static void Main()
{
Application.EnableVisualStyles();
XmlConfigurator.Configure();
log.Info("******************* Logging Configured *******************");
Application.SetCompatibleTextRenderingDefault(false);
Application.ThreadException += Application_ThreadException;
Application.Idle += Application_Idle;
int wt = 0, ct = 0;
ThreadPool.GetMaxThreads(out wt, out ct);
log.Info("Max Threads: " + wt);
//MagCalib.ProcessLog();
//MessageBox.Show("NOTE: This version may break advanced mission scripting");
//Common.linearRegression();
//Console.WriteLine(srtm.getAltitude(-35.115676879882812, 117.94178754638671,20));
PointLatLngAlt plla = new PointLatLngAlt(54.0359, 5.4253, 0, "");
PointLatLngAlt plla2 = new PointLatLngAlt(54.3838, 3.0412, 0, "");
Console.WriteLine(plla.GetDistance(plla2));
Console.WriteLine(plla.GetDistance2(plla2));
if (System.Diagnostics.Debugger.IsAttached)
{
// testing
// Utilities.ParameterMetaDataParser.GetParameterInformation();
}
try
{
Thread.CurrentThread.Name = "Base Thread";
Application.Run(new MainV2());
}
catch (Exception ex)
{
log.Fatal("Fatal app exception",ex);
Console.WriteLine(ex.ToString());
Console.ReadLine();
}
}
void mainloop()
{
DateTime nextsend = DateTime.Now;
threadrun = true;
while (threadrun)
{
try
{
string line = comPort.ReadLine();
//string line = string.Format("$GP{0},{1:HHmmss},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},", "GGA", DateTime.Now.ToUniversalTime(), Math.Abs(lat * 100), MainV2.comPort.MAV.cs.lat < 0 ? "S" : "N", Math.Abs(lng * 100), MainV2.comPort.MAV.cs.lng < 0 ? "W" : "E", MainV2.comPort.MAV.cs.gpsstatus, MainV2.comPort.MAV.cs.satcount, MainV2.comPort.MAV.cs.gpshdop, MainV2.comPort.MAV.cs.alt, "M", 0, "M", "");
if (line.StartsWith("$GPGGA")) //
{
string[] items = line.Trim().Split(',','*');
if (items[15] != GetChecksum(line.Trim()))
{
Console.WriteLine("Bad Nmea line " + items[15] + " vs " + GetChecksum(line.Trim()));
continue;
}
if (items[6] == "0")
{
Console.WriteLine("No Fix");
continue;
}
gotolocation.Lat = double.Parse(items[2], CultureInfo.InvariantCulture) / 100.0;
gotolocation.Lat = (int)gotolocation.Lat + ((gotolocation.Lat - (int)gotolocation.Lat) / 0.60);
if (items[3] == "S")
gotolocation.Lat *= -1;
gotolocation.Lng = double.Parse(items[4], CultureInfo.InvariantCulture) / 100.0;
gotolocation.Lng = (int)gotolocation.Lng + ((gotolocation.Lng - (int)gotolocation.Lng) / 0.60);
if (items[5] == "W")
gotolocation.Lng *= -1;
gotolocation.Alt = intalt; // double.Parse(line.Substring(c9, c10 - c9 - 1)) +
gotolocation.Tag = "Sats "+ items[7] + " hdop " + items[8] ;
}
if (DateTime.Now > nextsend && gotolocation.Lat != 0 && gotolocation.Lng != 0 && gotolocation.Alt != 0) // 200 * 10 = 2 sec /// lastgotolocation != gotolocation &&
{
nextsend = DateTime.Now.AddSeconds(2);
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 = (gotolocation.Lat);
gotohere.lng = (gotolocation.Lng);
try
{
updateLocationLabel(gotohere);
}
catch { }
if (MainV2.comPort.BaseStream.IsOpen && MainV2.comPort.giveComport == false)
{
try
{
MainV2.comPort.giveComport = true;
MainV2.comPort.setGuidedModeWP(gotohere);
MainV2.comPort.giveComport = false;
}
catch { MainV2.comPort.giveComport = false; }
}
}
}
catch { System.Threading.Thread.Sleep(2000); }
}
}
/// <summary>
/// Calc Distance in M
/// </summary>
