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

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This commit is contained in:
Chris Anderson 2012-02-05 16:19:45 -08:00
commit 601b602198
26 changed files with 1587 additions and 4413 deletions
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4
ArduCopter/ArduCopter.pde
View File

@ -905,8 +905,8 @@ static void fast_loop()
if(takeoff_complete == false){
// reset these I terms to prevent awkward tipping on takeoff
reset_rate_I();
reset_stability_I();
//reset_rate_I();
//reset_stability_I();
}
// custom code/exceptions for flight modes

57
ArduCopter/Log.pde
View File

@ -222,7 +222,7 @@ void print_latlon(BetterStream *s, int32_t lat_or_lon)
s->printf("%ld.%07ld",dec_portion,frac_portion);
}
// Write an GPS packet. Total length : 30 bytes
// Write an GPS packet. Total length : 31 bytes
static void Log_Write_GPS()
{
DataFlash.WriteByte(HEAD_BYTE1);
@ -313,6 +313,7 @@ static void Log_Read_Raw()
Serial.println(" ");
}
// Write an Current data packet. Total length : 16 bytes
static void Log_Write_Current()
{
DataFlash.WriteByte(HEAD_BYTE1);
@ -346,6 +347,7 @@ static void Log_Read_Current()
temp5);
}
// Write an Motors packet. Total length : 12 ~ 20 bytes
static void Log_Write_Motors()
{
DataFlash.WriteByte(HEAD_BYTE1);
@ -404,7 +406,7 @@ static void Log_Write_Motors()
DataFlash.WriteByte(END_BYTE);
}
// Read a Current packet
// Read a Motors packet.
static void Log_Read_Motors()
{
#if FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME
@ -472,7 +474,7 @@ static void Log_Read_Motors()
#endif
}
// Write an optical flow packet. Total length : 18 bytes
// Write an optical flow packet. Total length : 30 bytes
static void Log_Write_Optflow()
{
#ifdef OPTFLOW_ENABLED
@ -492,7 +494,7 @@ static void Log_Write_Optflow()
#endif
}
// Read an optical flow packet.
static void Log_Read_Optflow()
{
#ifdef OPTFLOW_ENABLED
@ -519,6 +521,7 @@ static void Log_Read_Optflow()
#endif
}
// Write an Nav Tuning packet. Total length : 24 bytes
static void Log_Write_Nav_Tuning()
{
//Matrix3f tempmat = dcm.get_dcm_matrix();
@ -553,7 +556,7 @@ static void Log_Write_Nav_Tuning()
DataFlash.WriteByte(END_BYTE);
}
// Read a Nav Tuning packet.
static void Log_Read_Nav_Tuning()
{
int16_t temp;
@ -564,13 +567,13 @@ static void Log_Read_Nav_Tuning()
temp = DataFlash.ReadInt();
Serial.printf("%d, ", temp);
}
// read 10
temp = DataFlash.ReadInt();
Serial.printf("%d\n", temp);
}
// Write a control tuning packet. Total length : 22 bytes
// Write a control tuning packet. Total length : 26 bytes
static void Log_Write_Control_Tuning()
{
DataFlash.WriteByte(HEAD_BYTE1);
@ -599,27 +602,26 @@ static void Log_Read_Control_Tuning()
Serial.printf_P(PSTR("CTUN, "));
for(int8_t i = 0; i < 11; i++ ){
for(int8_t i = 1; i < 11; i++ ){
temp = DataFlash.ReadInt();
Serial.printf("%d, ", temp);
}
// read 13
// read 11
temp = DataFlash.ReadInt();
Serial.printf("%d\n", temp);
}
// Write a performance monitoring packet. Total length : 19 bytes
// Write a performance monitoring packet. Total length : 9 bytes
static void Log_Write_Performance()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_PERFORMANCE_MSG);
DataFlash.WriteByte( dcm.gyro_sat_count); //2
DataFlash.WriteByte( imu.adc_constraints); //3
DataFlash.WriteByte( dcm.renorm_sqrt_count); //4
DataFlash.WriteByte( dcm.renorm_blowup_count); //5
DataFlash.WriteByte( gps_fix_count); //6
DataFlash.WriteByte( dcm.gyro_sat_count); //1
DataFlash.WriteByte( imu.adc_constraints); //2
DataFlash.WriteByte( dcm.renorm_sqrt_count); //3
DataFlash.WriteByte( dcm.renorm_blowup_count); //4
DataFlash.WriteByte( gps_fix_count); //5
DataFlash.WriteByte(END_BYTE);
}
@ -641,7 +643,7 @@ static void Log_Read_Performance()
temp5);
}
// Write a command processing packet.
// Write a command processing packet. Total length : 21 bytes
static void Log_Write_Cmd(byte num, struct Location *wp)
{
DataFlash.WriteByte(HEAD_BYTE1);
@ -686,19 +688,19 @@ static void Log_Read_Cmd()
temp8);
}
// Write an attitude packet. Total length : 10 bytes
// Write an attitude packet. Total length : 16 bytes
static void Log_Write_Attitude()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_ATTITUDE_MSG);
DataFlash.WriteInt(g.rc_1.control_in); // 0
DataFlash.WriteInt((int)dcm.roll_sensor); // 1
DataFlash.WriteInt(g.rc_2.control_in); // 2
DataFlash.WriteInt((int)dcm.pitch_sensor); // 3
DataFlash.WriteInt(g.rc_4.control_in); // 4
DataFlash.WriteInt((uint16_t)dcm.yaw_sensor); // 5
DataFlash.WriteInt(g.rc_1.control_in); // 1
DataFlash.WriteInt((int)dcm.roll_sensor); // 2
DataFlash.WriteInt(g.rc_2.control_in); // 3
DataFlash.WriteInt((int)dcm.pitch_sensor); // 4
DataFlash.WriteInt(g.rc_4.control_in); // 5
DataFlash.WriteInt((uint16_t)dcm.yaw_sensor); // 6
DataFlash.WriteByte(END_BYTE);
}
@ -714,7 +716,7 @@ static void Log_Read_Attitude()
uint16_t temp6 = DataFlash.ReadInt();
// 1 2 3 4 5 6
Serial.printf_P(PSTR("ATT, %d, %d, %u, %d, %d, %d\n"),
Serial.printf_P(PSTR("ATT, %d, %d, %d, %d, %d, %u\n"),
temp1,
temp2,
temp3,
@ -723,7 +725,7 @@ static void Log_Read_Attitude()
temp6);
}
// Write a mode packet. Total length : 5 bytes
// Write a mode packet. Total length : 7 bytes
static void Log_Write_Mode(byte mode)
{
DataFlash.WriteByte(HEAD_BYTE1);
@ -742,6 +744,7 @@ static void Log_Read_Mode()
Serial.printf_P(PSTR(", %d\n"),DataFlash.ReadInt());
}
// Write Startup packet. Total length : 4 bytes
static void Log_Write_Startup()
{
DataFlash.WriteByte(HEAD_BYTE1);
@ -750,7 +753,7 @@ static void Log_Write_Startup()
DataFlash.WriteByte(END_BYTE);
}
// Read a mode packet
// Read a startup packet
static void Log_Read_Startup()
{
Serial.printf_P(PSTR("START UP\n"));

2
ArduCopter/heli.pde
View File

@ -145,7 +145,7 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
// rudder feed forward based on collective
#if HIL_MODE == HIL_MODE_DISABLED // don't do rudder feed forward in simulator
if( !g.heli_ext_gyro_enabled ) {
yaw_offset = g.heli_coll_yaw_effect * (coll_out_scaled - g.heli_coll_mid);
yaw_offset = g.heli_coll_yaw_effect * abs(coll_out_scaled - g.heli_coll_mid);
}
#endif
}

6
ArduCopter/system.pde
View File

@ -205,7 +205,8 @@ static void init_ardupilot()
// identify ourselves correctly with the ground station
mavlink_system.sysid = g.sysid_this_mav;
mavlink_system.type = 2; //MAV_QUADROTOR;
#if LOGGING_ENABLED == ENABLED
DataFlash.Init();
if (!DataFlash.CardInserted()) {
@ -626,6 +627,9 @@ check_startup_for_CLI()
static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
{
switch (rate) {
case 1: return 1200;
case 2: return 2400;
case 4: return 4800;
case 9: return 9600;
case 19: return 19200;
case 38: return 38400;

3
ArduPlane/system.pde
View File

@ -544,6 +544,9 @@ static void resetPerfData(void) {
static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
{
switch (rate) {
case 1: return 1200;
case 2: return 2400;
case 4: return 4800;
case 9: return 9600;
case 19: return 19200;
case 38: return 38400;

8
Tools/ArdupilotMegaPlanner/Controls/AGauge.cs
View File

@ -221,13 +221,13 @@ namespace AGaugeApp
#region properties
[System.ComponentModel.Browsable(true)]
public Single Value0 { get { return m_value[0]; } set { m_NeedIdx = 0; Value = value; } }
public Single Value0 { get { return m_value[0]; } set { m_NeedIdx = 0; Value = value; this.Invalidate(); } }
[System.ComponentModel.Browsable(true)]
public Single Value1 { get { return m_value[1]; } set { m_NeedIdx = 1; Value = value; } }
public Single Value1 { get { return m_value[1]; } set { m_NeedIdx = 1; Value = value; this.Invalidate(); } }
[System.ComponentModel.Browsable(true)]
public Single Value2 { get { return m_value[2]; } set { m_NeedIdx = 2; Value = value; } }
public Single Value2 { get { return m_value[2]; } set { m_NeedIdx = 2; Value = value; this.Invalidate(); } }
[System.ComponentModel.Browsable(true)]
public Single Value3 { get { return m_value[3]; } set { m_NeedIdx = 3; Value = value; } }
public Single Value3 { get { return m_value[3]; } set { m_NeedIdx = 3; Value = value; this.Invalidate(); } }
[System.ComponentModel.Browsable(true),
System.ComponentModel.Category("AGauge"),

