// existing May commands are tossed.
command_cond_index = NO_COMMAND;
execute_nav_command();
} else{
// this is a conditional command so we skip it
command_nav_queue.id = NO_COMMAND;
}
}else{
command_nav_index == 255;
}
}
@ -119,6 +109,26 @@ static void update_commands(bool increment)
}
}
static void execute_nav_command(void)
{
// This is what we report to MAVLINK
g.command_index = command_nav_index;
// Save CMD to Log
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Cmd(g.command_index, &command_nav_queue);
// Act on the new command
process_nav_command();
// clear navigation prameters
reset_nav();
// clear May indexes to force loading of more commands
// existing May commands are tossed.
command_cond_index = NO_COMMAND;
}
// called with GPS navigation update - not constantly
static void verify_commands(void)
{

4
ArduCopter/control_modes.pde
View File

@ -14,11 +14,11 @@ static void read_control_switch()
set_mode(flight_modes[switchPosition]);
#if CH7_OPTION != CH7_SIMPLE_MODE
if(g.ch7_option == CH7_SIMPLE_MODE){
// setup Simple mode
// do we enable simple mode?
do_simple = (g.simple_modes & (1 << switchPosition));
#endif
}
}else{
switch_debouncer = true;
}

9
ArduCopter/navigation.pde
View File

@ -30,9 +30,7 @@ static bool check_missed_wp()
{
int32_t temp = target_bearing - original_target_bearing;
temp = wrap_180(temp);
//return (abs(temp) > 10000); //we pased the waypoint by 10 °
// temp testing
return false;
return (abs(temp) > 10000); //we pased the waypoint by 10 °
}
// ------------------------------
@ -171,7 +169,6 @@ static void calc_nav_rate(int max_speed)
max_speed = min(max_speed, waypoint_speed_gov);
}
// XXX target_angle should be the original desired target angle!
//float temp = radians((target_bearing - g_gps->ground_course)/100.0);
float temp = (target_bearing - g_gps->ground_course) * RADX100;
@ -189,8 +186,6 @@ static void calc_nav_rate(int max_speed)
y_rate_error = max_speed - y_actual_speed; // 413
y_rate_error = constrain(y_rate_error, -800, 800); // added a rate error limit to keep pitching down to a minimum
nav_lat = constrain(g.pi_nav_lat.get_pi(y_rate_error, dTnav), -3500, 3500);
// 400cm/s * 3 = 1200 or 12 deg pitch
// 800cm/s * 3 = 2400 or 24 deg pitch MAX
// nav_lat and nav_lon will be rotated to the angle of the quad in calc_nav_pitch_roll()
@ -229,7 +224,7 @@ static int32_t cross_track_test()
// nav_roll, nav_pitch
static void calc_nav_pitch_roll()
{
float temp = (9000l - (dcm.yaw_sensor - original_target_bearing)) * RADX100;
float temp = (9000l - (dcm.yaw_sensor - target_bearing)) * RADX100;
//t: 1.5465, t1: -10.9451, t2: 1.5359, t3: 1.5465
float _cos_yaw_x = cos(temp);

5
ArduCopter/system.pde
View File

@ -164,8 +164,11 @@ static void init_ardupilot()
delay(100); // wait for serial send
AP_Var::erase_all();
// clear logs
// erase DataFlash on format version change
#if LOGGING_ENABLED == ENABLED
DataFlash.Init();
erase_logs(NULL, NULL);
#endif
// save the new format version
g.format_version.set_and_save(Parameters::k_format_version);

11
ArduPlane/Log.pde
View File

@ -140,6 +140,7 @@ erase_logs(uint8_t argc, const Menu::arg *argv)
for(int j = 1; j <= DF_LAST_PAGE; j++) {
DataFlash.PageErase(j);
DataFlash.StartWrite(j); // We need this step to clean FileNumbers
if(j%128 == 0) Serial.printf_P(PSTR("+"));
}
g.log_last_filenumber.set_and_save(0);
@ -233,13 +234,9 @@ static byte get_num_logs(void)
// This function starts a new log file in the DataFlash
static void start_new_log()
{
uint16_t last_page;
if(g.log_last_filenumber < 1) {
last_page = 0;
} else {
last_page = find_last();
}
uint16_t last_page = find_last();
if(last_page == 1) last_page = 0;
g.log_last_filenumber.set_and_save(g.log_last_filenumber+1);
DataFlash.SetFileNumber(g.log_last_filenumber);
DataFlash.StartWrite(last_page + 1);

35
ArduPlane/system.pde
View File

@ -116,31 +116,26 @@ static void init_ardupilot()
//
// Check the EEPROM format version before loading any parameters from EEPROM.
//
if (!g.format_version.load()) {
Serial.println_P(PSTR("\nEEPROM blank - resetting all parameters to defaults...\n"));
delay(100); // wait for serial msg to flush
AP_Var::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
} else if (g.format_version != Parameters::k_format_version) {
Serial.printf_P(PSTR("\n\nEEPROM format version %d not compatible with this firmware (requires %d)"
"\n\nForcing complete parameter reset..."),
g.format_version.get(), Parameters::k_format_version);
delay(100); // wait for serial msg to flush
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
Serial.printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
delay(100); // wait for serial send
AP_Var::erase_all();
// save the new format version
// erase DataFlash on format version change
#if LOGGING_ENABLED == ENABLED
DataFlash.Init();
erase_logs(NULL, NULL);
#endif
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
Serial.println_P(PSTR("done."));
} else {
} else {
unsigned long before = micros();
// Load all auto-loaded EEPROM variables
AP_Var::load_all();

