aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

APM Planner 1.1.30

Browse Source 
add OF_LOITER
add AC TUNE options
fix default alt issues.
make Scripts, 1 at a time.
update aerosim-rc plugin.
add new "follow me" mode- need a nmea gps and xbee on pc. control-F > follow me
This commit is contained in:
Michael Oborne 2012-01-29 15:45:20 +08:00
parent 9c5f77926f
commit 4d6850fd34
15 changed files with 4147 additions and 748 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
View File

@ -253,6 +253,12 @@
<Compile Include="Controls\XorPlus.Designer.cs">
<DependentUpon>XorPlus.cs</DependentUpon>
</Compile>
<Compile Include="SerialInput.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="SerialInput.Designer.cs">
<DependentUpon>SerialInput.cs</DependentUpon>
</Compile>
<Compile Include="GCSViews\Firmware.Designer.cs">
<DependentUpon>Firmware.cs</DependentUpon>
</Compile>
@ -432,6 +438,9 @@
<EmbeddedResource Include="Controls\XorPlus.resx">
<DependentUpon>XorPlus.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="SerialInput.resx">
<DependentUpon>SerialInput.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="GCSViews\Configuration.fr.resx">
<DependentUpon>Configuration.cs</DependentUpon>
</EmbeddedResource>

35
Tools/ArdupilotMegaPlanner/Common.cs
View File

@ -198,11 +198,43 @@ namespace ArdupilotMega
this.Lng = pll.Lng;
}
public PointLatLngAlt(PointLatLngAlt plla)
{
this.Lat = plla.Lat;
this.Lng = plla.Lng;
this.Alt = plla.Alt;
this.color = plla.color;
this.Tag = plla.Tag;
}
public PointLatLng Point()
{
return new PointLatLng(Lat, Lng);
}
public override bool Equals(Object pllaobj)
{
PointLatLngAlt plla = (PointLatLngAlt)pllaobj;
if (plla == null)
return false;
if (this.Lat == plla.Lat &&
this.Lng == plla.Lng &&
this.Alt == plla.Alt &&
this.color == plla.color &&
this.Tag == plla.Tag)
{
return true;
}
return false;
}
public override int GetHashCode()
{
return (int)((Lat + Lng + Alt) * 100);
}
/// <summary>
/// Calc Distance in M
/// </summary>
@ -263,7 +295,8 @@ namespace ArdupilotMega
RTL = 6, // AUTO control
CIRCLE = 7,
POSITION = 8,
LAND = 9 // AUTO control
LAND = 9, // AUTO control
OF_LOITER = 10
}
public static void linearRegression()

76
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.Designer.cs generated
View File