2
Tools/ArdupilotMegaPlanner/CurrentState.cs
View File

@ -256,7 +256,7 @@ namespace ArdupilotMega
if (ind != -1)
logdata = logdata.Substring(0, ind);
if (messages.Count > 5)
while (messages.Count > 5)
{
messages.RemoveAt(0);
}

348
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 dataGridViewCellStyle3 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle4 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = 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();
@ -141,31 +141,23 @@
this.RLL2SRV_P = new System.Windows.Forms.NumericUpDown();
this.label52 = new System.Windows.Forms.Label();
this.TabAC = new System.Windows.Forms.TabPage();
this.myLabel2 = new ArdupilotMega.MyLabel();
this.TUNE = new System.Windows.Forms.ComboBox();
this.myLabel1 = new ArdupilotMega.MyLabel();
this.CH7_OPT = new System.Windows.Forms.ComboBox();
this.groupBox17 = new System.Windows.Forms.GroupBox();
this.ACRO_PIT_IMAX = new System.Windows.Forms.NumericUpDown();
this.label27 = new System.Windows.Forms.Label();
this.ACRO_PIT_I = new System.Windows.Forms.NumericUpDown();
this.label29 = new System.Windows.Forms.Label();
this.ACRO_PIT_P = new System.Windows.Forms.NumericUpDown();
this.label33 = new System.Windows.Forms.Label();
this.groupBox5 = new System.Windows.Forms.GroupBox();
this.THR_RATE_D = new System.Windows.Forms.NumericUpDown();
this.label29 = new System.Windows.Forms.Label();
this.label14 = new System.Windows.Forms.Label();
this.THR_RATE_IMAX = new System.Windows.Forms.NumericUpDown();
this.THR_RATE_I = new System.Windows.Forms.NumericUpDown();
this.label20 = new System.Windows.Forms.Label();
this.THR_RATE_P = new System.Windows.Forms.NumericUpDown();
this.label25 = new System.Windows.Forms.Label();
this.groupBox18 = new System.Windows.Forms.GroupBox();
this.ACRO_RLL_IMAX = new System.Windows.Forms.NumericUpDown();
this.label40 = new System.Windows.Forms.Label();
this.ACRO_RLL_I = new System.Windows.Forms.NumericUpDown();
this.label44 = new System.Windows.Forms.Label();
this.ACRO_RLL_P = new System.Windows.Forms.NumericUpDown();
this.label48 = new System.Windows.Forms.Label();
this.CHK_lockrollpitch = new System.Windows.Forms.CheckBox();
this.groupBox4 = new System.Windows.Forms.GroupBox();
this.NAV_LAT_D = new System.Windows.Forms.NumericUpDown();
this.label27 = new System.Windows.Forms.Label();
this.WP_SPEED_MAX = new System.Windows.Forms.NumericUpDown();
this.label9 = new System.Windows.Forms.Label();
this.NAV_LAT_IMAX = new System.Windows.Forms.NumericUpDown();
@ -199,6 +191,8 @@
this.STB_YAW_P = new System.Windows.Forms.NumericUpDown();
this.label35 = new System.Windows.Forms.Label();
this.groupBox21 = new System.Windows.Forms.GroupBox();
this.STAB_D = new System.Windows.Forms.NumericUpDown();
this.lblSTAB_D = new System.Windows.Forms.Label();
this.STB_PIT_IMAX = new System.Windows.Forms.NumericUpDown();
this.label36 = new System.Windows.Forms.Label();
this.STB_PIT_I = new System.Windows.Forms.NumericUpDown();
@ -213,6 +207,8 @@
this.STB_RLL_P = new System.Windows.Forms.NumericUpDown();
this.label46 = new System.Windows.Forms.Label();
this.groupBox23 = new System.Windows.Forms.GroupBox();
this.RATE_YAW_D = new System.Windows.Forms.NumericUpDown();
this.label10 = new System.Windows.Forms.Label();
this.RATE_YAW_IMAX = new System.Windows.Forms.NumericUpDown();
this.label47 = new System.Windows.Forms.Label();
this.RATE_YAW_I = new System.Windows.Forms.NumericUpDown();
@ -220,6 +216,8 @@
this.RATE_YAW_P = new System.Windows.Forms.NumericUpDown();
this.label82 = new System.Windows.Forms.Label();
this.groupBox24 = new System.Windows.Forms.GroupBox();
this.RATE_PIT_D = new System.Windows.Forms.NumericUpDown();
this.label11 = new System.Windows.Forms.Label();
this.RATE_PIT_IMAX = new System.Windows.Forms.NumericUpDown();
this.label84 = new System.Windows.Forms.Label();
this.RATE_PIT_I = new System.Windows.Forms.NumericUpDown();
@ -227,6 +225,8 @@
this.RATE_PIT_P = new System.Windows.Forms.NumericUpDown();
this.label87 = new System.Windows.Forms.Label();
this.groupBox25 = new System.Windows.Forms.GroupBox();
this.RATE_RLL_D = new System.Windows.Forms.NumericUpDown();
this.label17 = new System.Windows.Forms.Label();
this.RATE_RLL_IMAX = new System.Windows.Forms.NumericUpDown();
this.label88 = new System.Windows.Forms.Label();
this.RATE_RLL_I = new System.Windows.Forms.NumericUpDown();
@ -285,8 +285,6 @@
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();
@ -347,19 +345,13 @@
((System.ComponentModel.ISupportInitialize)(this.RLL2SRV_I)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.RLL2SRV_P)).BeginInit();
this.TabAC.SuspendLayout();
this.groupBox17.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.ACRO_PIT_IMAX)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.ACRO_PIT_I)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.ACRO_PIT_P)).BeginInit();
this.groupBox5.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.THR_RATE_D)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.THR_RATE_IMAX)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.THR_RATE_I)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.THR_RATE_P)).BeginInit();
this.groupBox18.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.ACRO_RLL_IMAX)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.ACRO_RLL_I)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.ACRO_RLL_P)).BeginInit();
this.groupBox4.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.NAV_LAT_D)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.WP_SPEED_MAX)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.NAV_LAT_IMAX)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.NAV_LAT_I)).BeginInit();
@ -379,6 +371,7 @@
((System.ComponentModel.ISupportInitialize)(this.STB_YAW_I)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.STB_YAW_P)).BeginInit();
this.groupBox21.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.STAB_D)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.STB_PIT_IMAX)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.STB_PIT_I)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.STB_PIT_P)).BeginInit();
@ -387,14 +380,17 @@
((System.ComponentModel.ISupportInitialize)(this.STB_RLL_I)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.STB_RLL_P)).BeginInit();
this.groupBox23.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.RATE_YAW_D)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_YAW_IMAX)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_YAW_I)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_YAW_P)).BeginInit();
this.groupBox24.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.RATE_PIT_D)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_PIT_IMAX)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_PIT_I)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_PIT_P)).BeginInit();
this.groupBox25.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.RATE_RLL_D)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_RLL_IMAX)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_RLL_I)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_RLL_P)).BeginInit();
@ -407,14 +403,14 @@
this.Params.AllowUserToAddRows = false;
this.Params.AllowUserToDeleteRows = false;
resources.ApplyResources(this.Params, "Params");
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;
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;
this.Params.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
this.Params.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
this.Command,
@ -423,14 +419,14 @@
this.mavScale,
this.RawValue});
this.Params.Name = "Params";
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;
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;
this.Params.RowHeadersVisible = false;
this.Params.CellValueChanged += new System.Windows.Forms.DataGridViewCellEventHandler(this.Params_CellValueChanged);
//
@ -1095,9 +1091,7 @@
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);
this.TabAC.Controls.Add(this.groupBox5);
this.TabAC.Controls.Add(this.groupBox18);
this.TabAC.Controls.Add(this.CHK_lockrollpitch);
this.TabAC.Controls.Add(this.groupBox4);
this.TabAC.Controls.Add(this.groupBox6);
@ -1112,6 +1106,41 @@
resources.ApplyResources(this.TabAC, "TabAC");
this.TabAC.Name = "TabAC";
//
// 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.DropDownWidth = 150;
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";
//
// myLabel1
//
resources.ApplyResources(this.myLabel1, "myLabel1");
@ -1121,6 +1150,7 @@
// CH7_OPT
//
this.CH7_OPT.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.CH7_OPT.DropDownWidth = 150;
this.CH7_OPT.FormattingEnabled = true;
this.CH7_OPT.Items.AddRange(new object[] {
resources.GetString("CH7_OPT.Items"),
@ -1134,50 +1164,10 @@
resources.ApplyResources(this.CH7_OPT, "CH7_OPT");
this.CH7_OPT.Name = "CH7_OPT";
//
// groupBox17
//
this.groupBox17.Controls.Add(this.ACRO_PIT_IMAX);
this.groupBox17.Controls.Add(this.label27);
this.groupBox17.Controls.Add(this.ACRO_PIT_I);
this.groupBox17.Controls.Add(this.label29);
this.groupBox17.Controls.Add(this.ACRO_PIT_P);
this.groupBox17.Controls.Add(this.label33);
resources.ApplyResources(this.groupBox17, "groupBox17");
this.groupBox17.Name = "groupBox17";
this.groupBox17.TabStop = false;
//
// ACRO_PIT_IMAX
//
resources.ApplyResources(this.ACRO_PIT_IMAX, "ACRO_PIT_IMAX");
this.ACRO_PIT_IMAX.Name = "ACRO_PIT_IMAX";
//
// label27
//
resources.ApplyResources(this.label27, "label27");
this.label27.Name = "label27";
//
// ACRO_PIT_I
//
resources.ApplyResources(this.ACRO_PIT_I, "ACRO_PIT_I");
this.ACRO_PIT_I.Name = "ACRO_PIT_I";
//
// label29
//