1
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
View File

@ -581,6 +581,7 @@
<None Include="Resources\new frames-09.png" />
<Content Include="dataflashlog.xml">
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
<SubType>Designer</SubType>
</Content>
<None Include="Resources\plane2.png" />
<None Include="Resources\quad2.png" />

10
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.Designer.cs generated
View File

@ -22,6 +22,7 @@
this.bindingSource1 = new System.Windows.Forms.BindingSource(this.components);
this.tabControl1 = new System.Windows.Forms.TabControl();
this.tabActions = new System.Windows.Forms.TabPage();
this.BUT_script = new ArdupilotMega.MyButton();
this.BUT_joystick = new ArdupilotMega.MyButton();
this.BUT_quickmanual = new ArdupilotMega.MyButton();
this.BUT_quickrtl = new ArdupilotMega.MyButton();
@ -236,6 +237,7 @@
//
// tabActions
//
this.tabActions.Controls.Add(this.BUT_script);
this.tabActions.Controls.Add(this.BUT_joystick);
this.tabActions.Controls.Add(this.BUT_quickmanual);
this.tabActions.Controls.Add(this.BUT_quickrtl);
@ -254,6 +256,13 @@
this.tabActions.Name = "tabActions";
this.tabActions.UseVisualStyleBackColor = true;
//
// BUT_script
//
resources.ApplyResources(this.BUT_script, "BUT_script");
this.BUT_script.Name = "BUT_script";
this.BUT_script.UseVisualStyleBackColor = true;
this.BUT_script.Click += new System.EventHandler(this.BUT_script_Click);
//
// BUT_joystick
//
resources.ApplyResources(this.BUT_joystick, "BUT_joystick");
@ -1331,5 +1340,6 @@
private MyLabel lbl_logpercent;
private System.Windows.Forms.ToolStripMenuItem pointCameraHereToolStripMenuItem;
private System.Windows.Forms.SplitContainer splitContainer1;
private MyButton BUT_script;
}
}

96
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
View File

@ -1539,5 +1539,101 @@ namespace ArdupilotMega.GCSViews
MainV2.comPort.setMountControl(gotolocation.Lat, gotolocation.Lng, (int)(intalt / MainV2.cs.multiplierdist), true);
}
private void BUT_script_Click(object sender, EventArgs e)
{
System.Threading.Thread t11 = new System.Threading.Thread(new System.Threading.ThreadStart(ScriptStart))
{
IsBackground = true,
Name = "Script Thread"
};
t11.Start();
}
void ScriptStart()
{
string myscript = @"
print 'Start Script'
for chan in range(1,9):
Script.SendRC(chan,1500,False)
Script.SendRC(3,Script.GetParam('RC3_MIN'),True)
Script.Sleep(5000)
while cs.lat == 0:
print 'Waiting for GPS'
Script.Sleep(1000)
print 'Got GPS'
jo = 10 * 13
print jo
Script.SendRC(3,1000,False)
Script.SendRC(4,2000,True)
cs.messages.Clear()
Script.WaitFor('ARMING MOTORS',30000)
Script.SendRC(4,1500,True)
print 'Motors Armed!'
Script.SendRC(3,1700,True)
while cs.alt < 50:
Script.Sleep(50)
Script.SendRC(5,2000,True) # acro
Script.SendRC(1,2000,False) # roll
Script.SendRC(3,1370,True) # throttle
while cs.roll > -45: # top hald 0 - 180
Script.Sleep(5)
while cs.roll < -45: # -180 - -45
Script.Sleep(5)
Script.SendRC(5,1500,False) # stabalise
Script.SendRC(1,1500,True) # level roll
Script.Sleep(2000) # 2 sec to stabalise
Script.SendRC(3,1300,True) # throttle back to land
thro = 1350 # will decend
while cs.alt > 0.1:
Script.Sleep(300)
Script.SendRC(3,1000,False)
Script.SendRC(4,1000,True)
Script.WaitFor('DISARMING MOTORS',30000)
Script.SendRC(4,1500,True)
print 'Roll complete'
";
MessageBox.Show("This is Very ALPHA");
Form scriptedit = new Form();
scriptedit.Size = new System.Drawing.Size(500,500);
TextBox tb = new TextBox();
tb.Dock = DockStyle.Fill;
tb.ScrollBars = ScrollBars.Both;
tb.Multiline = true;
tb.Location = new Point(0,0);
tb.Size = new System.Drawing.Size(scriptedit.Size.Width-30,scriptedit.Size.Height-30);
scriptedit.Controls.Add(tb);
tb.Text = myscript;
scriptedit.ShowDialog();
if (DialogResult.Yes == MessageBox.Show("Run Script", "Run this script?", MessageBoxButtons.YesNo))
{
Script scr = new Script();
scr.runScript(tb.Text);
}
}
}
}

