/*
#if (FRAME_CONFIG == QUAD_FRAME)
MAV_TYPE_QUADROTOR,
#elif (FRAME_CONFIG == TRI_FRAME)
MAV_TYPE_TRICOPTER,
#elif (FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME)
MAV_TYPE_HEXAROTOR,
#elif (FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME)
MAV_TYPE_OCTOROTOR,
#elif (FRAME_CONFIG == HELI_FRAME)
MAV_TYPE_HELICOPTER,
#elif (FRAME_CONFIG == SINGLE_FRAME) //because mavlink did not define a singlecopter, we use a rocket
MAV_TYPE_ROCKET,
#elif (FRAME_CONFIG == COAX_FRAME) //because mavlink did not define a singlecopter, we use a rocket
MAV_TYPE_ROCKET,
#else
#error Unrecognised frame type
#endif*/
public void Activate()
{
int x = 20;
int y = 40;
int motormax = 8;
if (!MainV2.comPort.MAV.param.ContainsKey("FRAME"))
{
this.Enabled = false;
return;
}
HIL.Motor[] motors = new HIL.Motor[0];
if (MainV2.comPort.MAV.aptype == MAVLink.MAV_TYPE.TRICOPTER)
{
motormax = 4;
motors = HIL.Motor.build_motors(MAVLink.MAV_TYPE.TRICOPTER, (int)(float)MainV2.comPort.MAV.param["FRAME"]);
}
else if (MainV2.comPort.MAV.aptype == MAVLink.MAV_TYPE.QUADROTOR)
{
motormax = 4;
motors = HIL.Motor.build_motors(MAVLink.MAV_TYPE.QUADROTOR, (int)(float)MainV2.comPort.MAV.param["FRAME"]);
}
else if (MainV2.comPort.MAV.aptype == MAVLink.MAV_TYPE.HEXAROTOR)
{
motormax = 6;
motors = HIL.Motor.build_motors(MAVLink.MAV_TYPE.HEXAROTOR, (int)(float)MainV2.comPort.MAV.param["FRAME"]);
}
else if (MainV2.comPort.MAV.aptype == MAVLink.MAV_TYPE.OCTOROTOR)
{
motormax = 8;
motors = HIL.Motor.build_motors(MAVLink.MAV_TYPE.OCTOROTOR, (int)(float)MainV2.comPort.MAV.param["FRAME"]);
}
else if (MainV2.comPort.MAV.aptype == MAVLink.MAV_TYPE.HELICOPTER)
{
motormax = 0;
}
for (int a = 1; a <= motormax; a++)
{
MyButton but = new MyButton();
but.Text = "Test motor " + (char)((a-1) + 'A');
but.Location = new Point(x,y);
but.Click += but_Click;
but.Tag = a;
this.Controls.Add(but);
y += 25;
}
}
/*
#if (FRAME_CONFIG == QUAD_FRAME)
* MAV_TYPE_QUADROTOR,
#elif (FRAME_CONFIG == TRI_FRAME)
* MAV_TYPE_TRICOPTER,
#elif (FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME)
* MAV_TYPE_HEXAROTOR,
#elif (FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME)
* MAV_TYPE_OCTOROTOR,
#elif (FRAME_CONFIG == HELI_FRAME)
* MAV_TYPE_HELICOPTER,
#elif (FRAME_CONFIG == SINGLE_FRAME) //because mavlink did not define a singlecopter, we use a rocket
* MAV_TYPE_ROCKET,
#elif (FRAME_CONFIG == COAX_FRAME) //because mavlink did not define a singlecopter, we use a rocket
* MAV_TYPE_ROCKET,
#else
#error Unrecognised frame type
#endif*/
public void Activate()
{
int x = 20;
int y = 40;
int motormax = 8;
if (!MainV2.comPort.MAV.param.ContainsKey("FRAME"))
{
this.Enabled = false;
return;
}
HIL.Motor[] motors = new HIL.Motor[0];
if (MainV2.comPort.MAV.aptype == MAVLink.MAV_TYPE.TRICOPTER)
{
motormax = 3;
motors = HIL.Motor.build_motors(MAVLink.MAV_TYPE.TRICOPTER, (int)(float)MainV2.comPort.MAV.param["FRAME"]);
}
else if (MainV2.comPort.MAV.aptype == MAVLink.MAV_TYPE.QUADROTOR)
{
motormax = 4;
motors = HIL.Motor.build_motors(MAVLink.MAV_TYPE.QUADROTOR, (int)(float)MainV2.comPort.MAV.param["FRAME"]);
}
else if (MainV2.comPort.MAV.aptype == MAVLink.MAV_TYPE.HEXAROTOR)
{
motormax = 6;
motors = HIL.Motor.build_motors(MAVLink.MAV_TYPE.HEXAROTOR, (int)(float)MainV2.comPort.MAV.param["FRAME"]);
}
else if (MainV2.comPort.MAV.aptype == MAVLink.MAV_TYPE.OCTOROTOR)
{
motormax = 8;