resources.ApplyResources(this.label29, "label29");
this.label29.Name = "label29";
//
// ACRO_PIT_P
//
resources.ApplyResources(this.ACRO_PIT_P, "ACRO_PIT_P");
this.ACRO_PIT_P.Name = "ACRO_PIT_P";
//
// label33
//
resources.ApplyResources(this.label33, "label33");
this.label33.Name = "label33";
//
// groupBox5
//
this.groupBox5.Controls.Add(this.THR_RATE_D);
this.groupBox5.Controls.Add(this.label29);
this.groupBox5.Controls.Add(this.label14);
this.groupBox5.Controls.Add(this.THR_RATE_IMAX);
this.groupBox5.Controls.Add(this.THR_RATE_I);
@ -1188,6 +1178,16 @@
this.groupBox5.Name = "groupBox5";
this.groupBox5.TabStop = false;
//
// THR_RATE_D
//
resources.ApplyResources(this.THR_RATE_D, "THR_RATE_D");
this.THR_RATE_D.Name = "THR_RATE_D";
//
// label29
//
resources.ApplyResources(this.label29, "label29");
this.label29.Name = "label29";
//
// label14
//
resources.ApplyResources(this.label14, "label14");
@ -1218,48 +1218,6 @@
resources.ApplyResources(this.label25, "label25");
this.label25.Name = "label25";
//
// groupBox18
//
this.groupBox18.Controls.Add(this.ACRO_RLL_IMAX);
this.groupBox18.Controls.Add(this.label40);
this.groupBox18.Controls.Add(this.ACRO_RLL_I);
this.groupBox18.Controls.Add(this.label44);
this.groupBox18.Controls.Add(this.ACRO_RLL_P);
this.groupBox18.Controls.Add(this.label48);
resources.ApplyResources(this.groupBox18, "groupBox18");
this.groupBox18.Name = "groupBox18";
this.groupBox18.TabStop = false;
//
// ACRO_RLL_IMAX
//
resources.ApplyResources(this.ACRO_RLL_IMAX, "ACRO_RLL_IMAX");
this.ACRO_RLL_IMAX.Name = "ACRO_RLL_IMAX";
//
// label40
//
resources.ApplyResources(this.label40, "label40");
this.label40.Name = "label40";
//
// ACRO_RLL_I
//
resources.ApplyResources(this.ACRO_RLL_I, "ACRO_RLL_I");
this.ACRO_RLL_I.Name = "ACRO_RLL_I";
//
// label44
//
resources.ApplyResources(this.label44, "label44");
this.label44.Name = "label44";
//
// ACRO_RLL_P
//
resources.ApplyResources(this.ACRO_RLL_P, "ACRO_RLL_P");
this.ACRO_RLL_P.Name = "ACRO_RLL_P";
//
// label48
//
resources.ApplyResources(this.label48, "label48");
this.label48.Name = "label48";
//
// CHK_lockrollpitch
//
resources.ApplyResources(this.CHK_lockrollpitch, "CHK_lockrollpitch");
@ -1271,6 +1229,8 @@
//
// groupBox4
//
this.groupBox4.Controls.Add(this.NAV_LAT_D);
this.groupBox4.Controls.Add(this.label27);
this.groupBox4.Controls.Add(this.WP_SPEED_MAX);
this.groupBox4.Controls.Add(this.label9);
this.groupBox4.Controls.Add(this.NAV_LAT_IMAX);
@ -1283,6 +1243,16 @@
this.groupBox4.Name = "groupBox4";
this.groupBox4.TabStop = false;
//
// NAV_LAT_D
//
resources.ApplyResources(this.NAV_LAT_D, "NAV_LAT_D");
this.NAV_LAT_D.Name = "NAV_LAT_D";
//
// label27
//
resources.ApplyResources(this.label27, "label27");
this.label27.Name = "label27";
//
// WP_SPEED_MAX
//
resources.ApplyResources(this.WP_SPEED_MAX, "WP_SPEED_MAX");
@ -1469,6 +1439,8 @@
//
// groupBox21
//
this.groupBox21.Controls.Add(this.STAB_D);
this.groupBox21.Controls.Add(this.lblSTAB_D);
this.groupBox21.Controls.Add(this.STB_PIT_IMAX);
this.groupBox21.Controls.Add(this.label36);
this.groupBox21.Controls.Add(this.STB_PIT_I);
@ -1479,6 +1451,16 @@
this.groupBox21.Name = "groupBox21";
this.groupBox21.TabStop = false;
//
// STAB_D
//
resources.ApplyResources(this.STAB_D, "STAB_D");
this.STAB_D.Name = "STAB_D";
//
// lblSTAB_D
//
resources.ApplyResources(this.lblSTAB_D, "lblSTAB_D");
this.lblSTAB_D.Name = "lblSTAB_D";
//
// STB_PIT_IMAX
//
resources.ApplyResources(this.STB_PIT_IMAX, "STB_PIT_IMAX");
@ -1553,6 +1535,8 @@
//
// groupBox23
//
this.groupBox23.Controls.Add(this.RATE_YAW_D);
this.groupBox23.Controls.Add(this.label10);
this.groupBox23.Controls.Add(this.RATE_YAW_IMAX);
this.groupBox23.Controls.Add(this.label47);
this.groupBox23.Controls.Add(this.RATE_YAW_I);
@ -1563,6 +1547,16 @@
this.groupBox23.Name = "groupBox23";
this.groupBox23.TabStop = false;
//
// RATE_YAW_D
//
resources.ApplyResources(this.RATE_YAW_D, "RATE_YAW_D");
this.RATE_YAW_D.Name = "RATE_YAW_D";
//
// label10
//
resources.ApplyResources(this.label10, "label10");
this.label10.Name = "label10";
//
// RATE_YAW_IMAX
//
resources.ApplyResources(this.RATE_YAW_IMAX, "RATE_YAW_IMAX");
@ -1595,6 +1589,8 @@
//
// groupBox24
//
this.groupBox24.Controls.Add(this.RATE_PIT_D);
this.groupBox24.Controls.Add(this.label11);
this.groupBox24.Controls.Add(this.RATE_PIT_IMAX);
this.groupBox24.Controls.Add(this.label84);
this.groupBox24.Controls.Add(this.RATE_PIT_I);
@ -1605,6 +1601,16 @@
this.groupBox24.Name = "groupBox24";
this.groupBox24.TabStop = false;
//
// RATE_PIT_D
//
resources.ApplyResources(this.RATE_PIT_D, "RATE_PIT_D");
this.RATE_PIT_D.Name = "RATE_PIT_D";
//
// label11
//
resources.ApplyResources(this.label11, "label11");
this.label11.Name = "label11";
//
// RATE_PIT_IMAX
//
resources.ApplyResources(this.RATE_PIT_IMAX, "RATE_PIT_IMAX");
@ -1637,6 +1643,8 @@
//
// groupBox25
//
this.groupBox25.Controls.Add(this.RATE_RLL_D);
this.groupBox25.Controls.Add(this.label17);
this.groupBox25.Controls.Add(this.RATE_RLL_IMAX);
this.groupBox25.Controls.Add(this.label88);
this.groupBox25.Controls.Add(this.RATE_RLL_I);
@ -1647,6 +1655,16 @@
this.groupBox25.Name = "groupBox25";
this.groupBox25.TabStop = false;
//
// RATE_RLL_D
//
resources.ApplyResources(this.RATE_RLL_D, "RATE_RLL_D");
this.RATE_RLL_D.Name = "RATE_RLL_D";
//
// label17
//
resources.ApplyResources(this.label17, "label17");
this.label17.Name = "label17";
//
// RATE_RLL_IMAX
//
resources.ApplyResources(this.RATE_RLL_IMAX, "RATE_RLL_IMAX");
@ -2096,40 +2114,6 @@
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");
@ -2205,19 +2189,13 @@
((System.ComponentModel.ISupportInitialize)(this.RLL2SRV_P)).EndInit();
this.TabAC.ResumeLayout(false);
this.TabAC.PerformLayout();
this.groupBox17.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.ACRO_PIT_IMAX)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.ACRO_PIT_I)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.ACRO_PIT_P)).EndInit();
this.groupBox5.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.THR_RATE_D)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.THR_RATE_IMAX)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.THR_RATE_I)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.THR_RATE_P)).EndInit();
this.groupBox18.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.ACRO_RLL_IMAX)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.ACRO_RLL_I)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.ACRO_RLL_P)).EndInit();
this.groupBox4.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.NAV_LAT_D)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.WP_SPEED_MAX)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.NAV_LAT_IMAX)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.NAV_LAT_I)).EndInit();
@ -2237,6 +2215,7 @@
((System.ComponentModel.ISupportInitialize)(this.STB_YAW_I)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.STB_YAW_P)).EndInit();
this.groupBox21.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.STAB_D)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.STB_PIT_IMAX)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.STB_PIT_I)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.STB_PIT_P)).EndInit();
@ -2245,14 +2224,17 @@
((System.ComponentModel.ISupportInitialize)(this.STB_RLL_I)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.STB_RLL_P)).EndInit();
this.groupBox23.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.RATE_YAW_D)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_YAW_IMAX)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_YAW_I)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_YAW_P)).EndInit();
this.groupBox24.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.RATE_PIT_D)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_PIT_IMAX)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_PIT_I)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_PIT_P)).EndInit();
this.groupBox25.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.RATE_RLL_D)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_RLL_IMAX)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_RLL_I)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.RATE_RLL_P)).EndInit();
@ -2501,23 +2483,21 @@
private System.Windows.Forms.Label label109;
private System.Windows.Forms.Label label14;
private System.Windows.Forms.Label label26;
private System.Windows.Forms.GroupBox groupBox17;
private System.Windows.Forms.NumericUpDown ACRO_PIT_IMAX;
private System.Windows.Forms.Label label27;
private System.Windows.Forms.NumericUpDown ACRO_PIT_I;
private System.Windows.Forms.Label label29;
private System.Windows.Forms.NumericUpDown ACRO_PIT_P;
private System.Windows.Forms.Label label33;
private System.Windows.Forms.GroupBox groupBox18;
private System.Windows.Forms.NumericUpDown ACRO_RLL_IMAX;
private System.Windows.Forms.Label label40;
private System.Windows.Forms.NumericUpDown ACRO_RLL_I;
private System.Windows.Forms.Label label44;
private System.Windows.Forms.NumericUpDown ACRO_RLL_P;
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;
private System.Windows.Forms.NumericUpDown RATE_YAW_D;
private System.Windows.Forms.Label label10;
private System.Windows.Forms.NumericUpDown RATE_PIT_D;
private System.Windows.Forms.Label label11;
private System.Windows.Forms.NumericUpDown RATE_RLL_D;
private System.Windows.Forms.Label label17;
private System.Windows.Forms.NumericUpDown NAV_LAT_D;
private System.Windows.Forms.Label label27;
private System.Windows.Forms.NumericUpDown THR_RATE_D;
private System.Windows.Forms.Label label29;
private System.Windows.Forms.NumericUpDown STAB_D;
private System.Windows.Forms.Label lblSTAB_D;
}
}