111
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.resx
View File

@ -208,7 +208,7 @@
<value>hud1</value>
</data>
<data name="&gt;&gt;hud1.Type" xml:space="preserve">
<value>hud.HUD, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>hud.HUD, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;hud1.Parent" xml:space="preserve">
<value>SubMainLeft.Panel1</value>
@ -228,6 +228,33 @@
<data name="&gt;&gt;SubMainLeft.Panel1.ZOrder" xml:space="preserve">
<value>0</value>
</data>
<data name="BUT_script.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value>
</data>
<data name="BUT_script.Location" type="System.Drawing.Point, System.Drawing">
<value>17, 93</value>
</data>
<data name="BUT_script.Size" type="System.Drawing.Size, System.Drawing">
<value>66, 23</value>
</data>
<data name="BUT_script.TabIndex" type="System.Int32, mscorlib">
<value>78</value>
</data>
<data name="BUT_script.Text" xml:space="preserve">
<value>Script</value>
</data>
<data name="&gt;&gt;BUT_script.Name" xml:space="preserve">
<value>BUT_script</value>
</data>
<data name="&gt;&gt;BUT_script.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_script.Parent" xml:space="preserve">
<value>tabActions</value>
</data>
<data name="&gt;&gt;BUT_script.ZOrder" xml:space="preserve">
<value>0</value>
</data>
<data name="BUT_joystick.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value>
</data>
@ -253,13 +280,13 @@
<value>BUT_joystick</value>
</data>
<data name="&gt;&gt;BUT_joystick.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_joystick.Parent" xml:space="preserve">
<value>tabActions</value>
</data>
<data name="&gt;&gt;BUT_joystick.ZOrder" xml:space="preserve">
<value>0</value>
<value>1</value>
</data>
<data name="BUT_quickmanual.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value>
@ -283,13 +310,13 @@
<value>BUT_quickmanual</value>
</data>
<data name="&gt;&gt;BUT_quickmanual.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_quickmanual.Parent" xml:space="preserve">
<value>tabActions</value>
</data>
<data name="&gt;&gt;BUT_quickmanual.ZOrder" xml:space="preserve">
<value>1</value>
<value>2</value>
</data>
<data name="BUT_quickrtl.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value>
@ -313,13 +340,13 @@
<value>BUT_quickrtl</value>
</data>
<data name="&gt;&gt;BUT_quickrtl.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_quickrtl.Parent" xml:space="preserve">
<value>tabActions</value>
</data>
<data name="&gt;&gt;BUT_quickrtl.ZOrder" xml:space="preserve">
<value>2</value>
<value>3</value>
</data>
<data name="BUT_quickauto.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value>
@ -343,13 +370,13 @@
<value>BUT_quickauto</value>
</data>
<data name="&gt;&gt;BUT_quickauto.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_quickauto.Parent" xml:space="preserve">
<value>tabActions</value>
</data>
<data name="&gt;&gt;BUT_quickauto.ZOrder" xml:space="preserve">
<value>3</value>
<value>4</value>
</data>
<data name="CMB_setwp.Items" xml:space="preserve">
<value>0 (Home)</value>
@ -373,7 +400,7 @@
<value>tabActions</value>
</data>
<data name="&gt;&gt;CMB_setwp.ZOrder" xml:space="preserve">
<value>4</value>
<value>5</value>
</data>
<data name="BUT_setwp.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value>
@ -397,13 +424,13 @@
<value>BUT_setwp</value>
</data>
<data name="&gt;&gt;BUT_setwp.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_setwp.Parent" xml:space="preserve">
<value>tabActions</value>
</data>
<data name="&gt;&gt;BUT_setwp.ZOrder" xml:space="preserve">
<value>5</value>
<value>6</value>
</data>
<data name="CMB_modes.Location" type="System.Drawing.Point, System.Drawing">
<value>4, 64</value>
@ -424,7 +451,7 @@
<value>tabActions</value>
</data>
<data name="&gt;&gt;CMB_modes.ZOrder" xml:space="preserve">
<value>6</value>
<value>7</value>
</data>
<data name="BUT_setmode.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value>
@ -448,13 +475,13 @@
<value>BUT_setmode</value>
</data>
<data name="&gt;&gt;BUT_setmode.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_setmode.Parent" xml:space="preserve">
<value>tabActions</value>
</data>
<data name="&gt;&gt;BUT_setmode.ZOrder" xml:space="preserve">
<value>7</value>
<value>8</value>
</data>
<data name="BUT_clear_track.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value>
@ -478,13 +505,13 @@
<value>BUT_clear_track</value>
</data>
<data name="&gt;&gt;BUT_clear_track.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_clear_track.Parent" xml:space="preserve">
<value>tabActions</value>
</data>
<data name="&gt;&gt;BUT_clear_track.ZOrder" xml:space="preserve">
<value>8</value>
<value>9</value>
</data>
<data name="CMB_action.Location" type="System.Drawing.Point, System.Drawing">
<value>4, 6</value>
@ -505,7 +532,7 @@
<value>tabActions</value>
</data>
<data name="&gt;&gt;CMB_action.ZOrder" xml:space="preserve">
<value>9</value>
<value>10</value>
</data>
<data name="BUT_Homealt.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value>
@ -529,13 +556,13 @@
<value>BUT_Homealt</value>
</data>