@ -30,8 +30,8 @@
{
this.components = new System.ComponentModel.Container();
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Configuration));
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle3 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle4 = new System.Windows.Forms.DataGridViewCellStyle();
this.Params = new System.Windows.Forms.DataGridView();
this.Command = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Value = new System.Windows.Forms.DataGridViewTextBoxColumn();
@ -285,6 +285,8 @@
this.BUT_load = new ArdupilotMega.MyButton();
this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
this.BUT_compare = new ArdupilotMega.MyButton();
this.myLabel2 = new ArdupilotMega.MyLabel();
this.TUNE = new System.Windows.Forms.ComboBox();
((System.ComponentModel.ISupportInitialize)(this.Params)).BeginInit();
this.ConfigTabs.SuspendLayout();
this.TabAP.SuspendLayout();
@ -405,14 +407,14 @@
this.Params.AllowUserToAddRows = false;
this.Params.AllowUserToDeleteRows = false;
resources.ApplyResources(this.Params, "Params");
dataGridViewCellStyle1.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle1.BackColor = System.Drawing.Color.Maroon;
dataGridViewCellStyle1.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle1.ForeColor = System.Drawing.Color.White;
dataGridViewCellStyle1.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle1.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
dataGridViewCellStyle1.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
this.Params.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle1;
dataGridViewCellStyle3.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle3.BackColor = System.Drawing.Color.Maroon;
dataGridViewCellStyle3.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle3.ForeColor = System.Drawing.Color.White;
dataGridViewCellStyle3.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle3.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
dataGridViewCellStyle3.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
this.Params.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle3;
this.Params.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
this.Params.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
this.Command,
@ -421,14 +423,14 @@
this.mavScale,
this.RawValue});
this.Params.Name = "Params";
dataGridViewCellStyle2.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle2.BackColor = System.Drawing.SystemColors.ActiveCaption;
dataGridViewCellStyle2.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle2.ForeColor = System.Drawing.SystemColors.WindowText;
dataGridViewCellStyle2.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle2.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
dataGridViewCellStyle2.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
this.Params.RowHeadersDefaultCellStyle = dataGridViewCellStyle2;
dataGridViewCellStyle4.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle4.BackColor = System.Drawing.SystemColors.ActiveCaption;
dataGridViewCellStyle4.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle4.ForeColor = System.Drawing.SystemColors.WindowText;
dataGridViewCellStyle4.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle4.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
dataGridViewCellStyle4.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
this.Params.RowHeadersDefaultCellStyle = dataGridViewCellStyle4;
this.Params.RowHeadersVisible = false;
this.Params.CellValueChanged += new System.Windows.Forms.DataGridViewCellEventHandler(this.Params_CellValueChanged);
//
@ -1089,6 +1091,8 @@
//
// TabAC
//
this.TabAC.Controls.Add(this.myLabel2);
this.TabAC.Controls.Add(this.TUNE);
this.TabAC.Controls.Add(this.myLabel1);
this.TabAC.Controls.Add(this.CH7_OPT);
this.TabAC.Controls.Add(this.groupBox17);
@ -2092,6 +2096,40 @@
this.BUT_compare.UseVisualStyleBackColor = true;
this.BUT_compare.Click += new System.EventHandler(this.BUT_compare_Click);
//
// myLabel2
//
resources.ApplyResources(this.myLabel2, "myLabel2");
this.myLabel2.Name = "myLabel2";
this.myLabel2.resize = false;
//
// TUNE
//
this.TUNE.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.TUNE.FormattingEnabled = true;
this.TUNE.Items.AddRange(new object[] {
resources.GetString("TUNE.Items"),
resources.GetString("TUNE.Items1"),
resources.GetString("TUNE.Items2"),
resources.GetString("TUNE.Items3"),
resources.GetString("TUNE.Items4"),
resources.GetString("TUNE.Items5"),
resources.GetString("TUNE.Items6"),
resources.GetString("TUNE.Items7"),
resources.GetString("TUNE.Items8"),
resources.GetString("TUNE.Items9"),
resources.GetString("TUNE.Items10"),
resources.GetString("TUNE.Items11"),
resources.GetString("TUNE.Items12"),
resources.GetString("TUNE.Items13"),
resources.GetString("TUNE.Items14"),
resources.GetString("TUNE.Items15"),
resources.GetString("TUNE.Items16"),
resources.GetString("TUNE.Items17"),
resources.GetString("TUNE.Items18"),
resources.GetString("TUNE.Items19")});
resources.ApplyResources(this.TUNE, "TUNE");
this.TUNE.Name = "TUNE";
//
// Configuration
//
resources.ApplyResources(this, "$this");
@ -2479,5 +2517,7 @@
private System.Windows.Forms.Label label48;
private MyLabel myLabel1;
private System.Windows.Forms.ComboBox CH7_OPT;
private MyLabel myLabel2;
private System.Windows.Forms.ComboBox TUNE;
}
}

4162
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.resx
View File

File diff suppressed because it is too large Load Diff

2
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.resx
View File

@ -134,7 +134,7 @@
<value>Point Camera Here</value>
</data>
<data name="contextMenuStrip1.Size" type="System.Drawing.Size, System.Drawing">
<value>175, 48</value>
<value>175, 70</value>
</data>
<data name="&gt;&gt;contextMenuStrip1.Name" xml:space="preserve">
<value>contextMenuStrip1</value>

12
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
View File

@ -290,11 +290,13 @@ namespace ArdupilotMega.GCSViews
}
float ans;
if (float.TryParse(TXT_homealt.Text, out result) && float.TryParse(cell.Value.ToString(), out ans))
if (float.TryParse(cell.Value.ToString(), out ans))
{
ans = (int)ans;
if (alt != 0)
if (alt != 0) // use passed in value;
cell.Value = alt.ToString();
if (ans == 0)
cell.Value = 50;
// online verify height
if (isonline && CHK_geheight.Checked)
{
@ -314,7 +316,7 @@ namespace ArdupilotMega.GCSViews
{
cell.Value = (float.Parse(TXT_homealt.Text) + int.Parse(TXT_DefaultAlt.Text)).ToString();
} // is relative and check height
else if (float.TryParse(TXT_homealt.Text, out result) && isonline && CHK_geheight.Checked)
else if (isonline && CHK_geheight.Checked)
{
alt = (int)getGEAlt(lat, lng);
@ -328,10 +330,6 @@ namespace ArdupilotMega.GCSViews
cell.Style.BackColor = Color.LightGreen;
}
}
else
{
cell.Value = 100 ;
}
}
cell.DataGridView.EndEdit();