9
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
View File

@ -805,7 +805,14 @@ namespace ArdupilotMega.GCSViews
// Add the video device
hr = m_FilterGraph.AddSourceFilterForMoniker(capDevices[CMB_videosources.SelectedIndex].Mon, null, "Video input", out capFilter);
DsError.ThrowExceptionForHR(hr);
try
{
DsError.ThrowExceptionForHR(hr);
}
catch (Exception ex) {
MessageBox.Show("Can not add video source\n" + ex.ToString());
return;
}
// Find the stream config interface
hr = capGraph.FindInterface(PinCategory.Capture, MediaType.Video, capFilter, typeof(IAMStreamConfig).GUID, out o);

4791
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.resx
View File

File diff suppressed because it is too large Load Diff

67
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
View File

@ -279,16 +279,24 @@ namespace ArdupilotMega.GCSViews
{
cell = Commands.Rows[selectedrow].Cells[Alt.Index] as DataGridViewTextBoxCell;
cell.Value = TXT_DefaultAlt.Text;
float result;
float.TryParse(TXT_homealt.Text, out result);
if (result == 0)
{
MessageBox.Show("You must have a home altitude");
float result;
float.TryParse(TXT_homealt.Text, out result);
if (result == 0)
{
MessageBox.Show("You must have a home altitude");
}
if (!float.TryParse(TXT_DefaultAlt.Text, out result))
{
MessageBox.Show("Your default alt is not valid");
return;
}
}
cell.Value = TXT_DefaultAlt.Text;
float ans;
if (float.TryParse(cell.Value.ToString(), out ans))
{
@ -784,7 +792,7 @@ namespace ArdupilotMega.GCSViews
cmd = Commands[Command.Index, selectedrow].Value.ToString();
}
catch { cmd = option; }
Console.WriteLine("editformat " + option + " value " + cmd);
//Console.WriteLine("editformat " + option + " value " + cmd);
ChangeColumnHeader(cmd);
}
catch (Exception ex) { MessageBox.Show(ex.ToString()); }
@ -916,7 +924,7 @@ namespace ArdupilotMega.GCSViews
drawnpolygons.Markers.Add(m);
drawnpolygons.Markers.Add(mBorders);
}
catch (Exception) { }
catch (Exception ex) { Console.WriteLine(ex.ToString()); }
}
/// <summary>
@ -1086,11 +1094,16 @@ namespace ArdupilotMega.GCSViews
else if (home.Length > 5 && usable == 0)
{
lookat = "<LookAt> <longitude>" + TXT_homelng.Text.ToString(new System.Globalization.CultureInfo("en-US")) + "</longitude> <latitude>" + TXT_homelat.Text.ToString(new System.Globalization.CultureInfo("en-US")) + "</latitude> <range>4000</range> </LookAt>";
MainMap.HoldInvalidation = true;
MainMap.ZoomAndCenterMarkers("objects");
MainMap.Zoom -= 2;
RectLatLng? rect = MainMap.GetRectOfAllMarkers("objects");
if (rect.HasValue)
{
MainMap.Position = rect.Value.LocationMiddle;
}
MainMap.Zoom = 17;
MainMap_OnMapZoomChanged();
MainMap.HoldInvalidation = false;
}
RegeneratePolygon();
@ -1933,8 +1946,13 @@ namespace ArdupilotMega.GCSViews
{
if (CurentRectMarker.InnerMarker.Tag.ToString().Contains("grid"))
{
drawnpolygon.Points[int.Parse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", "")) - 1] = new PointLatLng(end.Lat, end.Lng);
MainMap.UpdatePolygonLocalPosition(drawnpolygon);
try
{
drawnpolygon.Points[int.Parse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", "")) - 1] = new PointLatLng(end.Lat, end.Lng);
MainMap.UpdatePolygonLocalPosition(drawnpolygon);
MainMap.Invalidate();
}
catch { }
}
else
{
@ -2002,6 +2020,7 @@ namespace ArdupilotMega.GCSViews
{
drawnpolygon.Points[int.Parse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", "")) - 1] = new PointLatLng(point.Lat, point.Lng);
MainMap.UpdatePolygonLocalPosition(drawnpolygon);
MainMap.Invalidate();
}
}
catch { }
@ -2446,6 +2465,24 @@ namespace ArdupilotMega.GCSViews
string angle = (90).ToString("0");
Common.InputBox("Angle", "Enter the line direction (0-180)", ref angle);
double tryme = 0;
if (!double.TryParse(angle, out tryme))
{
MessageBox.Show("Invalid Angle");
return;
}
if (!double.TryParse(alt, out tryme))
{
MessageBox.Show("Invalid Alt");
return;
}
if (!double.TryParse(distance, out tryme))
{
MessageBox.Show("Invalid Distance");
return;
}
#if DEBUG
//Commands.Rows.Clear();
#endif

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

@ -83,7 +83,7 @@
this.label17 = new ArdupilotMega.MyLabel();
this.panel5 = new System.Windows.Forms.Panel();
this.zg1 = new ZedGraph.ZedGraphControl();
this.timer1 = new System.Windows.Forms.Timer(this.components);
this.timer_servo_graph = new System.Windows.Forms.Timer(this.components);
this.panel6 = new System.Windows.Forms.Panel();
this.label28 = new ArdupilotMega.MyLabel();
this.label29 = new ArdupilotMega.MyLabel();
@ -501,9 +501,9 @@
this.zg1.ScrollMinY = 0D;
this.zg1.ScrollMinY2 = 0D;
//
// timer1
// timer_servo_graph
//
this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
this.timer_servo_graph.Tick += new System.EventHandler(this.timer1_Tick);
//
// panel6
//
@ -692,7 +692,6 @@
this.RAD_aerosimrc.Name = "RAD_aerosimrc";
this.toolTip1.SetToolTip(this.RAD_aerosimrc, resources.GetString("RAD_aerosimrc.ToolTip"));
this.RAD_aerosimrc.UseVisualStyleBackColor = true;
this.RAD_aerosimrc.CheckedChanged += new System.EventHandler(this.RAD_aerosimrc_CheckedChanged);
//
// RAD_JSBSim
//
@ -700,7 +699,6 @@
this.RAD_JSBSim.Name = "RAD_JSBSim";
this.toolTip1.SetToolTip(this.RAD_JSBSim, resources.GetString("RAD_JSBSim.ToolTip"));
this.RAD_JSBSim.UseVisualStyleBackColor = true;
this.RAD_JSBSim.CheckedChanged += new System.EventHandler(this.RAD_JSBSim_CheckedChanged);
//
// CHK_xplane10
//
@ -811,7 +809,7 @@
private ArdupilotMega.MyLabel label19;
private ArdupilotMega.MyLabel TXT_control_mode;
private ZedGraph.ZedGraphControl zg1;
private System.Windows.Forms.Timer timer1;
private System.Windows.Forms.Timer timer_servo_graph;
private System.Windows.Forms.Panel panel6;
private System.Windows.Forms.TextBox TXT_ruddergain;
private System.Windows.Forms.TextBox TXT_pitchgain;