<data name="&gt;&gt;BUT_Homealt.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_Homealt.Parent" xml:space="preserve">
<value>tabActions</value>
</data>
<data name="&gt;&gt;BUT_Homealt.ZOrder" xml:space="preserve">
<value>10</value>
<value>11</value>
</data>
<data name="BUT_RAWSensor.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value>
@ -559,13 +586,13 @@
<value>BUT_RAWSensor</value>
</data>
<data name="&gt;&gt;BUT_RAWSensor.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_RAWSensor.Parent" xml:space="preserve">
<value>tabActions</value>
</data>
<data name="&gt;&gt;BUT_RAWSensor.ZOrder" xml:space="preserve">
<value>11</value>
<value>12</value>
</data>
<data name="BUTrestartmission.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value>
@ -589,13 +616,13 @@
<value>BUTrestartmission</value>
</data>
<data name="&gt;&gt;BUTrestartmission.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUTrestartmission.Parent" xml:space="preserve">
<value>tabActions</value>
</data>
<data name="&gt;&gt;BUTrestartmission.ZOrder" xml:space="preserve">
<value>12</value>
<value>13</value>
</data>
<data name="BUTactiondo.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value>
@ -619,13 +646,13 @@
<value>BUTactiondo</value>
</data>
<data name="&gt;&gt;BUTactiondo.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUTactiondo.Parent" xml:space="preserve">
<value>tabActions</value>
</data>
<data name="&gt;&gt;BUTactiondo.ZOrder" xml:space="preserve">
<value>13</value>
<value>14</value>
</data>
<data name="tabActions.Location" type="System.Drawing.Point, System.Drawing">
<value>4, 22</value>
@ -673,7 +700,7 @@
<value>Gvspeed</value>
</data>
<data name="&gt;&gt;Gvspeed.Type" xml:space="preserve">
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;Gvspeed.Parent" xml:space="preserve">
<value>tabGauges</value>
@ -703,7 +730,7 @@
<value>Gheading</value>
</data>
<data name="&gt;&gt;Gheading.Type" xml:space="preserve">
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;Gheading.Parent" xml:space="preserve">
<value>tabGauges</value>
@ -733,7 +760,7 @@
<value>Galt</value>
</data>
<data name="&gt;&gt;Galt.Type" xml:space="preserve">
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;Galt.Parent" xml:space="preserve">
<value>tabGauges</value>
@ -766,7 +793,7 @@
<value>Gspeed</value>
</data>
<data name="&gt;&gt;Gspeed.Type" xml:space="preserve">
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;Gspeed.Parent" xml:space="preserve">
<value>tabGauges</value>
@ -847,7 +874,7 @@
<value>lbl_logpercent</value>
</data>
<data name="&gt;&gt;lbl_logpercent.Type" xml:space="preserve">
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;lbl_logpercent.Parent" xml:space="preserve">
<value>tabTLogs</value>
@ -898,7 +925,7 @@
<value>BUT_log2kml</value>
</data>
<data name="&gt;&gt;BUT_log2kml.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_log2kml.Parent" xml:space="preserve">
<value>tabTLogs</value>
@ -949,7 +976,7 @@
<value>BUT_playlog</value>
</data>
<data name="&gt;&gt;BUT_playlog.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_playlog.Parent" xml:space="preserve">
<value>tabTLogs</value>
@ -976,7 +1003,7 @@
<value>BUT_loadtelem</value>
</data>
<data name="&gt;&gt;BUT_loadtelem.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_loadtelem.Parent" xml:space="preserve">
<value>tabTLogs</value>
@ -1162,7 +1189,7 @@
<value>lbl_winddir</value>
</data>
<data name="&gt;&gt;lbl_winddir.Type" xml:space="preserve">
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;lbl_winddir.Parent" xml:space="preserve">
<value>splitContainer1.Panel2</value>
@ -1192,7 +1219,7 @@
<value>lbl_windvel</value>
</data>
<data name="&gt;&gt;lbl_windvel.Type" xml:space="preserve">
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;lbl_windvel.Parent" xml:space="preserve">
<value>splitContainer1.Panel2</value>
@ -1427,7 +1454,7 @@
<value>TXT_lat</value>
</data>
<data name="&gt;&gt;TXT_lat.Type" xml:space="preserve">
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;TXT_lat.Parent" xml:space="preserve">
<value>panel1</value>
@ -1484,7 +1511,7 @@
<value>label1</value>
</data>
<data name="&gt;&gt;label1.Type" xml:space="preserve">
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;label1.Parent" xml:space="preserve">
<value>panel1</value>
@ -1514,7 +1541,7 @@
<value>TXT_long</value>
</data>
<data name="&gt;&gt;TXT_long.Type" xml:space="preserve">
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;TXT_long.Parent" xml:space="preserve">
<value>panel1</value>
@ -1544,7 +1571,7 @@
<value>TXT_alt</value>
</data>
<data name="&gt;&gt;TXT_alt.Type" xml:space="preserve">
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;TXT_alt.Parent" xml:space="preserve">
<value>panel1</value>
@ -1745,7 +1772,7 @@
<value>label6</value>
</data>
<data name="&gt;&gt;label6.Type" xml:space="preserve">
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;label6.Parent" xml:space="preserve">
<value>$this</value>
@ -1823,6 +1850,6 @@
<value>FlightData</value>
</data>
<data name="&gt;&gt;$this.Type" xml:space="preserve">
<value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
</root>