4
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
View File

@ -348,7 +348,6 @@ namespace ArdupilotMega.GCSViews
ArdupilotMega.MainV2.config["REV_pitch"] = CHKREV_pitch.Checked.ToString();
ArdupilotMega.MainV2.config["REV_rudder"] = CHKREV_rudder.Checked.ToString();
ArdupilotMega.MainV2.config["GPSrate"] = GPSrate.Text;
ArdupilotMega.MainV2.config["Xplanes"] = RAD_softXplanes.Checked.ToString();
ArdupilotMega.MainV2.config["MAVrollgain"] = TXT_rollgain.Text;
ArdupilotMega.MainV2.config["MAVpitchgain"] = TXT_pitchgain.Text;
@ -389,9 +388,6 @@ namespace ArdupilotMega.GCSViews
case "GPSrate":
GPSrate.Text = ArdupilotMega.MainV2.config[key].ToString();
break;
case "Xplanes":
RAD_softXplanes.Checked = bool.Parse(ArdupilotMega.MainV2.config[key].ToString());
break;
case "MAVrollgain":
TXT_rollgain.Text = ArdupilotMega.MainV2.config[key].ToString();
break;

2
Tools/ArdupilotMegaPlanner/MAVLink.cs
View File

@ -2006,7 +2006,7 @@ namespace ArdupilotMega
}
catch (Exception e) { Console.WriteLine("MAVLink readpacket read error: " + e.Message); break; }
if (temp[0] != 254 && temp[0] != 'U' || lastbad[0] == 'I' && lastbad[1] == 'M') // out of sync
if (temp[0] != 254 && temp[0] != 'U' || lastbad[0] == 'I' && lastbad[1] == 'M' || lastbad[1] == 'G') // out of sync
{
if (temp[0] >= 0x20 && temp[0] <= 127 || temp[0] == '\n' || temp[0] == '\r')
{

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("1.1.29")]
[assembly: AssemblyFileVersion("1.1.30")]
[assembly: NeutralResourcesLanguageAttribute("")]

4
Tools/ArdupilotMegaPlanner/Script.cs
View File

@ -10,8 +10,8 @@ namespace ArdupilotMega
{
DateTime timeout = DateTime.Now;
List<string> items = new List<string>();
Microsoft.Scripting.Hosting.ScriptEngine engine;
Microsoft.Scripting.Hosting.ScriptScope scope;
static Microsoft.Scripting.Hosting.ScriptEngine engine;
static Microsoft.Scripting.Hosting.ScriptScope scope;
// keeps history
MAVLink.__mavlink_rc_channels_override_t rc = new MAVLink.__mavlink_rc_channels_override_t();