151
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
View File

@ -280,7 +280,7 @@ namespace ArdupilotMega.GCSViews
_procstartinfo.UseShellExecute = true;
//_procstartinfo.RedirectStandardOutput = true;
System.Diagnostics.Process.Start(_procstartinfo);
@ -307,12 +307,12 @@ namespace ArdupilotMega.GCSViews
};
t11.Start();
MainV2.threads.Add(t11);
timer1.Start();
timer_servo_graph.Start();
}
else
{
timer1.Stop();
timer_servo_graph.Stop();
threadrun = 0;
if (SimulatorRECV != null)
SimulatorRECV.Close();
@ -569,7 +569,8 @@ namespace ArdupilotMega.GCSViews
RECVprocess(udpdata, recv, comPort);
}
}
catch { //OutputLog.AppendText("Xplanes Data Problem - You need DATA IN/OUT 3, 4, 17, 18, 19, 20\n" + ex.Message + "\n");
catch
{ //OutputLog.AppendText("Xplanes Data Problem - You need DATA IN/OUT 3, 4, 17, 18, 19, 20\n" + ex.Message + "\n");
}
}
if (MavLink != null && MavLink.Client != null && MavLink.Client.Connected && MavLink.Available > 0)
@ -606,7 +607,7 @@ namespace ArdupilotMega.GCSViews
if (hzcounttime.Second != DateTime.Now.Second)
{
// Console.WriteLine("SIM hz {0}", hzcount);
// Console.WriteLine("SIM hz {0}", hzcount);
hzcount = 0;
hzcounttime = DateTime.Now;
}
@ -675,11 +676,11 @@ namespace ArdupilotMega.GCSViews
MavLink = new UdpClient("127.0.0.1", 14550);
}
float oldax =0, olday =0, oldaz = 0;
float oldax = 0, olday = 0, oldaz = 0;
DateTime oldtime = DateTime.Now;
#if MAVLINK10
ArdupilotMega.MAVLink.__mavlink_gps_raw_int_t oldgps = new MAVLink.__mavlink_gps_raw_int_t();
#endif
#endif
ArdupilotMega.MAVLink.__mavlink_attitude_t oldatt = new ArdupilotMega.MAVLink.__mavlink_attitude_t();
@ -740,7 +741,9 @@ namespace ArdupilotMega.GCSViews
att.pitchspeed = (DATA[17][0]);
att.rollspeed = (DATA[17][1]);
att.yawspeed = (DATA[17][2]);
} else {
}
else
{
att.pitch = (DATA[17][0] * deg2rad);
att.roll = (DATA[17][1] * deg2rad);
att.yaw = (DATA[17][2] * deg2rad);
@ -799,9 +802,9 @@ namespace ArdupilotMega.GCSViews
double head = DATA[18][2] - 90;
#if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary());
#else
imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif
#else
imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif
imu.xgyro = xgyro; // roll - yes
imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
imu.ygyro = ygyro; // pitch - yes
@ -817,7 +820,14 @@ namespace ArdupilotMega.GCSViews
#if MAVLINK10
gps.alt = (int)(DATA[20][2] * ft2m * 1000);
gps.fix_type = 3;
gps.cog = (ushort)(DATA[19][2] * 100);
if (xplane9)
{
gps.cog = ((float)DATA[19][2]);
}
else
{
gps.cog = ((float)DATA[18][2]);
}
gps.lat = (int)(DATA[20][0] * 1.0e7);
gps.lon = (int)(DATA[20][1] * 1.0e7);
gps.time_usec = ((ulong)0);
@ -825,7 +835,14 @@ namespace ArdupilotMega.GCSViews
#else
gps.alt = ((float)(DATA[20][2] * ft2m));
gps.fix_type = 3;
gps.hdg = ((float)DATA[19][2]);
if (xplane9)
{
gps.hdg = ((float)DATA[19][2]);
}
else
{
gps.hdg = ((float)DATA[18][2]);
}
gps.lat = ((float)DATA[20][0]);
gps.lon = ((float)DATA[20][1]);
gps.usec = ((ulong)0);
@ -860,9 +877,9 @@ namespace ArdupilotMega.GCSViews
#if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary());
#else
imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif
#else
imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif
imu.xacc = ((Int16)(imudata2.accelX * 9808 / 32.2));
imu.xgyro = ((Int16)(imudata2.rateRoll * 17.453293));
@ -873,7 +890,7 @@ namespace ArdupilotMega.GCSViews
imu.zacc = ((Int16)(imudata2.accelZ * 9808 / 32.2)); // + 1000
imu.zgyro = ((Int16)(imudata2.rateYaw * 17.453293));
imu.zmag = 0;
#if MAVLINK10
gps.alt = ((int)(imudata2.altitude * ft2m * 1000));
gps.fix_type = 3;
@ -927,9 +944,9 @@ namespace ArdupilotMega.GCSViews
#if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary());
#else
imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif
#else
imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif
imu.xgyro = (short)(aeroin.Model_fAngVel_Body_X * 1000); // roll - yes
//imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
imu.ygyro = (short)(aeroin.Model_fAngVel_Body_Y * 1000); // pitch - yes
@ -943,7 +960,7 @@ namespace ArdupilotMega.GCSViews
imu.yacc = (Int16)((accel3D.Y + aeroin.Model_fAccel_Body_Y) * 1000); // roll
imu.zacc = (Int16)((accel3D.Z + aeroin.Model_fAccel_Body_Z) * 1000);
// Console.WriteLine("x {0} y {1} z {2}", imu.xacc, imu.yacc, imu.zacc);
// Console.WriteLine("x {0} y {1} z {2}", imu.xacc, imu.yacc, imu.zacc);
#if MAVLINK10
gps.alt = ((int)(aeroin.Model_fPosZ) * 1000);
@ -953,7 +970,7 @@ namespace ArdupilotMega.GCSViews
gps.lon = (int)(aeroin.Model_fLongitude * 1.0e7);
gps.time_usec = ((ulong)DateTime.Now.Ticks);
gps.vel = (ushort)(Math.Sqrt((aeroin.Model_fVelY * aeroin.Model_fVelY) + (aeroin.Model_fVelX * aeroin.Model_fVelX)) * 100);
#else
#else
gps.alt = ((float)(aeroin.Model_fPosZ));
gps.fix_type = 3;
gps.hdg = ((float)Math.Atan2(aeroin.Model_fVelX, aeroin.Model_fVelY) * rad2deg);
@ -988,9 +1005,9 @@ namespace ArdupilotMega.GCSViews
#if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary());
#else
imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif
#else
imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif
imu.xgyro = (short)(fdm.phidot); // roll - yes
//imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
imu.ygyro = (short)(fdm.thetadot); // pitch - yes
@ -1134,10 +1151,10 @@ namespace ArdupilotMega.GCSViews
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.psi * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.vcas * ft2m), 0, sitlout, a += 8, 8);
// Console.WriteLine(lastfdmdata.theta);
// Console.WriteLine(lastfdmdata.theta);
Array.Copy(BitConverter.GetBytes((int)0x4c56414e), 0, sitlout, a += 8, 4);
SITLSEND.Send(sitlout, sitlout.Length);
return;
@ -1176,27 +1193,27 @@ namespace ArdupilotMega.GCSViews
comPort.sendPacket(asp);
#else
#else
if (chkSensor.Checked == false) // attitude
{
comPort.sendPacket( att);
comPort.sendPacket(att);
comPort.sendPacket( asp);
comPort.sendPacket(asp);
}
else // raw imu
{
// imudata
comPort.sendPacket( imu);
comPort.sendPacket(imu);
#endif
#endif
MAVLink.__mavlink_raw_pressure_t pres = new MAVLink.__mavlink_raw_pressure_t();
double calc = (101325 * Math.Pow(1 - 2.25577 * Math.Pow(10, -5) * gps.alt, 5.25588)); // updated from valid gps
pres.press_diff1 = (short)(int)(calc - 101325); // 0 alt is 0 pa
MAVLink.__mavlink_raw_pressure_t pres = new MAVLink.__mavlink_raw_pressure_t();
double calc = (101325 * Math.Pow(1 - 2.25577 * Math.Pow(10, -5) * gps.alt, 5.25588)); // updated from valid gps
pres.press_diff1 = (short)(int)(calc - 101325); // 0 alt is 0 pa
comPort.sendPacket(pres);
comPort.sendPacket(pres);
#if !MAVLINK10
comPort.sendPacket(asp);
}
@ -1210,7 +1227,7 @@ namespace ArdupilotMega.GCSViews
comPort.sendPacket(gps);
}
#endif
}
}
HIL.QuadCopter quad = new HIL.QuadCopter();
@ -1228,7 +1245,7 @@ namespace ArdupilotMega.GCSViews
/// <param name="pitch_out">-1 to 1</param>
/// <param name="rudder_out">-1 to 1</param>
/// <param name="throttle_out">0 to 1</param>
private void updateScreenDisplay(double lat,double lng,double alt,double roll,double pitch,double heading, double yaw,double roll_out,double pitch_out, double rudder_out, double throttle_out)
private void updateScreenDisplay(double lat, double lng, double alt, double roll, double pitch, double heading, double yaw, double roll_out, double pitch_out, double rudder_out, double throttle_out)
{
try
{
@ -1329,7 +1346,7 @@ namespace ArdupilotMega.GCSViews
}
catch (Exception) { Console.WriteLine("Socket Write failed, FG closed?"); }
updateScreenDisplay(lastfdmdata.latitude,lastfdmdata.longitude,lastfdmdata.altitude * .3048,lastfdmdata.phi,lastfdmdata.theta,lastfdmdata.psi,lastfdmdata.psi,m[0],m[1],m[2],m[3]);
updateScreenDisplay(lastfdmdata.latitude, lastfdmdata.longitude, lastfdmdata.altitude * .3048, lastfdmdata.phi, lastfdmdata.theta, lastfdmdata.psi, lastfdmdata.psi, m[0], m[1], m[2], m[3]);
return;
@ -1350,10 +1367,9 @@ namespace ArdupilotMega.GCSViews
}
else
{
roll_out = (float)MainV2.cs.hilch1 / rollgain;
pitch_out = (float)MainV2.cs.hilch2 / pitchgain;
throttle_out = ((float)MainV2.cs.hilch3 / 2 + 5000) / throttlegain;
throttle_out = ((float)MainV2.cs.hilch3) / throttlegain;
rudder_out = (float)MainV2.cs.hilch4 / ruddergain;
if (RAD_aerosimrc.Checked && CHK_quad.Checked)
@ -1415,7 +1431,9 @@ namespace ArdupilotMega.GCSViews
if (xplane9)
{
updateScreenDisplay(DATA[20][0] * deg2rad, DATA[20][1] * deg2rad, DATA[20][2] * .3048, DATA[18][1] * deg2rad, DATA[18][0] * deg2rad, DATA[19][2] * deg2rad, DATA[18][2] * deg2rad, roll_out, pitch_out, rudder_out, throttle_out);
} else {
}
else
{
updateScreenDisplay(DATA[20][0] * deg2rad, DATA[20][1] * deg2rad, DATA[20][2] * .3048, DATA[17][1] * deg2rad, DATA[17][0] * deg2rad, DATA[18][2] * deg2rad, DATA[17][2] * deg2rad, roll_out, pitch_out, rudder_out, throttle_out);
}
@ -1444,7 +1462,7 @@ namespace ArdupilotMega.GCSViews
Array.Copy(BitConverter.GetBytes((double)(roll_out * REV_roll)), 0, AeroSimRC, 0, 8);
Array.Copy(BitConverter.GetBytes((double)(pitch_out * REV_pitch * -1)), 0, AeroSimRC, 8, 8);
Array.Copy(BitConverter.GetBytes((double)(rudder_out * REV_rudder)), 0, AeroSimRC, 16, 8);
Array.Copy(BitConverter.GetBytes((double)((throttle_out *2) -1)), 0, AeroSimRC, 24, 8);
Array.Copy(BitConverter.GetBytes((double)((throttle_out * 2) - 1)), 0, AeroSimRC, 24, 8);
if (heli)
{
@ -1487,12 +1505,12 @@ namespace ArdupilotMega.GCSViews
if (RAD_JSBSim.Checked)
{
roll_out = Constrain(roll_out * REV_roll, -1f, 1f);
pitch_out = Constrain(-pitch_out * REV_pitch, -1f,1f);
pitch_out = Constrain(-pitch_out * REV_pitch, -1f, 1f);
rudder_out = Constrain(rudder_out * REV_rudder, -1f, 1f);
throttle_out = Constrain(throttle_out, -0.0f, 1f);
string cmd = string.Format("set fcs/aileron-cmd-norm {0}\r\nset fcs/elevator-cmd-norm {1}\r\nset fcs/rudder-cmd-norm {2}\r\nset fcs/throttle-cmd-norm {3}\r\n",roll_out,pitch_out,rudder_out,throttle_out);
string cmd = string.Format("set fcs/aileron-cmd-norm {0}\r\nset fcs/elevator-cmd-norm {1}\r\nset fcs/rudder-cmd-norm {2}\r\nset fcs/throttle-cmd-norm {3}\r\n", roll_out, pitch_out, rudder_out, throttle_out);
//Console.Write(cmd);
byte[] data = System.Text.Encoding.ASCII.GetBytes(cmd);
@ -1529,7 +1547,7 @@ namespace ArdupilotMega.GCSViews
if (RAD_softXplanes.Checked)
{
// sending only 1 packet instead of many.
@ -1736,9 +1754,9 @@ namespace ArdupilotMega.GCSViews
//myPane.Chart.Fill = new Fill(Color.White, Color.LightGray, 45.0f);
// Sample at 50ms intervals
timer1.Interval = 50;
timer1.Enabled = true;
timer1.Start();
timer_servo_graph.Interval = 50;
timer_servo_graph.Enabled = true;
timer_servo_graph.Start();
// Calculate the Axis Scale Ranges
@ -1778,14 +1796,14 @@ namespace ArdupilotMega.GCSViews
xScale.Max = time + xScale.MajorStep;
xScale.Min = xScale.Max - 30.0;
}
// Make sure the Y axis is rescaled to accommodate actual data
try
{
zg1.AxisChange();
}
catch { }
// Force a redraw
zg1.Invalidate();
// Make sure the Y axis is rescaled to accommodate actual data
try
{
zg1.AxisChange();
}
catch { }
// Force a redraw
zg1.Invalidate();
}
private void SaveSettings_Click(object sender, EventArgs e)
@ -1965,9 +1983,9 @@ namespace ArdupilotMega.GCSViews
if (!MainV2.MONO)
{
extra = " --fg-root=\"" + Path.GetDirectoryName(ofd.FileName.ToLower().Replace("bin\\win32\\","")) + "\\data\"";
extra = " --fg-root=\"" + Path.GetDirectoryName(ofd.FileName.ToLower().Replace("bin\\win32\\", "")) + "\\data\"";
}
System.Diagnostics.Process P = new System.Diagnostics.Process();
P.StartInfo.FileName = ofd.FileName;
P.StartInfo.Arguments = extra + @" --geometry=400x300 --native-fdm=socket,out,50,127.0.0.1,49005,udp --generic=socket,in,50,127.0.0.1,49000,udp,MAVLink --roll=0 --pitch=0 --wind=0@0 --turbulence=0.0 --prop:/sim/frame-rate-throttle-hz=30 --timeofday=noon --shading-flat --fog-disable --disable-specular-highlight --disable-skyblend --disable-random-objects --disable-panel --disable-horizon-effect --disable-clouds --disable-anti-alias-hud ";
@ -2044,7 +2062,7 @@ namespace ArdupilotMega.GCSViews
if (displayfull)
{
//this.Width = 651;
timer1.Start();
timer_servo_graph.Start();
zg1.Visible = true;
@ -2059,7 +2077,7 @@ namespace ArdupilotMega.GCSViews
//this.Width = 651;
//this.Height = 457;
timer1.Stop();
timer_servo_graph.Stop();
zg1.Visible = false;
CHKgraphpitch.Visible = false;
@ -2069,14 +2087,5 @@ namespace ArdupilotMega.GCSViews
}
}
private void RAD_aerosimrc_CheckedChanged(object sender, EventArgs e)
{
}
private void RAD_JSBSim_CheckedChanged(object sender, EventArgs e)
{
}
}
}