22
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
View File

@ -342,7 +342,7 @@ namespace ArdupilotMega.GCSViews
{
TXT_mouselat.Text = lat.ToString();
TXT_mouselong.Text = lng.ToString();
TXT_mousealt.Text = srtm.getAltitude(lat, lng).ToString("0");
TXT_mousealt.Text = srtm.getAltitude(lat, lng, MainMap.Zoom).ToString("0");
try
{
@ -2754,16 +2754,18 @@ namespace ArdupilotMega.GCSViews
private void BUT_zoomto_Click(object sender, EventArgs e)
{
string place = "Perth, Australia";
Common.InputBox("Location", "Enter your location", ref place);
if (DialogResult.OK == Common.InputBox("Location", "Enter your location", ref place))
{
GeoCoderStatusCode status = MainMap.SetCurrentPositionByKeywords(place);
if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
{
MessageBox.Show("Google Maps Geocoder can't find: '" + place + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
}
else
{
MainMap.Zoom = 15;
GeoCoderStatusCode status = MainMap.SetCurrentPositionByKeywords(place);
if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
{
MessageBox.Show("Google Maps Geocoder can't find: '" + place + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
}
else
{
MainMap.Zoom = 15;
}
}
}
}

2
Tools/ArdupilotMegaPlanner/HUD.cs
View File

@ -264,7 +264,7 @@ namespace hud
if (DateTime.Now.Second != countdate.Second)
{
countdate = DateTime.Now;
Console.WriteLine("HUD " + count + " hz drawtime " + (huddrawtime / count) + " gl " + opengl);
//Console.WriteLine("HUD " + count + " hz drawtime " + (huddrawtime / count) + " gl " + opengl);
count = 0;
huddrawtime = 0;
}

16
Tools/ArdupilotMegaPlanner/MainV2.cs
View File

@ -21,7 +21,6 @@ using System.Threading;
using System.Net.Sockets;
using IronPython.Hosting;
namespace ArdupilotMega
{
public partial class MainV2 : Form
@ -109,15 +108,10 @@ namespace ArdupilotMega
//return;
var engine = Python.CreateEngine();
var scope = engine.CreateScope();
scope.SetVariable("MainV2",this);
Console.WriteLine(DateTime.Now.Millisecond);
engine.CreateScriptSourceFromString("print 'hello world from python'").Execute(scope);
Console.WriteLine(DateTime.Now.Millisecond);
engine.CreateScriptSourceFromString("MainV2.testpython()").Execute(scope);
Console.WriteLine(DateTime.Now.Millisecond);
// preload
Python.CreateEngine();
var t = Type.GetType("Mono.Runtime");
MONO = (t != null);
@ -678,7 +672,7 @@ namespace ArdupilotMega
comPort.logfile = new BinaryWriter(File.Open(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd hh-mm-ss") + ".tlog", FileMode.CreateNew));
}
catch { MessageBox.Show("Failed to create log - wont log this session"); } // soft fail
comPort.BaseStream.PortName = CMB_serialport.Text;
comPort.Open(true);
@ -1100,7 +1094,7 @@ namespace ArdupilotMega
if (heatbeatsend.Second != DateTime.Now.Second)
{
Console.WriteLine("remote lost {0}", cs.packetdropremote);
// Console.WriteLine("remote lost {0}", cs.packetdropremote);
MAVLink.__mavlink_heartbeat_t htb = new MAVLink.__mavlink_heartbeat_t();

2
Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
View File

@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.98")]
[assembly: AssemblyFileVersion("1.0.99")]
[assembly: NeutralResourcesLanguageAttribute("")]