135
Tools/ArdupilotMegaPlanner/SerialInput.Designer.cs generated Normal file
View File

@ -0,0 +1,135 @@
namespace ArdupilotMega
{
partial class SerialInput
{
/// <summary>
/// Required designer variable.
/// </summary>
private System.ComponentModel.IContainer components = null;
/// <summary>
/// Clean up any resources being used.
/// </summary>
/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
protected override void Dispose(bool disposing)
{
if (disposing && (components != null))
{
components.Dispose();
}
base.Dispose(disposing);
}
#region Windows Form Designer generated code
/// <summary>
/// Required method for Designer support - do not modify
/// the contents of this method with the code editor.
/// </summary>
private void InitializeComponent()
{
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(SerialInput));
this.CMB_serialport = new System.Windows.Forms.ComboBox();
this.BUT_connect = new ArdupilotMega.MyButton();
this.CMB_baudrate = new System.Windows.Forms.ComboBox();
this.label1 = new System.Windows.Forms.Label();
this.LBL_location = new System.Windows.Forms.Label();
this.textBox1 = new System.Windows.Forms.TextBox();
this.SuspendLayout();
//
// CMB_serialport
//
this.CMB_serialport.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.CMB_serialport.FormattingEnabled = true;
this.CMB_serialport.Location = new System.Drawing.Point(13, 13);
this.CMB_serialport.Name = "CMB_serialport";
this.CMB_serialport.Size = new System.Drawing.Size(121, 21);
this.CMB_serialport.TabIndex = 0;
//
// BUT_connect
//
this.BUT_connect.Location = new System.Drawing.Point(279, 12);
this.BUT_connect.Name = "BUT_connect";
this.BUT_connect.Size = new System.Drawing.Size(75, 23);
this.BUT_connect.TabIndex = 1;
this.BUT_connect.Text = "Connect";
this.BUT_connect.UseVisualStyleBackColor = true;
this.BUT_connect.Click += new System.EventHandler(this.BUT_connect_Click);
//
// CMB_baudrate
//
this.CMB_baudrate.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.CMB_baudrate.FormattingEnabled = true;
this.CMB_baudrate.Items.AddRange(new object[] {
"4800",
"9600",
"14400",
"19200",
"28800",
"38400",
"57600",
"115200"});
this.CMB_baudrate.Location = new System.Drawing.Point(140, 12);
this.CMB_baudrate.Name = "CMB_baudrate";
this.CMB_baudrate.Size = new System.Drawing.Size(121, 21);
this.CMB_baudrate.TabIndex = 2;
//
// label1
//
this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(90, 47);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(187, 13);
this.label1.TabIndex = 3;
this.label1.Text = "Pick the Nmea gps port and baud rate\r\n";
//
// LBL_location
//
this.LBL_location.AutoSize = true;
this.LBL_location.Font = new System.Drawing.Font("Microsoft Sans Serif", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.LBL_location.Location = new System.Drawing.Point(9, 78);
this.LBL_location.Name = "LBL_location";
this.LBL_location.Size = new System.Drawing.Size(50, 24);
this.LBL_location.TabIndex = 4;
this.LBL_location.Text = "0,0,0";
//
// textBox1
//
this.textBox1.Enabled = false;
this.textBox1.Location = new System.Drawing.Point(19, 126);
this.textBox1.Multiline = true;
this.textBox1.Name = "textBox1";
this.textBox1.Size = new System.Drawing.Size(335, 133);
this.textBox1.TabIndex = 5;
this.textBox1.Text = resources.GetString("textBox1.Text");
//
// SerialInput
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(369, 300);
this.Controls.Add(this.textBox1);
this.Controls.Add(this.LBL_location);
this.Controls.Add(this.label1);
this.Controls.Add(this.CMB_baudrate);
this.Controls.Add(this.BUT_connect);
this.Controls.Add(this.CMB_serialport);
this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
this.Name = "SerialInput";
this.Text = "Follow Me";
this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.SerialOutput_FormClosing);
this.ResumeLayout(false);
this.PerformLayout();
}
#endregion
private System.Windows.Forms.ComboBox CMB_serialport;
private MyButton BUT_connect;
private System.Windows.Forms.ComboBox CMB_baudrate;
private System.Windows.Forms.Label label1;
private System.Windows.Forms.Label LBL_location;
private System.Windows.Forms.TextBox textBox1;
}
}