8
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.resx
View File

@ -1356,7 +1356,7 @@
<data name="&gt;&gt;zg1.ZOrder" xml:space="preserve">
<value>17</value>
</data>
<metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<metadata name="timer_servo_graph.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 17</value>
</metadata>
<data name="label28.Location" type="System.Drawing.Point, System.Drawing">
@ -2142,10 +2142,10 @@
<data name="&gt;&gt;currentStateBindingSource.Type" xml:space="preserve">
<value>System.Windows.Forms.BindingSource, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;timer1.Name" xml:space="preserve">
<value>timer1</value>
<data name="&gt;&gt;timer_servo_graph.Name" xml:space="preserve">
<value>timer_servo_graph</value>
</data>
<data name="&gt;&gt;timer1.Type" xml:space="preserve">
<data name="&gt;&gt;timer_servo_graph.Type" xml:space="preserve">
<value>System.Windows.Forms.Timer, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;toolTip1.Name" xml:space="preserve">

14
Tools/ArdupilotMegaPlanner/MAVLink.cs
View File

@ -2001,12 +2001,13 @@ namespace ArdupilotMega
else
{
MainV2.cs.datetime = DateTime.Now;
temp[count] = (byte)BaseStream.ReadByte();
if (BaseStream.IsOpen)
temp[count] = (byte)BaseStream.ReadByte();
}
}
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' || lastbad[1] == 'G') // out of sync
if (temp[0] != 254 && temp[0] != 'U' || lastbad[0] == 'I' && lastbad[1] == 'M' || lastbad[1] == 'G' || lastbad[1] == 'A') // out of sync "AUTO" "GUIDED" "IMU"
{
if (temp[0] >= 0x20 && temp[0] <= 127 || temp[0] == '\n' || temp[0] == '\r')
{
@ -2058,7 +2059,10 @@ namespace ArdupilotMega
//Console.WriteLine("data " + 0 + " " + length + " aval " + BaseStream.BytesToRead);
}
int read = BaseStream.Read(temp, 6, length - 4);
if (BaseStream.IsOpen)
{
int read = BaseStream.Read(temp, 6, length - 4);
}
}
//Console.WriteLine("data " + read + " " + length + " aval " + this.BytesToRead);
count = length + 2;
@ -2113,6 +2117,10 @@ namespace ArdupilotMega
if (temp.Length > 5 && temp[1] != MAVLINK_MESSAGE_LENGTHS[temp[5]])
{
Console.WriteLine("Mavlink Bad Packet (Len Fail) len {0} pkno {1}", temp.Length, temp[5]);
#if MAVLINK10
if (temp.Length == 11 && temp[0] == 'U' && temp[5] == 0)
throw new Exception("Mavlink 0.9 Heartbeat, Please upgrade your AP, This planner is for Mavlink 1.0\n\n");
#endif
return new byte[0];
}