89
Tools/ArdupilotMegaPlanner/Script.cs
View File

@ -2,6 +2,7 @@
using System.Collections.Generic;
using System.Linq;
using System.Text;
using IronPython.Hosting;
namespace ArdupilotMega
{
@ -9,12 +10,27 @@ namespace ArdupilotMega
{
DateTime timeout = DateTime.Now;
List<string> items = new List<string>();
Microsoft.Scripting.Hosting.ScriptEngine engine;
Microsoft.Scripting.Hosting.ScriptScope scope;
// keeps history
MAVLink.__mavlink_rc_channels_override_t rc = new MAVLink.__mavlink_rc_channels_override_t();
public Script()
{
engine = Python.CreateEngine();
scope = engine.CreateScope();
scope.SetVariable("cs", MainV2.cs);
scope.SetVariable("Script", this);
Console.WriteLine(DateTime.Now.Millisecond);
engine.CreateScriptSourceFromString("print 'hello world from python'").Execute(scope);
Console.WriteLine(DateTime.Now.Millisecond);
engine.CreateScriptSourceFromString("print cs.roll").Execute(scope);
Console.WriteLine(DateTime.Now.Millisecond);
object thisBoxed = MainV2.cs;
Type test = thisBoxed.GetType();
@ -33,7 +49,24 @@ namespace ArdupilotMega
items.Add(field.Name);
}
}
}
public void Sleep(int ms) {
System.Threading.Thread.Sleep(ms);
}
public void runScript(string script)
{
try
{
engine.CreateScriptSourceFromString(script).Execute(scope);
}
catch (Exception e)
{
System.Windows.Forms.MessageBox.Show("Error running script " + e.Message);
}
}
public enum Conditional
{
@ -51,36 +84,34 @@ namespace ArdupilotMega
return MainV2.comPort.setParam(param, value);
}
public float GetParam(string param)
{
if (MainV2.comPort.param[param] != null)
return (float)MainV2.comPort.param[param];
return 0.0f;
}
public bool ChangeMode(string mode)
{
MainV2.comPort.setMode(mode);
return true;
}
public bool WaitFor(string message)
public bool WaitFor(string message, int timeout)
{
while (MainV2.cs.message != message) {
int timein = 0;
while (!MainV2.cs.message.Contains(message)) {
System.Threading.Thread.Sleep(5);
timein += 5;
if (timein > timeout)
return false;
}
return true;
}
public bool WaitFor(string item, Conditional cond,double value ,int timeoutms)
{
timeout = DateTime.Now;
while (DateTime.Now < timeout.AddMilliseconds(timeoutms))
{
//if (item)
{
}
}
return false;
}
public bool sendRC(int channel, ushort pwm)
public bool SendRC(int channel, ushort pwm,bool sendnow)
{
switch (channel)
{
@ -118,18 +149,18 @@ namespace ArdupilotMega
break;
}
MainV2.comPort.sendPacket(rc);
System.Threading.Thread.Sleep(20);
MainV2.comPort.sendPacket(rc);
MainV2.comPort.sendPacket(rc);
rc.target_component = MainV2.comPort.compid;
rc.target_system = MainV2.comPort.sysid;
if (sendnow)
{
MainV2.comPort.sendPacket(rc);
System.Threading.Thread.Sleep(20);
MainV2.comPort.sendPacket(rc);
MainV2.comPort.sendPacket(rc);
}
return true;
}
void convertItemtoMessage()
{
}
}
}

2
Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application
View File

@ -11,7 +11,7 @@
<dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
</dsig:Transforms>
<dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha1" />
<dsig:DigestValue>XqmS8DEyaXOEHAzbfxq+pbxDUg4=</dsig:DigestValue>
<dsig:DigestValue>QOAVY4eRCMREZxVv8+wq0bmXS7U=</dsig:DigestValue>
</hash>
</dependentAssembly>
</dependency>

14
Tools/ArdupilotMegaPlanner/bin/Release/dataflashlog.xml
View File

@ -42,17 +42,19 @@
<F7>Nav Throttle</F7>
<F8>Angle boost</F8>
<F9>Manual boost</F9>
<F10>climb rate</F10>
<F11></F11>
<F10>rc3 servo out</F10>
<F11>alt hold int</F11>
<F12>thro int</F12>
</CTUN>
<PM>
<F1>control mode</F1>
<F2>yaw mode</F2>
<F3>r p mode</F3>
<F4>thro mode</F4>
<F5>thro cruise</F5>
<F6>thro int</F6>
<F1>time</F1>
<F2>gyro sat</F2>
<F3>adc const</F3>
<F4>renorm sqrt</F4>
<F5>renorm blowup</F5>
<F6>fix count</F6>
</PM>
<RAW>
<F1>Gyro X</F1>

14
Tools/ArdupilotMegaPlanner/dataflashlog.xml
View File

@ -42,17 +42,19 @@
<F7>Nav Throttle</F7>
<F8>Angle boost</F8>
<F9>Manual boost</F9>
<F10>climb rate</F10>
<F11></F11>
<F10>rc3 servo out</F10>
<F11>alt hold int</F11>
<F12>thro int</F12>
</CTUN>
<PM>
<F1>control mode</F1>
<F2>yaw mode</F2>
<F3>r p mode</F3>
<F4>thro mode</F4>
<F5>thro cruise</F5>
<F6>thro int</F6>
<F1>time</F1>
<F2>gyro sat</F2>
<F3>adc const</F3>
<F4>renorm sqrt</F4>
<F5>renorm blowup</F5>
<F6>fix count</F6>
</PM>
<RAW>
<F1>Gyro X</F1>