224
Tools/ArdupilotMegaPlanner/SerialInput.cs Normal file
View File

@ -0,0 +1,224 @@
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;
using System.IO.Ports;
namespace ArdupilotMega
{
public partial class SerialInput : Form
{
System.Threading.Thread t12;
static bool threadrun = false;
static internal SerialPort comPort = new SerialPort();
static internal PointLatLngAlt lastgotolocation = new PointLatLngAlt(0, 0, 0, "Goto last");
static internal PointLatLngAlt gotolocation = new PointLatLngAlt(0, 0, 0, "Goto");
static internal int intalt = 100;
public SerialInput()
{
InitializeComponent();
CMB_serialport.DataSource = SerialPort.GetPortNames();
if (threadrun)
{
BUT_connect.Text = "Stop";
}
}
private void BUT_connect_Click(object sender, EventArgs e)
{
if (comPort.IsOpen)
{
threadrun = false;
comPort.Close();
BUT_connect.Text = "Connect";
}
else
{
try
{
comPort.PortName = CMB_serialport.Text;
}
catch { MessageBox.Show("Invalid PortName"); return; }
try {
comPort.BaudRate = int.Parse(CMB_baudrate.Text);
} catch {MessageBox.Show("Invalid BaudRate"); return;}
try {
comPort.Open();
} catch {MessageBox.Show("Error Connecting\nif using com0com please rename the ports to COM??"); return;}
string alt = "100";
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
alt = (10 * MainV2.cs.multiplierdist).ToString("0");
}
else
{
alt = (100 * MainV2.cs.multiplierdist).ToString("0");
}
if (DialogResult.Cancel == Common.InputBox("Enter Alt", "Enter Alt", ref alt))
return;
intalt = (int)(100 * MainV2.cs.multiplierdist);
if (!int.TryParse(alt, out intalt))
{
MessageBox.Show("Bad Alt");
return;
}
t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
IsBackground = true,
Name = "Nmea Input"
};
t12.Start();
BUT_connect.Text = "Stop";
}
}
void mainloop()
{
threadrun = true;
int counter = 0;
while (threadrun)
{
try
{
string line = comPort.ReadLine();
//string line = string.Format("$GP{0},{1:HHmmss},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},", "GGA", DateTime.Now.ToUniversalTime(), Math.Abs(lat * 100), MainV2.cs.lat < 0 ? "S" : "N", Math.Abs(lng * 100), MainV2.cs.lng < 0 ? "W" : "E", MainV2.cs.gpsstatus, MainV2.cs.satcount, MainV2.cs.gpshdop, MainV2.cs.alt, "M", 0, "M", "");
if (line.StartsWith("$GPGGA")) //
{
int c1 = line.IndexOf(',',0)+ 1;
int c2 = line.IndexOf(',', c1) + 1;
int c3 = line.IndexOf(',', c2) + 1;
int c4 = line.IndexOf(',', c3 ) + 1;
int c5 = line.IndexOf(',', c4 ) + 1;
int c6 = line.IndexOf(',', c5 ) + 1;
int c7 = line.IndexOf(',', c6 ) + 1;
int c8 = line.IndexOf(',', c7 ) + 1;
int c9 = line.IndexOf(',', c8 ) + 1;
int c10 = line.IndexOf(',', c9 ) + 1;
int c11 = line.IndexOf(',', c10 ) + 1;
int c12 = line.IndexOf(',', c11) + 1;
gotolocation.Lat = double.Parse(line.Substring(c2, c3 - c2 - 1)) / 100.0;
gotolocation.Lat = (int)gotolocation.Lat + ((gotolocation.Lat - (int)gotolocation.Lat) / 0.60);
if (line.Substring(c3, c4 - c3 - 1) == "S")
gotolocation.Lat *= -1;
gotolocation.Lng = double.Parse(line.Substring(c4, c5 - c4 - 1)) / 100.0;
gotolocation.Lng = (int)gotolocation.Lng + ((gotolocation.Lng - (int)gotolocation.Lng) / 0.60);
if (line.Substring(c5, c6 - c5 - 1) == "W")
gotolocation.Lng *= -1;
gotolocation.Alt = intalt; // double.Parse(line.Substring(c9, c10 - c9 - 1)) +
}
if (counter % 10 == 0 && gotolocation.Lat != 0 && gotolocation.Lng != 0 && gotolocation.Alt != 0) // 200 * 10 = 2 sec /// lastgotolocation != gotolocation &&
{
Console.WriteLine("Sending follow wp " +DateTime.Now.ToString("h:MM:ss")+" "+ gotolocation.Lat + " " + gotolocation.Lng + " " +gotolocation.Alt);
lastgotolocation = new PointLatLngAlt(gotolocation);
Locationwp gotohere = new Locationwp();
gotohere.id = (byte)MAVLink.MAV_CMD.WAYPOINT;
gotohere.alt = (float)(gotolocation.Alt);
gotohere.lat = (float)(gotolocation.Lat);
gotohere.lng = (float)(gotolocation.Lng);
try
{
updateLocationLabel(gotohere);
}
catch { }
if (MainV2.comPort.BaseStream.IsOpen && MainV2.givecomport == false)
{
try
{
MainV2.givecomport = true;
MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
MainV2.givecomport = false;
}
catch { MainV2.givecomport = false; }
}
}
System.Threading.Thread.Sleep(200);
counter++;
}
catch { System.Threading.Thread.Sleep(2000); }
}
}
private void updateLocationLabel(Locationwp plla)
{
this.BeginInvoke((MethodInvoker)delegate
{
LBL_location.Text = gotolocation.Lat + " " + gotolocation.Lng + " " + gotolocation.Alt;
}
);
}
private void SerialOutput_FormClosing(object sender, FormClosingEventArgs e)
{
}
// Calculates the checksum for a sentence
string GetChecksum(string sentence)
{
// Loop through all chars to get a checksum
int Checksum = 0;
foreach (char Character in sentence.ToCharArray())
{
switch (Character)
{
case '$':
// Ignore the dollar sign
break;
case '*':
// Stop processing before the asterisk
continue;
default:
// Is this the first value for the checksum?
if (Checksum == 0)
{
// Yes. Set the checksum to the value
Checksum = Convert.ToByte(Character);
}
else
{
// No. XOR the checksum with this character's value
Checksum = Checksum ^ Convert.ToByte(Character);
}
break;
}
}
// Return the checksum formatted as a two-character hexadecimal
return Checksum.ToString("X2");
}
}
}