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("1.1.30")]
[assembly: AssemblyFileVersion("1.1.33")]
[assembly: NeutralResourcesLanguageAttribute("")]

6
Tools/ArdupilotMegaPlanner/ResEdit.cs
View File

@ -196,6 +196,12 @@ namespace resedit
private void button3_Click(object sender, EventArgs e)
{
if (!File.Exists("translation/output.html"))
{
MessageBox.Show("No existing translation has been done");
return;
}
StreamReader sr1 = new StreamReader("translation/output.html");
string file = sr1.ReadToEnd();

21
Tools/ArdupilotMegaPlanner/Setup/Setup.cs
View File

@ -220,7 +220,7 @@ namespace ArdupilotMega.Setup
}
}
MessageBox.Show("Ensure all your sticks are centered, and click ok to continue");
MessageBox.Show("Ensure all your sticks are centered and throttle is down, and click ok to continue");
MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true, MainV2.comPort);
@ -800,13 +800,18 @@ namespace ArdupilotMega.Setup
{
if (startup || ((TextBox)sender).Enabled == false)
return;
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();
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 { MessageBox.Show("Invalid number entered"); return; }
try
{
if (MainV2.comPort.param["VOLT_DIVIDER"] == null)

BIN
Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb Normal file
View File

Binary file not shown.

65
Tools/ArdupilotMegaPlanner/bin/Release/dataflashlog.xml
View File

@ -13,12 +13,12 @@
<F8>CRS</F8>
</GPS>
<ATT>
<F1>Roll</F1>
<F2>Pitch</F2>
<F3>Yaw</F3>
<F4>CH1 out</F4>
<F5>CH2 out</F5>
<F6>CH4 out</F6>
<F1>Roll IN</F1>
<F2>Roll</F2>
<F3>Pitch IN</F3>
<F4>Pitch</F4>
<F5>Yaw IN</F5>
<F6>Yaw</F6>
</ATT>
<NTUN>
<F1>WP Dist</F1>
@ -27,26 +27,23 @@
<F4>Lat Err</F4>
<F5>nav lon</F5>
<F6>nav lat</F6>
<F7>nav lon I</F7>
<F8>nav lat I</F8>
<F9>Loiter Lon I</F9>
<F10>Loiter Lat I</F10>
<F7>X Speed</F7>
<F8>Y Speed</F8>
<F9>nav lon I</F9>
<F10>nav lat I</F10>
</NTUN>
<CTUN>
<F1>Roll IN</F1>
<F2>Pitch IN</F2>
<F3>Thr IN</F3>
<F4>Yaw IN</F4>
<F5>Sonar Alt</F5>
<F6>Baro Alt</F6>
<F7>Next WP Alt</F7>
<F8>Nav Throttle</F8>
<F9>Angle boost</F9>
<F10>Manual boost</F10>
<F11>Climb Rate</F11>
<F12>rc3 servo out</F12>
<F13>alt hold int</F13>
<F14>Thr int</F14>
<F1>Thr IN</F1>
<F2>Sonar Alt</F2>
<F3>Baro Alt</F3>
<F4>WP Alt</F4>
<F5>Nav Throttle</F5>
<F6>Angle boost</F6>
<F7>Manual boost</F7>
<F8>Climb Rate</F8>
<F9>rc3 servo out</F9>
<F10>alt hold int</F10>
<F11>Thr int</F11>
</CTUN>
<PM>
<F1>Perf Timer</F1>
@ -65,8 +62,8 @@
<F6>Accel Z</F6>
</RAW>
<CURR>
<F1>Throttle in</F1>
<F2>Throttle intergrator</F2>
<F1>Thr IN</F1>
<F2>Thr int</F2>
<F3>Voltage</F3>
<F4>Current</F4>
<F5>Current total</F5>
@ -76,8 +73,22 @@
<F2>Current #</F2>
<F3>ID</F3>
<F4>options</F4>
<F5></F5>
<F5>p1</F5>
<F6>Alt</F6>
<F7>Lat</F7>
<F8>Long</F8>
</CMD>
<OF>
<F1>X raw</F1>
<F2>Y raw</F2>
<F3>SurfaceQual</F3>
<F4>X cm</F4>
<F5>Y cm</F5>
<F6>Lat</F6>
<F7>Long</F7>
<F8>Roll Cmd</F8>
<F9>Pitch Cmd</F9>
</OF>
<MOD>
<F1>FlightMode</F1>
<F2>Thr Cruise</F2>

65
Tools/ArdupilotMegaPlanner/dataflashlog.xml
View File

@ -13,12 +13,12 @@
<F8>CRS</F8>
</GPS>
<ATT>
<F1>Roll</F1>
<F2>Pitch</F2>
<F3>Yaw</F3>
<F4>CH1 out</F4>
<F5>CH2 out</F5>
<F6>CH4 out</F6>
<F1>Roll IN</F1>
<F2>Roll</F2>
<F3>Pitch IN</F3>
<F4>Pitch</F4>
<F5>Yaw IN</F5>
<F6>Yaw</F6>
</ATT>
<NTUN>
<F1>WP Dist</F1>
@ -27,26 +27,23 @@
<F4>Lat Err</F4>
<F5>nav lon</F5>
<F6>nav lat</F6>
<F7>nav lon I</F7>
<F8>nav lat I</F8>
<F9>Loiter Lon I</F9>
<F10>Loiter Lat I</F10>
<F7>X Speed</F7>
<F8>Y Speed</F8>
<F9>nav lon I</F9>
<F10>nav lat I</F10>
</NTUN>
<CTUN>
<F1>Roll IN</F1>
<F2>Pitch IN</F2>
<F3>Thr IN</F3>
<F4>Yaw IN</F4>
<F5>Sonar Alt</F5>
<F6>Baro Alt</F6>
<F7>Next WP Alt</F7>
<F8>Nav Throttle</F8>
<F9>Angle boost</F9>
<F10>Manual boost</F10>
<F11>Climb Rate</F11>
<F12>rc3 servo out</F12>
<F13>alt hold int</F13>
<F14>Thr int</F14>
<F1>Thr IN</F1>
<F2>Sonar Alt</F2>
<F3>Baro Alt</F3>
<F4>WP Alt</F4>
<F5>Nav Throttle</F5>
<F6>Angle boost</F6>
<F7>Manual boost</F7>
<F8>Climb Rate</F8>
<F9>rc3 servo out</F9>
<F10>alt hold int</F10>
<F11>Thr int</F11>
</CTUN>
<PM>
<F1>Perf Timer</F1>
@ -65,8 +62,8 @@
<F6>Accel Z</F6>
</RAW>
<CURR>
<F1>Throttle in</F1>
<F2>Throttle intergrator</F2>
<F1>Thr IN</F1>
<F2>Thr int</F2>
<F3>Voltage</F3>
<F4>Current</F4>
<F5>Current total</F5>
@ -76,8 +73,22 @@
<F2>Current #</F2>
<F3>ID</F3>
<F4>options</F4>
<F5></F5>
<F5>p1</F5>
<F6>Alt</F6>
<F7>Lat</F7>
<F8>Long</F8>
</CMD>
<OF>
<F1>X raw</F1>
<F2>Y raw</F2>
<F3>SurfaceQual</F3>
<F4>X cm</F4>
<F5>Y cm</F5>
<F6>Lat</F6>
<F7>Long</F7>
<F8>Roll Cmd</F8>
<F9>Pitch Cmd</F9>
</OF>
<MOD>
<F1>FlightMode</F1>
<F2>Thr Cruise</F2>

64
libraries/AC_PID/examples/AC_PID_test/AC_PID_test.pde Normal file
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/*
Example of PID library.
2012 Code by Jason Short, Randy Mackay. DIYDrones.com
*/
// includes
#include <Arduino_Mega_ISR_Registry.h>
#include <FastSerial.h>
#include <AP_Common.h>
#include <APM_RC.h> // ArduPilot RC Library
#include <AC_PID.h> // ArduPilot Mega RC Library
// default PID values
#define TEST_P 1.0
#define TEST_I 0.01
#define TEST_D 0.2
#define TEST_IMAX 10
// Serial ports
FastSerialPort0(Serial); // FTDI/console
// Global variables
Arduino_Mega_ISR_Registry isr_registry;
APM_RC_APM1 APM_RC;
// setup function
void setup()
{
Serial.begin(115200);
Serial.println("ArduPilot Mega AC_PID library test");
isr_registry.init();
APM_RC.Init(&isr_registry); // APM Radio initialization
delay(1000);
}
// main loop
void loop()
{
// setup (unfortunately must be done here as we cannot create a global AC_PID object)
AC_PID pid(0, PSTR("TESTPID_"), TEST_P, TEST_I, TEST_D, TEST_IMAX * 100);
uint16_t radio_in;
uint16_t radio_trim;
int error;
int control;
float dt = 1000/50;
// display PID gains
Serial.printf("P %f I %f D %f imax %f\n", pid.kP(), pid.kI(), pid.kD(), pid.imax());
// capture radio trim
radio_trim = APM_RC.InputCh(0);
while( true ) {
radio_in = APM_RC.InputCh(0);
error = radio_in - radio_trim;
control = pid.get_pid(error, dt);
// display pid results
Serial.printf("radio: %d\t err: %d\t pid:%d\n", radio_in, error, control);
delay(50);
}
}

