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APM Planner 1.1.37

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fix misc errors
update polish
fix linux/mac bug. - seems alot more stable
This commit is contained in:
Michael Oborne 2012-02-17 17:09:27 +08:00
parent 5218220f0f
commit e2c15008c2
14 changed files with 202 additions and 48 deletions
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5
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
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@ -242,11 +242,14 @@
<Compile Include="CommsTCPSerial.cs" />
<Compile Include="CommsUdpSerial.cs" />
<Compile Include="Controls\ImageLabel.cs">
<SubType>UserControl</SubType>
<SubType>Component</SubType>
</Compile>
<Compile Include="Controls\ImageLabel.Designer.cs">
<DependentUpon>ImageLabel.cs</DependentUpon>
</Compile>
<Compile Include="Controls\myGMAP.cs">
<SubType>UserControl</SubType>
</Compile>
<Compile Include="Controls\XorPlus.cs">
<SubType>Form</SubType>
</Compile>

2
Tools/ArdupilotMegaPlanner/Controls/ImageLabel.cs
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@ -9,7 +9,7 @@ using System.Windows.Forms;
namespace ArdupilotMega
{
public partial class ImageLabel : UserControl
public partial class ImageLabel : ContainerControl
{
public new event EventHandler Click;

39
Tools/ArdupilotMegaPlanner/Controls/myGMAP.cs Normal file
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@ -0,0 +1,39 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace ArdupilotMega
{
class myGMAP : GMap.NET.WindowsForms.GMapControl
{
public bool inOnPaint = false;
protected override void OnPaint(System.Windows.Forms.PaintEventArgs e)
{
if (inOnPaint)
{
Console.WriteLine("Was in onpaint Gmap th:" + System.Threading.Thread.CurrentThread.Name);
return;
}
inOnPaint = true;
try
{
base.OnPaint(e);
}
catch (Exception ex) { Console.WriteLine(ex.ToString()); }
inOnPaint = false;
}
protected override void OnMouseMove(System.Windows.Forms.MouseEventArgs e)
{
try
{
base.OnMouseMove(e);
}
catch (Exception ex) { Console.WriteLine(ex.ToString()); }
}
}
}

12
Tools/ArdupilotMegaPlanner/CurrentState.cs
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@ -309,12 +309,18 @@ namespace ArdupilotMega
if (ind != -1)
logdata = logdata.Substring(0, ind);
while (messages.Count > 5)
try
{
messages.RemoveAt(0);
}
while (messages.Count > 5)
{
messages.RemoveAt(0);
}
messages.Add(logdata + "\n");
}
catch { }
mavinterface.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] = null;
}

4
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.Designer.cs generated
View File

@ -55,7 +55,7 @@
this.zg1 = new ZedGraph.ZedGraphControl();
this.lbl_winddir = new ArdupilotMega.MyLabel();
this.lbl_windvel = new ArdupilotMega.MyLabel();
this.gMapControl1 = new GMap.NET.WindowsForms.GMapControl();
this.gMapControl1 = new myGMAP();
this.panel1 = new System.Windows.Forms.Panel();
this.TXT_lat = new ArdupilotMega.MyLabel();
this.Zoomlevel = new System.Windows.Forms.NumericUpDown();
@ -1320,7 +1320,7 @@
private ArdupilotMega.MyLabel TXT_long;
private ArdupilotMega.MyLabel TXT_alt;
private System.Windows.Forms.CheckBox CHK_autopan;
private GMap.NET.WindowsForms.GMapControl gMapControl1;
private myGMAP gMapControl1;
private ZedGraph.ZedGraphControl zg1;
private System.Windows.Forms.TabControl tabControl1;
private System.Windows.Forms.TabPage tabGauges;