208
Tools/ArdupilotMegaPlanner/SerialInput.resx Normal file
View File

@ -0,0 +1,208 @@
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<data name="textBox1.Text" xml:space="preserve">
<value>What this does.
1. gets the current gps coords from a nmea gps.
2. sends a guided mode WP to the AP every 2 seconds.
How to use it
1. connect to ap.
2. take off, test guided mode is working.
3. open this and pick your comport, and baud rate for your nmea gps.
4. it should now be following you.</value>
</data>
<assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
<data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
AAABAAEAICAAAAEAIACoEAAAFgAAACgAAAAgAAAAQAAAAAEAIAAAAAAAABAAABILAAASCwAAAAAAAAAA
AAD///8AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAADOxkjAtnoOAKpJ4vyiK
c+8nh3D/J4Zv/yeHcP8oi3PvKpJ4vy6fg4AzsZIwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAP///wAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAADjGo2AyspPfLZ+D/yiQ
d/8hlXj/G6F9/xeqg/8XqYL/GKqD/xuhfv8ilnn/KZB3/y2fhP8yspPfN8ajYAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAA////AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAADvRrDA1vpzfL6uN/yel
hP8XvJD/DMyY/wfQl/8FzJP/A8qS/wPJkf8EypL/BsyU/wnRmP8PzZn/Gb2R/yemhP8tqoz/Mb2a3zbQ
qkAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAD///8AAAAAAAAAAAAAAAAAAAAAAAAAAAA4y6ZgMbWV/yin
iP8WwZP/Btqf/wDPlf8AyI7/A8aP/yfNnv9T2LP/UNax/03XsP8506b/G8ya/wHKkf8F0Zf/CNuf/xLB
kv8fpYT/J7KQ/y7IomAAAAAAAAAAAAAAAAAAAAAAAAAAAP///wAAAAAAAAAAAAAAAAAAAAAANcajny+w
kf8hqoj/CNSd/wDRlf8Axor/Hcyd/3Lhwf+p7Nj/o+vV/57m0/+X5dD/k+TN/4/jzf+K5Mz/fuHH/0PW
rf8HzJT/ANCT/wDRlv8OpX//HayI/yrFn58AAAAAAAAAAAAAAAAAAAAA////AAAAAAAAAAAAAAAAADDC
nmAtro7/H62J/wPWmv8Ay47/AMaO/3XhxP+e6tT/mObP/5Pjy/+Q4sr/jODJ/4ffx/+C3MT/f9vC/3nb
wf9y2r7/adq7/2DauP8ZzZv/Fdae/8T/9/9WxKj/HKuI/y7IomAAAAAAAAAAAAAAAAD///8AAAAAAAAA
AAAiuZMwKKyM/x6ohf8C1Zr/AMmL/wHGjv+49OL///////////9+3ML/f9zD/4Dcwv9+28L/e9rA/3bZ
vv9w1rr/Z9S4/17Rs/9Qz63/Qcyn/3LewP////////////n///8MpH7/JbKP/zXQqUAAAAAAAAAAAP//
/wAAAAAAAAAAABymhN8dnn//BNGa/wDKjP8AxY3/sfHf/////////////////2nXt/9w1rv/c9e8/3TX
vP9x17z/a9W5/2TTtf9Y0K//SMyp/zXFoP9i07X/////////////////f/LR/wDQlf8epYT/Mb2a3wAA
AAAAAAAA////AAAAAAADlnJgFZR1/wq4iv8AzpH/AMCD/4rmzf//////////////////////WdGv/2PU
tf9p1rf/atS4/2nUtv9i0rT/Vc+u/0fKpv8zxZz/Ws+w//////////////////////8GyJL/ANCS/xLB
kv8tq4z/OMajYAAAAAD///8AAAAAAACHZt8NkW//ANKV/wDChP9i27r//////////////////////9Dx
6P9MzKn/Vc+v/17Rsv9g0rP/XNCx/1XNrv9Fyaf/McSd/1fPr///////////////////////QM2m/ynK
oP8JzJX/C9yh/ymmhf80spPfAAAAAP///wAAcUwwAHtc/wCrfP8AyIv/AMKK////////////////////
/////////////5Dgyv9Gyqb/TMyq/07Nq/9MzKn/Qcmj/y/Fnf9Wzq3//////////////////////57k
0v8av5T/Lceg/yzOo/8M05v/Hr6T/zCghf80spIw////AABoRYAAclT/AL2H/wDBhf9R1rL/////////
////////4vfw//////////////////H8+P9KzKn/Ocah/zTFnv8qwpj/Us2t////////////////////
////////DLqM/yDBlv8wxp//OM6m/xPPm/8Xz53/LZF5/y+fg4////8AAGNAvwB7Wf8Aw4j/ALyC/4bj
yP+g5tL/g93E/2HSsv9Pzqz/Us6s//////////////////////9Yzq//Gr2S/0jLp///////////////
/////////////yrDm/8SvI//JMGY/zDHn/81zKT/Is2e/xTUnf8nl3v/LJJ5v////wAAXz3vAIlg/wDA
hf8AuoD/quzZ/5Hjyv9628D/ada2/1jRsP9Jy6f/a9a4//////////////////////+Y4s7/////////
//////////////////+c4tD/AbaH/xW8kf8jwZj/LcWd/y/Jn/8kzJ3/E9Ca/yGjgf8ri3Tv////AABd
PP8Ak2b/AL6D/w/Ekv+m6tf/j+HJ/3vawP9p1rf/W9Gx/0rNqf85yJ//Nsaf////////////////////