2
libraries/AC_PID/examples/AC_PID_test/Makefile Normal file
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@ -0,0 +1,2 @@
BOARD = mega
include ../../../AP_Common/Arduino.mk

201
libraries/APM_PerfMon/APM_PerfMon.cpp
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@ -1,201 +0,0 @@
extern "C" {
// AVR LibC Includes
#include "WConstants.h"
}
#include "APM_PerfMon.h"
// don't know why i need these
// see http://www.avrfreaks.net/index.php?name=PNphpBB2&file=viewtopic&p=410870
int __cxa_guard_acquire(__guard *g) {return !*(char *)(g);};
void __cxa_guard_release (__guard *g) {*(char *)g = 1;};
void __cxa_guard_abort (__guard *) {};
// static class variable definitions
int APM_PerfMon::nextFuncNum;
char APM_PerfMon::functionNames[PERFMON_MAX_FUNCTIONS][PERFMON_FUNCTION_NAME_LENGTH];
unsigned long APM_PerfMon::time[PERFMON_MAX_FUNCTIONS];
unsigned long APM_PerfMon::numCalls[PERFMON_MAX_FUNCTIONS];
unsigned long APM_PerfMon::allStartTime;
unsigned long APM_PerfMon::allEndTime;
APM_PerfMon* APM_PerfMon::lastCreated = NULL;
// constructor
APM_PerfMon::APM_PerfMon(int funcNum)
{
// stop recording time from parent
if( lastCreated != NULL )
lastCreated->stop();
// check global start time
if( allStartTime == 0 )
allStartTime = micros();
_funcNum = funcNum; // record which function we should assign time to
_parent = lastCreated; // add pointer to parent
lastCreated = this; // record myself as the last created instance
numCalls[_funcNum]++; // record that this function has been called
start(); // start recording time spent in this function
}
// destructor
APM_PerfMon::~APM_PerfMon()
{
stop(); // stop recording time spent in this function
lastCreated = _parent; // make my parent the last created instance
// restart recording time for parent
if( lastCreated != NULL )
lastCreated->start();
}
// stop recording time
void APM_PerfMon::stop()
{
time[_funcNum] += (micros()-_startTime);
}
// stop recording time
void APM_PerfMon::start()
{
_startTime = micros(); // restart recording time spent in this function
}
// record function name in static list
int APM_PerfMon::recordFunctionName(const char funcName[])
{
int nextNum = nextFuncNum++;
int i;
// clear existing function name (if any)
functionNames[nextNum][0] = 0;
// store function name
for( i=0; i<PERFMON_FUNCTION_NAME_LENGTH-1 && funcName[i] != 0; i++ )
{
functionNames[nextNum][i] = funcName[i];
}
functionNames[nextNum][i] = 0;
return nextNum;
}
// ClearAll - clears all data from static members
void APM_PerfMon::ClearAll()
{
int i;
APM_PerfMon *p = lastCreated;
for(i=0; i<PERFMON_MAX_FUNCTIONS; i++)
{
time[i] = 0; // reset times
numCalls[i] = 0; // reset num times called
}
// reset start time to now
allStartTime = micros();
allEndTime = 0;
// reset start times of any active counters
while( p != NULL ) {
p->_startTime = allStartTime;
p = p->_parent;
}
}
// ClearAll - clears all data from static members
void APM_PerfMon::DisplayResults(HardwareSerial* aSerial)
{
int i,j,k,padding,changed;
float hz;
float pct;
unsigned long totalTime;
unsigned long sumOfTime = 0;
unsigned long unExplainedTime;
int order[PERFMON_MAX_FUNCTIONS];
APM_PerfMon* p = lastCreated;
// record end time
if( allEndTime == 0 )
allEndTime = micros();
// turn off any time recording
if( lastCreated != NULL )
lastCreated->stop();
// reorder results
for(i=0; i<nextFuncNum; i++)
order[i] = i;
changed=0;
do{
changed = 0;
for(i=0; i<nextFuncNum-1; i++)
if(time[order[i]]<time[order[i+1]])
{
j = order[i];
order[i] = order[i+1];
order[i+1] = j;
changed = 1;
}
}while(changed != 0);
// sort results
totalTime = allEndTime - allStartTime;
aSerial->print("PerfMon start:");
aSerial->print(allStartTime/1000);
aSerial->print(" (mils) end:");
aSerial->print(allEndTime/1000);
aSerial->print(" (mils) elapsed:");
aSerial->print(totalTime/1000);
aSerial->print(" (mils)");
aSerial->println();
aSerial->println("PerfMon: \tcpu%\tmils\t#called\tHz");
for( i=0; i<nextFuncNum; i++ )
{
j=order[i];
sumOfTime += time[j];
hz = numCalls[j]/(totalTime/1000000);
pct = ((float)time[j] / (float)totalTime) * 100.0;
padding = PERFMON_FUNCTION_NAME_LENGTH - strLen(functionNames[j]);
aSerial->print(functionNames[j]);
for(k=0;k<padding;k++)
aSerial->print(" ");
aSerial->print("\t");
aSerial->print(pct);
aSerial->print("%\t");
aSerial->print(time[j]/1000);
aSerial->print("\t");
aSerial->print(numCalls[j]);
aSerial->print("\t");
aSerial->print(hz,0);
aSerial->print("hz");
aSerial->println();
}
// display unexplained time
if( sumOfTime >= totalTime )
unExplainedTime = 0;
else
unExplainedTime = totalTime - sumOfTime;
pct = ((float)unExplainedTime / (float)totalTime) * 100.0;
aSerial->print("unexplained \t");
aSerial->print(pct);
aSerial->print("%\t");
aSerial->print(unExplainedTime/1000);
aSerial->println();
// turn back on any time recording
if( lastCreated != NULL )
lastCreated->start();
}
int APM_PerfMon::strLen(char* str)
{
int i = 0;
while( str[i] != 0 )
i++;
return i;
}

49
libraries/APM_PerfMon/APM_PerfMon.h
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@ -1,49 +0,0 @@
#ifndef APM_PerfMon_h
#define APM_PerfMon_h
// macros to make integrating into code easier
#define APM_PERFMON_REGISTER static int myFunc = APM_PerfMon::recordFunctionName(__func__); APM_PerfMon perfMon(myFunc);
#define APM_PERFMON_REGISTER_NAME(functionName) static int myFunc = APM_PerfMon::recordFunctionName(functionName); APM_PerfMon perfMon(myFunc);
#define PERFMON_MAX_FUNCTIONS 50
#define PERFMON_FUNCTION_NAME_LENGTH 20
__extension__ typedef int __guard __attribute__((mode (__DI__)));
extern "C" int __cxa_guard_acquire(__guard *);
extern "C" void __cxa_guard_release (__guard *);
extern "C" void __cxa_guard_abort (__guard *);
#include "HardwareSerial.h"
class APM_PerfMon
{
public:
// static variables
static int nextFuncNum;
static char functionNames[PERFMON_MAX_FUNCTIONS][PERFMON_FUNCTION_NAME_LENGTH];
static unsigned long time[PERFMON_MAX_FUNCTIONS];
static unsigned long numCalls[PERFMON_MAX_FUNCTIONS];
static unsigned long allStartTime;
static unsigned long allEndTime;
static APM_PerfMon* lastCreated;
// static methods
static int recordFunctionName(const char funcName[]);
static void DisplayResults(HardwareSerial* aSerial);
static void ClearAll();
static int strLen(char* str);
// normal variables
int _funcNum;
unsigned long _startTime;
APM_PerfMon* _parent;
// normal methods
APM_PerfMon(int funcNum); // Constructor - records function start time
~APM_PerfMon(); // Destructor - records function end time
void stop(); // stops recording time spent in this function - meant to be called by a child.
void start(); // restarts recording time spent in this function
};
#endif // APM_PerfMon_h

45
libraries/APM_PerfMon/APM_PerfMon_test/APM_PerfMon_test.pde
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/*
APM_PerfMon
Code by Randy Mackay
*/
#include "APM_PerfMon.h" // PerfMonitor library
void setup()
{
APM_PERFMON_REGISTER_NAME("setupA")
Serial.begin(115200);
Serial.println("Performance Monitor test v1.0");
}
void loop()
{
APM_PERFMON_REGISTER
int i = 0;
for( i=0; i<100; i++ )
{
testFunction();
}
APM_PerfMon::DisplayResults(&Serial);
delay(10000);
APM_PerfMon::ClearAll();
}
void testFunction()
{
APM_PERFMON_REGISTER
delay(10);
testFunction2();
delay(10);
}
void testFunction2()
{
APM_PERFMON_REGISTER
delay(10);
}