15
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
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@ -369,7 +369,7 @@ namespace ArdupilotMega.GCSViews
try
{
//Console.WriteLine(DateTime.Now.Millisecond);
MainV2.cs.UpdateCurrentSettings(bindingSource1);
updateBindingSource();
//Console.WriteLine(DateTime.Now.Millisecond + " done ");
if (tunning.AddMilliseconds(50) < DateTime.Now && CB_tuning.Checked == true)
@ -402,6 +402,11 @@ namespace ArdupilotMega.GCSViews
{
gMapControl1.HoldInvalidation = true;
while (gMapControl1.inOnPaint == true)
{
System.Threading.Thread.Sleep(1);
}
if (trackPoints.Count > int.Parse(MainV2.config["NUM_tracklength"].ToString()))
{
trackPoints.RemoveRange(0, trackPoints.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
@ -500,6 +505,14 @@ namespace ArdupilotMega.GCSViews
Console.WriteLine("FD Main loop exit");
}
private void updateBindingSource()
{
this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
{
MainV2.cs.UpdateCurrentSettings(bindingSource1);
});
}
private void updateMapPosition(PointLatLng currentloc)
{
this.BeginInvoke((MethodInvoker)delegate()

4
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.Designer.cs generated
View File

@ -101,7 +101,7 @@
this.lbl_distance = new System.Windows.Forms.Label();
this.lbl_homedist = new System.Windows.Forms.Label();
this.lbl_prevdist = new System.Windows.Forms.Label();
this.MainMap = new GMap.NET.WindowsForms.GMapControl();
this.MainMap = new myGMAP();
this.contextMenuStrip1 = new System.Windows.Forms.ContextMenuStrip(this.components);
this.deleteWPToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.loiterToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
@ -979,7 +979,7 @@
private BSE.Windows.Forms.Panel panelWaypoints;
private BSE.Windows.Forms.Panel panelAction;
private System.Windows.Forms.Panel panelMap;
private GMap.NET.WindowsForms.GMapControl MainMap;
private myGMAP MainMap;
private MyTrackBar trackBar1;
private System.Windows.Forms.Label label11;
private System.Windows.Forms.Label lbl_distance;