/// <param name="p2"></param>
/// <returns>Distance in M</returns>
public double GetDistance(PointLatLngAlt p2)
{
double d = Lat * 0.017453292519943295;
double num2 = Lng * 0.017453292519943295;
double num3 = p2.Lat * 0.017453292519943295;
double num4 = p2.Lng * 0.017453292519943295;
double num5 = num4 - num2;
double num6 = num3 - d;
double num7 = Math.Pow(Math.Sin(num6 / 2.0), 2.0) + ((Math.Cos(d) * Math.Cos(num3)) * Math.Pow(Math.Sin(num5 / 2.0), 2.0));
double num8 = 2.0 * Math.Atan2(Math.Sqrt(num7), Math.Sqrt(1.0 - num7));
return (6371 * num8) * 1000.0; // M
}
public double GetDistance2(PointLatLngAlt p2)
{
//http://www.movable-type.co.uk/scripts/latlong.html
var R = 6371.0; // 6371 km
var dLat = (p2.Lat - Lat) * deg2rad;
var dLon = (p2.Lng - Lng) * deg2rad;
var lat1 = Lat * deg2rad;
var lat2 = p2.Lat * deg2rad;
var a = Math.Sin(dLat / 2.0) * Math.Sin(dLat / 2.0) +
Math.Sin(dLon / 2.0) * Math.Sin(dLon / 2.0) * Math.Cos(lat1) * Math.Cos(lat2);
var c = 2.0 * Math.Atan2(Math.Sqrt(a), Math.Sqrt(1.0 - a));
var d = R * c * 1000.0; // M
return d;
}
public PointLatLngAlt getFencePoint(int no, ref int total)
{
byte[] buffer;
giveComport = true;
PointLatLngAlt plla = new PointLatLngAlt();
mavlink_fence_fetch_point_t req = new mavlink_fence_fetch_point_t();
req.idx = (byte)no;
req.target_component = compid;
req.target_system = sysid;
// request point
generatePacket(MAVLINK_MSG_ID_FENCE_FETCH_POINT, req);
DateTime start = DateTime.Now;
int retrys = 3;
while (true)
{
if (!(start.AddMilliseconds(500) > DateTime.Now))
{
if (retrys > 0)
{
log.Info("getFencePoint Retry " + retrys + " - giv com " + giveComport);
generatePacket(MAVLINK_MSG_ID_FENCE_FETCH_POINT, req);
start = DateTime.Now;
retrys--;
continue;
}
giveComport = false;
throw new Exception("Timeout on read - getFencePoint");
}
buffer = readPacket();
if (buffer.Length > 5)
{
if (buffer[5] == MAVLINK_MSG_ID_FENCE_POINT)
{
giveComport = false;
mavlink_fence_point_t fp = buffer.ByteArrayToStructure<mavlink_fence_point_t>(6);
plla.Lat = fp.lat;
plla.Lng = fp.lng;
plla.Tag = fp.idx.ToString();
total = fp.count;
return plla;
}
}
}
}
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 void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow)
{
UpdateCurrentSettings(bs, false, MainV2.comPort);
}
*/
public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow, MAVLink mavinterface)
{
lock (locker)
{
if (DateTime.Now > lastupdate.AddMilliseconds(50) || updatenow) // 20 hz
{
lastupdate = DateTime.Now;
//check if valid mavinterface
if (mavinterface != null && mavinterface.packetsnotlost != 0)
linkqualitygcs = (ushort)((mavinterface.packetsnotlost / (mavinterface.packetsnotlost + mavinterface.packetslost)) * 100.0);
if (DateTime.Now.Second != lastsecondcounter.Second)
{
lastsecondcounter = DateTime.Now;
if (lastpos.Lat != 0 && lastpos.Lng != 0)
{
if (!MainV2.comPort.BaseStream.IsOpen && !MainV2.comPort.logreadmode)
distTraveled = 0;
distTraveled += (float)lastpos.GetDistance(new PointLatLngAlt(lat, lng, 0, "")) * multiplierdist;
lastpos = new PointLatLngAlt(lat, lng, 0, "");
}
else
{
lastpos = new PointLatLngAlt(lat, lng, 0, "");
}
// cant use gs, cant use alt,
if (ch3percent > 12)
timeInAir++;
if (!gotwind)
dowindcalc();
}
if (mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] != null) // status text