/////////////////////////////wCwe/8AtoT/ELqP/xu+k/8jwZj/KMeb/yHKm/8QzZf/HqyG/ymI
cf////8AAF07/wCSZP8AvYL/GMWU/6Dn1P+K38f/ddi+/27Wuf+E3MX/leHN/6fm1f+l5tX/neLQ////
////////////////////////////////////////j9/J/27Vuv9Tzq7/JsKY/xa/kv8aw5T/FcaW/wvL
lf8aqoT/J4dw/////wAAXTv/AJFk/wC9gP8GwY3/mObQ/5rkz/+26dv/y/Hl/8Dt3/+06tz/pebV/5bg
zP+g5NL//////////////v///f7+//7+/v//////7fn2////////////tOnb/6Ll0v+v6Nj/jeDI/zXK
o/8IxJD/BMqS/xaqgv8lh2//////AABeO+8AgVf/AL1//wDBif/R9uv/1PPq/8Tv5P+36t3/rujY/6Lk
0v+U4cv/jt7J//j8+///////+/38//f8+//2+/r/+Pz7//3+/v/m9/P/9Pv6//D6+P9/28L/jd7J/5jj
z/+h5dL/qOvX/4Hmyf8f1J//E596/yOJcO////8AAGA8vwB3U/8p06P/hufM/8Ty5f/D7+T/s+vb/6bm
1P+c4c//j9/K/4vcyP/t+fb///7///j8/P/0+/r/8vr5//P7+f/1+/r/+/39///////i9fL/ZNO1/3HW
vP992sH/htzG/4vhyv+S5dD/mO7W/6X74v80noT/Io90v////wAAZkCAAHla/33ny/945cb/nunV/7Xr
3v+l5tT/luDN/4ndxv992cL/1vLq//v9/P/1+/n/8vv4//L69//z+/j/9Pv5/7Xo2//x+vn/////////
//+y59n/aNS3/3LWvP932r//fNzD/4Ljyf+J7ND/l/bd/yORdf8knH6A////AABuRzAAdlT/Xc6x/23o
xv9s4MH/qurZ/5jiz/+I3cb/edjA/8ju5f/3/Pv/8vv4//H6+P/y+/j/6/f0/7np3v/7/fz//v7+/6fk
1f+56tz///////////9h0bT/aNW4/23Wu/9v3L//dOLG/37w0f9m1rn/Hpt8/ymujTD///8AAAAAAACD
X98po4X/Z+7K/1vgvP+A4sf/jOHK/3rZwv+r59f/9Pv6/+/69//v+vf/8vr4/9fy6/9n0rf/VM6t/6Di
0v/N7+f/adO4/1PMrf9t1Lr/i9zI/1/Rs/9h0rX/ZNe4/2bbvf9s5sb/ePfV/z2ylf8lrozfAAAAAP//
/wAAAAAAAJNsYAWQbf9U1rP/Vee//0rYsf993sb/pebV//P7+v/s+Pb/6/f1/+749v+s5tj/Vc2u/1jP
r/9ZzrD/btW5/1bOr/9Wza//Vs6v/1fOr/9Z0LD/WdCy/1vTtP9d1rX/Xt+8/2btyP9k4L//IaaF/y7D
nmAAAAAA////AAAAAAAAAAAAD6J9zyCjgv9S68L/P9+0/2Pevv/5////7/v6/+v59//j9/L/gtvF/1PN
r/9Wz7D/Wc+x/1nQsf9Zz7H/WM6w/1fPsP9UzrD/VM+w/1TPrv9U0a//U9Oy/1Tatv9Z5sD/Y/LL/zSx
lP8qupbPAAAAAAAAAAD///8AAAAAAAAAAAAYto4wGaeE/y23lP8+5rn/6/////j////w//3/ve/i/2bV
uP9Tzq7/Vc+v/1jPsP9Z0LL/WM+w/1fOsf9Wz7D/Us2w/1HOrf9Qzq3/T9Cu/0zSr/9M2LP/TeC5/1bt
xP9HxaX/KLKQ/zTPqDAAAAAAAAAAAP///wAAAAAAAAAAAAAAAAAkvpdgG6iF/y++m//e/////P///3rl
yf9G0K3/VdKy/1bPsf9Wz7H/Vs6w/1bPsP9Sza//Ucyu/0/Nrf9NzKz/S82s/0fOrP9G0a7/QdWv/0Le
tP9I6L7/Q8Ok/yitjP8yyKJgAAAAAAAAAAAAAAAA////AAAAAAAAAAAAAAAAAAAAAAAmwJlgG6iF/yK3
kP8k3q7/H9el/x7Pn/8tzKT/Q9Cs/1HQsP9Q0K7/TM6u/0nMrf9Hzaz/RMyp/0LNqf8+zqn/ONGo/zTV
qf833rD/O+S4/zvCof8orIv/MMSfYAAAAAAAAAAAAAAAAAAAAAD///8AAAAAAAAAAAAAAAAAAAAAAAAA
AAAkvpdgG6iE/xukgv8gy53/HNql/xzRn/8czJz/HcmZ/yXJnP8qyp7/Lcqg/yzLn/8nypz/JMqc/yTO
n/8l1KT/KN2r/y3Tpv8nq4n/JaqJ/yzAm2AAAAAAAAAAAAAAAAAAAAAAAAAAAP///wAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAato8wFKN/zxCScv8RnHn/DbqM/wjIlP8GyZT/BsaS/wbFkf8GxZH/B8WR/wfH
k/8IypX/DMmV/xG3jP8WoX3/Fph2/xqkgs8ft5EwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA////AAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAJVvYACGZM8Aelr/AHlZ/wCFX/8AiWL/AJlr/wCb
bP8AlGf/AI5k/wB/W/8AeFj/AHtb/wCHZd8ClXBgAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAD///8AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAABwSzAAaESAAGI/vwBf
Pd8AXTz/AF08/wBdPP8AXz3fAGJAvwBoRIAAcUswAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAP///wD///8A////AP///wD///8A////AP///wD///8A////AP///wD///8A////AP//
/wD///8A////AP///wD///8A////AP///wD///8A////AP///wD///8A////AP///wD///8A////AP//
/wD///8A////AP///wD///8A/+AD//+AAP/+AAA//AAAH/gAAA/wAAAH4AAAA+AAAAPAAAABwAAAAYAA
AACAAAAAgAAAAIAAAACAAAAAgAAAAIAAAACAAAAAgAAAAIAAAACAAAAAwAAAAcAAAAHgAAAD4AAAA/AA
AAf4AAAP/AAAH/4AAD//gAD//+AD//////8=
</value>
</data>
</root>