402
Tools/ArdupilotMegaPlanner/srtm.cs
View File

@ -3,6 +3,10 @@ using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.IO;
using System.Net;
using System.Text.RegularExpressions;
using ICSharpCode.SharpZipLib.Zip;
using System.Threading;
namespace ArdupilotMega
{
@ -10,7 +14,15 @@ namespace ArdupilotMega
{
public static string datadirectory;
public static int getAltitude(double lat, double lng)
static List<string> allhgts = new List<string>();
static object objlock = new object();
static Thread requestThread;
static List<string> queue = new List<string>();
public static int getAltitude(double lat, double lng, double zoom)
{
short alt = 0;
@ -36,136 +48,296 @@ namespace ArdupilotMega
string filename2 = "srtm_" + Math.Round((lng + 2.5 + 180) / 5, 0).ToString("00") + "_" + Math.Round((60 - lat + 2.5) / 5, 0).ToString("00") + ".asc";
if (File.Exists(datadirectory + Path.DirectorySeparatorChar + filename))
{ // srtm hgt files
FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename, FileMode.Open, FileAccess.Read);
float posx = 0;
float row = 0;
if (fs.Length <= (1201 * 1201 * 2))
{
posx = (int)(((float)(lng - x)) * (1201 * 2));
row = (int)(((float)(lat - y)) * 1201) * (1201 * 2);
row = (1201 * 1201 * 2) - row;
}
else
{
posx = (int)(((float)(lng - x)) * (3601 * 2));
row = (int)(((float)(lat - y)) * 3601) * (3601 * 2);
row = (3601 * 3601 * 2) - row;
}
if (posx % 2 == 1)
{
posx--;
}
//Console.WriteLine(filename + " row " + row + " posx" + posx);
byte[] data = new byte[2];
fs.Seek((int)(row + posx), SeekOrigin.Begin);
fs.Read(data, 0, data.Length);
fs.Close();
fs.Dispose();
Array.Reverse(data);
alt = BitConverter.ToInt16(data, 0);
return alt;
}
else if (File.Exists(datadirectory + Path.DirectorySeparatorChar + filename2))
try
{
// this is way to slow - and cacheing it will chew memory 6001 * 6001 * 4 = 144048004 bytes
FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename2, FileMode.Open, FileAccess.Read);
StreamReader sr = new StreamReader(fs);
if (File.Exists(datadirectory + Path.DirectorySeparatorChar + filename))
{ // srtm hgt files
FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename, FileMode.Open, FileAccess.Read, FileShare.Read);
int nox = 0;
int noy = 0;
float left = 0;
float top = 0;
int nodata = -9999;
float cellsize = 0;
float posx = 0;
float row = 0;
int rowcounter = 0;
float wantrow = 0;
float wantcol = 0;
while (!sr.EndOfStream)
{
string line = sr.ReadLine();
if (line.StartsWith("ncols"))
if (fs.Length <= (1201 * 1201 * 2))
{
nox = int.Parse(line.Substring(line.IndexOf(' ')));
//hgtdata = new int[nox * noy];
}
else if (line.StartsWith("nrows"))
{
noy = int.Parse(line.Substring(line.IndexOf(' ')));
//hgtdata = new int[nox * noy];
}
else if (line.StartsWith("xllcorner"))
{
left = float.Parse(line.Substring(line.IndexOf(' ')));
}
else if (line.StartsWith("yllcorner"))
{
top = float.Parse(line.Substring(line.IndexOf(' ')));
}
else if (line.StartsWith("cellsize"))
{
cellsize = float.Parse(line.Substring(line.IndexOf(' ')));
}
else if (line.StartsWith("NODATA_value"))
{
nodata = int.Parse(line.Substring(line.IndexOf(' ')));
posx = (int)(((float)(lng - x)) * (1201 * 2));
row = (int)(((float)(lat - y)) * 1201) * (1201 * 2);
row = (1201 * 1201 * 2) - row;
}
else
{
string[] data = line.Split(new char[] { ' ' });
if (data.Length == (nox + 1))
{
wantcol = (float)((lng - Math.Round(left,0)));
wantrow = (float)((lat - Math.Round(top,0)));
wantrow =(int)( wantrow / cellsize);
wantcol =(int)( wantcol / cellsize);
wantrow = noy - wantrow;
if (rowcounter == wantrow)
{
Console.WriteLine("{0} {1} {2} {3} ans {4} x {5}", lng, lat, left, top, data[(int)wantcol], (nox + wantcol * cellsize));
return int.Parse(data[(int)wantcol]);
}
rowcounter++;
}
posx = (int)(((float)(lng - x)) * (3601 * 2));
row = (int)(((float)(lat - y)) * 3601) * (3601 * 2);
row = (3601 * 3601 * 2) - row;
}
if (posx % 2 == 1)
{
posx--;
}
//Console.WriteLine(filename + " row " + row + " posx" + posx);
byte[] data = new byte[2];
fs.Seek((int)(row + posx), SeekOrigin.Begin);
fs.Read(data, 0, data.Length);
fs.Close();
fs.Dispose();
Array.Reverse(data);
alt = BitConverter.ToInt16(data, 0);
return alt;
}
else if (File.Exists(datadirectory + Path.DirectorySeparatorChar + filename2))
{
// this is way to slow - and cacheing it will chew memory 6001 * 6001 * 4 = 144048004 bytes
FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename2, FileMode.Open, FileAccess.Read);
StreamReader sr = new StreamReader(fs);
int nox = 0;
int noy = 0;