{
string logdata = Encoding.ASCII.GetString(mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT], 6, mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT].Length - 6);
int ind = logdata.IndexOf('\0');
if (ind != -1)
logdata = logdata.Substring(0, ind);
try
{
while (messages.Count > 50)
{
messages.RemoveAt(0);
}
messages.Add(logdata + "\n");
}
catch { }
mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] = null;
}
byte[] bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED];
if (bytearray != null) // hil mavlink 0.9
{
var hil = bytearray.ByteArrayToStructure<MAVLink.mavlink_rc_channels_scaled_t>(6);
hilch1 = hil.chan1_scaled;
hilch2 = hil.chan2_scaled;
hilch3 = hil.chan3_scaled;
hilch4 = hil.chan4_scaled;
hilch5 = hil.chan5_scaled;
hilch6 = hil.chan6_scaled;
hilch7 = hil.chan7_scaled;
hilch8 = hil.chan8_scaled;
// Console.WriteLine("MAVLINK_MSG_ID_RC_CHANNELS_SCALED Packet");
mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_HIL_CONTROLS];
if (bytearray != null) // hil mavlink 0.9 and 1.0
{
var hil = bytearray.ByteArrayToStructure<MAVLink.mavlink_hil_controls_t>(6);
hilch1 = (int)(hil.roll_ailerons * 10000);
hilch2 = (int)(hil.pitch_elevator * 10000);
hilch3 = (int)(hil.throttle * 10000);
hilch4 = (int)(hil.yaw_rudder * 10000);
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_HIL_CONTROLS] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_HWSTATUS];
if (bytearray != null)
{
var hwstatus = bytearray.ByteArrayToStructure<MAVLink.mavlink_hwstatus_t>(6);
hwvoltage = hwstatus.Vcc / 1000.0f;
i2cerrors = hwstatus.I2Cerr;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_HWSTATUS] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_WIND];
if (bytearray != null)
{
var wind = bytearray.ByteArrayToStructure<MAVLink.mavlink_wind_t>(6);
gotwind = true;
wind_dir = (wind.direction + 360) % 360;
wind_vel = wind.speed * multiplierspeed;
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
}
#if MAVLINK10
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_HEARTBEAT];
if (bytearray != null)
{
var hb = bytearray.ByteArrayToStructure<MAVLink.mavlink_heartbeat_t>(6);
armed = (hb.base_mode & (byte)MAVLink.MAV_MODE_FLAG.SAFETY_ARMED) == (byte)MAVLink.MAV_MODE_FLAG.SAFETY_ARMED;
failsafe = hb.system_status == (byte)MAVLink.MAV_STATE.CRITICAL;
string oldmode = mode;
mode = "Unknown";
if ((hb.base_mode & (byte)MAVLink.MAV_MODE_FLAG.CUSTOM_MODE_ENABLED) != 0)
{
if (hb.type == (byte)MAVLink.MAV_TYPE.FIXED_WING)
{
switch (hb.custom_mode)
{
case (byte)(Common.apmmodes.MANUAL):
mode = "Manual";
break;
case (byte)(Common.apmmodes.GUIDED):
mode = "Guided";
break;
case (byte)(Common.apmmodes.STABILIZE):
mode = "Stabilize";
break;
case (byte)(Common.apmmodes.TRAINING):
mode = "Training";
break;
case (byte)(Common.apmmodes.FLY_BY_WIRE_A):
mode = "FBW A";
break;
case (byte)(Common.apmmodes.FLY_BY_WIRE_B):
mode = "FBW B";
break;
case (byte)(Common.apmmodes.AUTO):
mode = "Auto";
break;
case (byte)(Common.apmmodes.RTL):
mode = "RTL";
break;
case (byte)(Common.apmmodes.LOITER):
mode = "Loiter";
break;
case (byte)(Common.apmmodes.CIRCLE):
mode = "Circle";
break;
case (byte)(Common.apmmodes.TAKEOFF):
mode = "Takeoff";
break;
case 16:
mode = "Initialising";
break;
default:
mode = "Unknown";
break;
}
}
else if (hb.type == (byte)MAVLink.MAV_TYPE.QUADROTOR)