13
Tools/ArdupilotMegaPlanner/temp.Designer.cs generated
View File

@ -45,6 +45,7 @@
this.BUT_clearcustommaps = new ArdupilotMega.MyButton();
this.BUT_lang_edit = new ArdupilotMega.MyButton();
this.BUT_georefimage = new ArdupilotMega.MyButton();
this.BUT_follow_me = new ArdupilotMega.MyButton();
this.SuspendLayout();
//
// button1
@ -212,11 +213,22 @@
this.BUT_georefimage.Text = "Geo ref images";
this.BUT_georefimage.Click += new System.EventHandler(this.BUT_georefimage_Click);
//
// BUT_follow_me
//
this.BUT_follow_me.Location = new System.Drawing.Point(525, 164);
this.BUT_follow_me.Name = "BUT_follow_me";
this.BUT_follow_me.Size = new System.Drawing.Size(75, 23);
this.BUT_follow_me.TabIndex = 17;
this.BUT_follow_me.Text = "Follow Me";
this.BUT_follow_me.UseVisualStyleBackColor = true;
this.BUT_follow_me.Click += new System.EventHandler(this.BUT_follow_me_Click);
//
// temp
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(731, 281);
this.Controls.Add(this.BUT_follow_me);
this.Controls.Add(this.BUT_georefimage);
this.Controls.Add(this.BUT_lang_edit);
this.Controls.Add(this.BUT_clearcustommaps);
@ -261,6 +273,7 @@
private MyButton BUT_clearcustommaps;
private MyButton BUT_lang_edit;
private MyButton BUT_georefimage;
private MyButton BUT_follow_me;
//private SharpVectors.Renderers.Forms.SvgPictureBox svgPictureBox1;
}

7
Tools/ArdupilotMegaPlanner/temp.cs
View File

@ -871,5 +871,12 @@ namespace ArdupilotMega
{
new georefimage().Show();
}
private void BUT_follow_me_Click(object sender, EventArgs e)
{
SerialInput si = new SerialInput();
MainV2.fixtheme((Form)si);
si.Show();
}
}
}