float left = 0;
float top = 0;
int nodata = -9999;
float cellsize = 0;
int rowcounter = 0;
float wantrow = 0;
float wantcol = 0;
while (!sr.EndOfStream)
{
string line = sr.ReadLine();
if (line.StartsWith("ncols"))
{
nox = int.Parse(line.Substring(line.IndexOf(' ')));
//hgtdata = new int[nox * noy];
}
else if (line.StartsWith("nrows"))
{
noy = int.Parse(line.Substring(line.IndexOf(' ')));
//hgtdata = new int[nox * noy];
}
else if (line.StartsWith("xllcorner"))
{
left = float.Parse(line.Substring(line.IndexOf(' ')));
}
else if (line.StartsWith("yllcorner"))
{
top = float.Parse(line.Substring(line.IndexOf(' ')));
}
else if (line.StartsWith("cellsize"))
{
cellsize = float.Parse(line.Substring(line.IndexOf(' ')));
}
else if (line.StartsWith("NODATA_value"))
{
nodata = int.Parse(line.Substring(line.IndexOf(' ')));
}
else
{
string[] data = line.Split(new char[] { ' ' });
if (data.Length == (nox + 1))
{
wantcol = (float)((lng - Math.Round(left, 0)));
wantrow = (float)((lat - Math.Round(top, 0)));
wantrow = (int)(wantrow / cellsize);
wantcol = (int)(wantcol / cellsize);
wantrow = noy - wantrow;
if (rowcounter == wantrow)
{
Console.WriteLine("{0} {1} {2} {3} ans {4} x {5}", lng, lat, left, top, data[(int)wantcol], (nox + wantcol * cellsize));
return int.Parse(data[(int)wantcol]);
}
rowcounter++;
}
}
}
return alt;
}
else // get something
{
if (zoom >= 15)
{
if (requestThread == null)
{
Console.WriteLine("Getting " + filename);
queue.Add(filename);
requestThread = new Thread(requestRunner);
requestThread.IsBackground = true;
requestThread.Start();
}
else
{
lock (objlock)
{
if (!queue.Contains(filename))
{
Console.WriteLine("Getting " + filename);
queue.Add(filename);
}
}
}
}
}
return alt;
}
catch { alt = 0; }
return alt;
}
static void requestRunner()
{
while (true)
{
try
{
string item = "";
lock (objlock)
{
if (queue.Count > 0)
{
item = queue[0];
}
}
if (item != "")
{
get3secfile(item);
lock (objlock)
{
queue.Remove(item);
}
}
}
catch { }
Thread.Sleep(100);
}
}
static void get3secfile(object name)
{
string baseurl = "http://dds.cr.usgs.gov/srtm/version2_1/SRTM3/";
// check file doesnt already exist
if (File.Exists(datadirectory + Path.DirectorySeparatorChar + (string)name))
{
return;
}
List<string> list = getListing(baseurl);
foreach (string item in list)
{
List<string> hgtfiles = getListing(item);
foreach (string hgt in hgtfiles)
{
if (hgt.Contains((string)name))
{
// get file
gethgt(hgt, (string)name);
return;
}
}
}
}
static void gethgt(string url, string filename)
{
try
{
WebRequest req = HttpWebRequest.Create(url);
WebResponse res = req.GetResponse();
Stream resstream = res.GetResponseStream();
BinaryWriter bw = new BinaryWriter(File.Create(datadirectory + Path.DirectorySeparatorChar + filename + ".zip"));
byte[] buf1 = new byte[1024];
while (resstream.CanRead)
{
int len = resstream.Read(buf1, 0, 1024);
if (len == 0)
break;
bw.Write(buf1, 0, len);
}
bw.Close();
FastZip fzip = new FastZip();
fzip.ExtractZip(datadirectory + Path.DirectorySeparatorChar + filename + ".zip", datadirectory, "");
}
catch { }
}
static List<string> getListing(string url)
{
List<string> list = new List<string>();
try
{
WebRequest req = HttpWebRequest.Create(url);
WebResponse res = req.GetResponse();
StreamReader resstream = new StreamReader(res.GetResponseStream());
string data = resstream.ReadToEnd();
Regex regex = new Regex("href=\"([^\"]+)\"", RegexOptions.IgnoreCase);
if (regex.IsMatch(data))
{
MatchCollection matchs = regex.Matches(data);
for (int i = 0; i < matchs.Count; i++)
{
if (matchs[i].Groups[1].Value.ToString().Contains(".."))
continue;
if (matchs[i].Groups[1].Value.ToString().Contains("http"))
continue;
list.Add(url.TrimEnd(new char[] { '/', '\\' }) + "/" + matchs[i].Groups[1].Value.ToString());
}
}
}
catch { }
return list;
}
}
}
}

6
Tools/autotest/arducopter.py
View File

@ -170,8 +170,8 @@ def fly_mission(mavproxy, mav, height_accuracy=-1, target_altitude=None):
'''fly a mission from a file'''
global homeloc
global num_wp
print("test: Fly a mission from 0 to %u" % num_wp)
mavproxy.send('wp set 0\n')
print("test: Fly a mission from 1 to %u" % num_wp)
mavproxy.send('wp set 1\n')
mavproxy.send('switch 4\n') # auto mode
wait_mode(mav, 'AUTO')
#wait_altitude(mav, 30, 40)
@ -254,7 +254,7 @@ def fly_ArduCopter(viewerip=None):
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
sil = util.start_SIL('ArduCopter', height=HOME.alt)
hquad = pexpect.spawn(hquad_cmd, logfile=sys.stdout, timeout=10)
util.pexpect_autoclose(hquad)