127
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
View File

@ -81,6 +81,31 @@ namespace ArdupilotMega.GCSViews
public uint magic;
}
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct sitldata
{
public double lat;
public double lon;
public double alt;
public double heading;
public double v_north;
public double v_east;
public double ax;
public double ay;
public double az;
public double phidot;
public double thetadot;
public double psidot;
public double phi;
public double theta;
/// <summary>
/// heading
/// </summary>
public double psi;
public double vcas;
public int check;
}
const int AEROSIMRC_MAX_CHANNELS = 39;
//-----------------------------------------------------------------------------
@ -263,6 +288,11 @@ namespace ArdupilotMega.GCSViews
SetupUDPRecv();
if (chkSensor.Checked)
{
SITLSEND = new UdpClient(simIP, 5501);
}
if (RAD_softXplanes.Checked)
{
SetupUDPXplanes();
@ -286,12 +316,9 @@ namespace ArdupilotMega.GCSViews
System.Threading.Thread.Sleep(2000);
SITLSEND = new UdpClient(simIP, 5501);
SetupTcpJSBSim(); // old style
}
SetupUDPXplanes(); // fg udp style
SetupUDPMavLink(); // pass traffic - raw
}
@ -545,7 +572,7 @@ namespace ArdupilotMega.GCSViews
Console.WriteLine("REQ streams - sim");
try
{
if (CHK_quad.Checked && !RAD_aerosimrc.Checked)
if (CHK_quad.Checked && !RAD_aerosimrc.Checked)// || chkSensor.Checked && RAD_JSBSim.Checked)
{
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_CONTROLLER, 0); // request servoout
}
@ -567,6 +594,8 @@ namespace ArdupilotMega.GCSViews
int recv = SimulatorRECV.ReceiveFrom(udpdata, ref Remote);
RECVprocess(udpdata, recv, comPort);
hzcount++;
}
}
catch
@ -598,7 +627,7 @@ namespace ArdupilotMega.GCSViews
if ((DateTime.Now - simsendtime).TotalMilliseconds > 19)
{
hzcount++;
//hzcount++;
simsendtime = DateTime.Now;
processArduPilot();
}
@ -607,7 +636,7 @@ 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;
}
@ -758,26 +787,13 @@ namespace ArdupilotMega.GCSViews
float rdiff = (float)((att.roll - oldatt.roll) / timediff.TotalSeconds);
float ydiff = (float)((att.yaw - oldatt.yaw) / timediff.TotalSeconds);
//Console.WriteLine("{0:0.00000} {1:0.00000} {2:0.00000} \t {3:0.00000} {4:0.00000} {5:0.00000}", pdiff, rdiff, ydiff, DATA[17][0], DATA[17][1], DATA[17][2]);
// Console.WriteLine("{0:0.00000} {1:0.00000} {2:0.00000} \t {3:0.00000} {4:0.00000} {5:0.00000}", pdiff, rdiff, ydiff, DATA[17][0], DATA[17][1], DATA[17][2]);
oldatt = att;
if (xplane9)
{
rdiff = DATA[17][1];
pdiff = DATA[17][0];
ydiff = DATA[17][2];
}
else
{
rdiff = DATA[16][1];
pdiff = DATA[16][0];
ydiff = DATA[16][2];
}
Int16 xgyro = Constrain(rdiff * 1000.0, Int16.MinValue, Int16.MaxValue);
Int16 ygyro = Constrain(pdiff * 1000.0, Int16.MinValue, Int16.MaxValue);
Int16 zgyro = Constrain(ydiff * 1000.0, Int16.MinValue, Int16.MaxValue);
Int16 xgyro = Constrain(att.rollspeed * 1000.0, Int16.MinValue, Int16.MaxValue);
Int16 ygyro = Constrain(att.pitchspeed * 1000.0, Int16.MinValue, Int16.MaxValue);
Int16 zgyro = Constrain(att.yawspeed * 1000.0, Int16.MinValue, Int16.MaxValue);
oldtime = DateTime.Now;
@ -849,7 +865,7 @@ namespace ArdupilotMega.GCSViews
gps.v = ((float)(DATA[3][7] * 0.44704));
#endif
asp.airspeed = ((float)(DATA[3][6] * 0.44704));
asp.airspeed = ((float)(DATA[3][5] * 0.44704));
}
@ -1160,6 +1176,50 @@ namespace ArdupilotMega.GCSViews
return;
}
if (RAD_softXplanes.Checked && chkSensor.Checked)
{
sitldata sitlout = new sitldata();
ArdupilotMega.HIL.Utils.FLIGHTtoBCBF(ref att.pitchspeed, ref att.rollspeed, ref att.yawspeed, DATA[19][0] * deg2rad, DATA[19][1] * deg2rad);
//Console.WriteLine("{0:0.00000} {1:0.00000} {2:0.00000} \t {3:0.00000} {4:0.00000} {5:0.00000}", att.pitchspeed, att.rollspeed, att.yawspeed, DATA[17][0], DATA[17][1], DATA[17][2]);
Tuple<double, double, double> ans = ArdupilotMega.HIL.Utils.OGLtoBCBF(att.pitch, att.roll, att.yaw, 0, 0, 9.8);
//Console.WriteLine("acc {0:0.00000} {1:0.00000} {2:0.00000} \t {3:0.00000} {4:0.00000} {5:0.00000}", ans.Item1, ans.Item2, ans.Item3, accel3D.X, accel3D.Y, accel3D.Z);
sitlout.alt = gps.alt;
sitlout.lat = gps.lat;
sitlout.lon = gps.lon;
sitlout.heading = gps.hdg;
sitlout.v_north = DATA[21][4];
sitlout.v_east = DATA[21][5];
// correct accel
sitlout.ax = -ans.Item2; // pitch
sitlout.ay = -ans.Item1; // roll
sitlout.az = ans.Item3; // yaw
sitlout.phidot = -0.5;// att.pitchspeed;
// sitlout.thetadot = att.rollspeed;
//sitlout.psidot = att.yawspeed;
sitlout.phi = att.roll * rad2deg;
sitlout.theta = att.pitch * rad2deg;
sitlout.psi = att.yaw * rad2deg;
sitlout.vcas = asp.airspeed;
sitlout.check = (int)0x4c56414e;
byte[] sendme = StructureToByteArray(sitlout);
SITLSEND.Send(sendme,sendme.Length);
return;
}
#if MAVLINK10
TimeSpan gpsspan = DateTime.Now - lastgpsupdate;
@ -1624,6 +1684,25 @@ namespace ArdupilotMega.GCSViews
}
}
byte[] StructureToByteArray(object obj)
{
int len = Marshal.SizeOf(obj);
byte[] arr = new byte[len];
IntPtr ptr = Marshal.AllocHGlobal(len);
Marshal.StructureToPtr(obj, ptr, true);
Marshal.Copy(ptr, arr, 0, len);
Marshal.FreeHGlobal(ptr);
return arr;
}
private void RAD_softXplanes_CheckedChanged(object sender, EventArgs e)
{