motors = HIL.Motor.build_motors(MAVLink.MAV_TYPE.OCTOROTOR, (int)(float)MainV2.comPort.MAV.param["FRAME"]);
}
else if (MainV2.comPort.MAV.aptype == MAVLink.MAV_TYPE.HELICOPTER)
{
motormax = 0;
}
for (int a = 1; a <= motormax; a++)
{
MyButton but = new MyButton();
but.Text = "Test motor " + (char)((a - 1) + 'A');
but.Location = new Point(x, y);
but.Click += but_Click;
but.Tag = a;
this.Controls.Add(but);
y += 25;
}
}
public static Motor[] build_motors(string frame)
{
Motor[] motors = new HIL.Motor[8];
frame = frame.ToLower();
if (frame.Contains("quad") || frame.Contains("quadx"))
{
motors = new HIL.Motor[] {
new Motor(90, False, 1),
new Motor(270, False, 2),
new Motor(0, True, 3),
new Motor(180, True, 4),
};
if (frame.Contains("quadx"))
{
foreach (int i in range(4))
{
motors[i].angle -= 45.0;
}
}
}
else if (frame.Contains("y6"))
{
motors = new HIL.Motor[] {
new Motor(60, False, 1),
new Motor(60, True, 7),
new Motor(180, True, 4),
new Motor(180, False, 8),
new Motor(-60, True, 2),
new Motor(-60, False, 3),
};
}
else if (frame.Contains("hexa") || frame.Contains("hexax"))
{
motors = new HIL.Motor[] {
new Motor(0, True, 1),
new Motor(60, False, 4),
new Motor(120, True, 8),
new Motor(180, False, 2),
new Motor(240, True, 3),
new Motor(300, False, 7),
};
}
else if (frame.Contains("hexax"))
{
motors = new HIL.Motor[] {
new Motor(30, False, 7),
new Motor(90, True, 1),
new Motor(150, False, 4),
new Motor(210, True, 8),
new Motor(270, False, 2),
new Motor(330, True, 3),
};
}
else if (frame.Contains("octa") || frame.Contains("octax"))
{
motors = new HIL.Motor[] {
new Motor(0, True, 1),
new Motor(180, True, 2),
new Motor(45, False, 3),
new Motor(135, False, 4),
new Motor(-45, False, 7),
new Motor(-135, False, 8),
new Motor(270, True, 10),
new Motor(90, True, 11),
};
if (frame.Contains("octax"))
{
foreach (int i in range(8))
{
motors[i].angle += 22.5;
}
}
}
return(motors);
}
public static Motor[] build_motors(string frame)
{
Motor[] motors = new HIL.Motor[8];
frame = frame.ToLower();
if (frame.Contains("quad") || frame.Contains("quadx"))
{
motors = new HIL.Motor[] {
new Motor(90, False, 1),
new Motor(270, False, 2),
new Motor(0, True, 3),
new Motor(180, True, 4),
};
if (frame.Contains("quadx"))
{
foreach (int i in range(4))
motors[i].angle -= 45.0;
}
}
else if (frame.Contains("y6"))
{
motors = new HIL.Motor[] {
new Motor(60, False, 1),
new Motor(60, True, 7),
new Motor(180, True, 4),
new Motor(180, False, 8),
new Motor(-60, True, 2),
new Motor(-60, False, 3),
};
}
else if (frame.Contains("hexa") || frame.Contains("hexax"))
{
motors = new HIL.Motor[] {
new Motor(0, True, 1),
new Motor(60, False, 4),
new Motor(120, True, 8),
new Motor(180, False, 2),
new Motor(240, True, 3),
new Motor(300, False, 7),
};
}
else if (frame.Contains("hexax"))
{
motors = new HIL.Motor[] {
new Motor(30, False, 7),
new Motor(90, True, 1),
new Motor(150, False, 4),
new Motor(210, True, 8),
new Motor(270, False, 2),
new Motor(330, True, 3),
};
}
else if (frame.Contains("octa") || frame.Contains("octax"))
{
motors = new HIL.Motor[] {
new Motor(0, True, 1),
new Motor(180, True, 2),
new Motor(45, False, 3),
new Motor(135, False, 4),
new Motor(-45, False, 7),
new Motor(-135, False, 8),
new Motor(270, True, 10),
new Motor(90, True, 11),
};
if (frame.Contains("octax"))
{
foreach (int i in range(8))
motors[i].angle += 22.5;
}
}
return motors;
}