20
Tools/ArdupilotMegaPlanner/HIL/Utils.cs
View File

@ -175,19 +175,19 @@ namespace ArdupilotMega.HIL
// The +Y axis points straight up away from the center of the earth at the reference point.
// First we shall convert from this East Up South frame, to a more conventional NED (North East Down) frame.
x_NED = radians(x) * -1.0;
y_NED = radians(y) * 1.0;
z_NED = radians(z) * -1.0;
x_NED = (x) * -1.0;
y_NED = (y) * 1.0;
z_NED = (z) * -1.0;
// Next calculate cos & sin of angles for use in the transformation matrix.
// r, p & y subscripts stand for roll pitch and yaw.
Cr = Math.Cos(radians(phi));
Cp = Math.Cos(radians(theta));
Cy = Math.Cos(radians(psi));
Sr = Math.Sin(radians(phi));
Sp = Math.Sin(radians(theta));
Sy = Math.Sin(radians(psi));
Cr = Math.Cos((phi));
Cp = Math.Cos((theta));
Cy = Math.Cos((psi));
Sr = Math.Sin((phi));
Sp = Math.Sin((theta));
Sy = Math.Sin((psi));
// Next we need to rotate our accelerations from the NED reference frame, into the body fixed reference frame
@ -202,7 +202,7 @@ namespace ArdupilotMega.HIL
y = (x_NED * ((Sr * Sp * Cy) - (Cr * Sy))) + (y_NED * ((Sr * Sp * Sy) + (Cr * Cy))) + (z_NED * Sr * Cp);
z = (x_NED * ((Cr * Sp * Cy) + (Sr * Sy))) + (y_NED * ((Cr * Sp * Sy) - (Sr * Cy))) + (z_NED * Cr * Cp);
return new Tuple<double, double, double>(degrees(x), degrees(y), degrees(z));
return new Tuple<double, double, double>((x), (y), (z));
}

14
Tools/ArdupilotMegaPlanner/HUD.cs
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@ -240,6 +240,8 @@ namespace hud
started = true;
}
bool inOnPaint = false;
protected override void OnPaint(PaintEventArgs e)
{
//GL.Enable(EnableCap.AlphaTest)
@ -261,6 +263,14 @@ namespace hud
return;
}
if (inOnPaint)
{
Console.WriteLine("Was in onpaint Hud th:" + System.Threading.Thread.CurrentThread.Name);
return;
}
inOnPaint = true;
starttime = DateTime.Now;
try
@ -284,6 +294,8 @@ namespace hud
}
catch (Exception ex) { Console.WriteLine(ex.ToString()); }
inOnPaint = false;
count++;
huddrawtime += (int)(DateTime.Now - starttime).TotalMilliseconds;
@ -1479,7 +1491,7 @@ namespace hud
if (e == null || P == null || pth == null || pth.PointCount == 0)
return;
if (!ArdupilotMega.MainV2.MONO)
//if (!ArdupilotMega.MainV2.MONO)
e.DrawPath(P, pth);
//Draw the face

4
Tools/ArdupilotMegaPlanner/MainV2.cs
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@ -233,9 +233,9 @@ namespace ArdupilotMega
double Framework = Convert.ToDouble(version_names[version_names.Length - 1].Remove(0, 1), CultureInfo.InvariantCulture);
int SP = Convert.ToInt32(installed_versions.OpenSubKey(version_names[version_names.Length - 1]).GetValue("SP", 0));
if (Framework < 4.0)
if (Framework < 3.5)
{
MessageBox.Show("This program requires .NET Framework 4.0 +. You currently have " + Framework);
MessageBox.Show("This program requires .NET Framework 3.5. You currently have " + Framework);
}
}

2
Tools/ArdupilotMegaPlanner/Program.cs
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@ -33,6 +33,8 @@ namespace ArdupilotMega
Application.SetCompatibleTextRenderingDefault(false);
try
{
System.Threading.Thread.CurrentThread.Name = "Base Thread";
Application.Run(new MainV2());
}
catch (Exception ex) { Console.WriteLine(ex.ToString()); }

2
Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
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@ -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("1.1.36")]
[assembly: AssemblyFileVersion("1.1.37")]
[assembly: NeutralResourcesLanguageAttribute("")]

BIN
Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb
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