{
switch (hb.custom_mode)
{
case (byte)(Common.ac2modes.STABILIZE):
mode = "Stabilize";
break;
case (byte)(Common.ac2modes.ACRO):
mode = "Acro";
break;
case (byte)(Common.ac2modes.ALT_HOLD):
mode = "Alt Hold";
break;
case (byte)(Common.ac2modes.AUTO):
mode = "Auto";
break;
case (byte)(Common.ac2modes.GUIDED):
mode = "Guided";
break;
case (byte)(Common.ac2modes.LOITER):
mode = "Loiter";
break;
case (byte)(Common.ac2modes.RTL):
mode = "RTL";
break;
case (byte)(Common.ac2modes.CIRCLE):
mode = "Circle";
break;
case (byte)(Common.ac2modes.LAND):
mode = "Land";
break;
case (byte)Common.ac2modes.OF_LOITER:
mode = "OF Loiter";
break;
default:
mode = "Unknown";
break;
}
}
}
if (oldmode != mode && MainV2.speechEnable && MainV2.getConfig("speechmodeenabled") == "True")
{
MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
}
}
bytearray = mavinterface.MAV.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS];
if (bytearray != null)
{
var sysstatus = bytearray.ByteArrayToStructure<MAVLink.mavlink_sys_status_t>(6);
battery_voltage = sysstatus.voltage_battery;
battery_remaining = sysstatus.battery_remaining;
current = sysstatus.current_battery;
packetdropremote = sysstatus.drop_rate_comm;
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
}
#else
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SYS_STATUS];
if (bytearray != null)
{
var sysstatus = bytearray.ByteArrayToStructure<MAVLink.mavlink_sys_status_t>(6);
armed = sysstatus.status;
string oldmode = mode;
switch (sysstatus.mode)
{
case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_UNINIT:
switch (sysstatus.nav_mode)
{
case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_GROUNDED:
mode = "Initialising";
break;
}
break;
case (byte)(100 + Common.ac2modes.STABILIZE):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.STABILIZE);
break;
case (byte)(100 + Common.ac2modes.ACRO):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.ACRO);
break;
case (byte)(100 + Common.ac2modes.ALT_HOLD):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.ALT_HOLD);
break;
case (byte)(100 + Common.ac2modes.AUTO):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.AUTO);
break;
case (byte)(100 + Common.ac2modes.GUIDED):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.GUIDED);
break;
case (byte)(100 + Common.ac2modes.LOITER):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.LOITER);
break;
case (byte)(100 + Common.ac2modes.RTL):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.RTL);
break;
case (byte)(100 + Common.ac2modes.CIRCLE):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.CIRCLE);
break;
case (byte)(100 + Common.ac2modes.LAND):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.LAND);
break;
case (byte)(100 + Common.ac2modes.POSITION):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.POSITION);
break;
case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_MANUAL:
mode = "Manual";
break;
case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_GUIDED:
mode = "Guided";
break;
case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_TEST1:
mode = "Stabilize";
break;
case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_TEST2:
mode = "FBW A"; // fall though old
switch (sysstatus.nav_mode)
{
case (byte)1:
mode = "FBW A";
break;
case (byte)2:
mode = "FBW B";
break;
case (byte)3:
mode = "FBW C";
break;
}
break;
case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_TEST3:
mode = "Circle";
break;
case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_AUTO:
switch (sysstatus.nav_mode)
{
case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_WAYPOINT:
mode = "Auto";
break;
case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_RETURNING:
mode = "RTL";
break;
case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_HOLD:
case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_LOITER:
mode = "Loiter";
break;
case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_LIFTOFF:
mode = "Takeoff";
break;
case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_LANDING:
mode = "Land";
break;
}
break;
default:
mode = "Unknown";
break;
}
battery_voltage = sysstatus.vbat;
battery_remaining = sysstatus.battery_remaining;
packetdropremote = sysstatus.packet_drop;
if (oldmode != mode && MainV2.speechEnable && MainV2.speechEngine != null && MainV2.getConfig("speechmodeenabled") == "True")
{
MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
}
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
}
#endif
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SCALED_PRESSURE];
if (bytearray != null)
{
var pres = bytearray.ByteArrayToStructure<MAVLink.mavlink_scaled_pressure_t>(6);
press_abs = pres.press_abs;
press_temp = pres.temperature;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SENSOR_OFFSETS];
if (bytearray != null)
{
var sensofs = bytearray.ByteArrayToStructure<MAVLink.mavlink_sensor_offsets_t>(6);
mag_ofs_x = sensofs.mag_ofs_x;
mag_ofs_y = sensofs.mag_ofs_y;
mag_ofs_z = sensofs.mag_ofs_z;
mag_declination = sensofs.mag_declination;
raw_press = sensofs.raw_press;
raw_temp = sensofs.raw_temp;
gyro_cal_x = sensofs.gyro_cal_x;
gyro_cal_y = sensofs.gyro_cal_y;
gyro_cal_z = sensofs.gyro_cal_z;
accel_cal_x = sensofs.accel_cal_x;
accel_cal_y = sensofs.accel_cal_y;
accel_cal_z = sensofs.accel_cal_z;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE];
if (bytearray != null)
{
var att = bytearray.ByteArrayToStructure<MAVLink.mavlink_attitude_t>(6);
roll = att.roll * rad2deg;
pitch = att.pitch * rad2deg;
yaw = att.yaw * rad2deg;
// Console.WriteLine(roll + " " + pitch + " " + yaw);
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT];
if (bytearray != null)
{
var gps = bytearray.ByteArrayToStructure<MAVLink.mavlink_gps_raw_int_t>(6);
if (!useLocation)
{
lat = gps.lat * 1.0e-7f;
lng = gps.lon * 1.0e-7f;
}
// alt = gps.alt; // using vfr as includes baro calc
gpsstatus = gps.fix_type;
// Console.WriteLine("gpsfix {0}",gpsstatus);
gpshdop = (float)Math.Round((double)gps.eph / 100.0,2);
satcount = gps.satellites_visible;
groundspeed = gps.vel * 1.0e-2f;
groundcourse = gps.cog * 1.0e-2f;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_GPS_STATUS];
if (bytearray != null)
{
var gps = bytearray.ByteArrayToStructure<MAVLink.mavlink_gps_status_t>(6);
satcount = gps.satellites_visible;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RADIO];
if (bytearray != null)
{
var radio = bytearray.ByteArrayToStructure<MAVLink.mavlink_radio_t>(6);
rssi = radio.rssi;
remrssi = radio.remrssi;
txbuffer = radio.txbuf;
rxerrors = radio.rxerrors;
noise = radio.noise;
remnoise = radio.remnoise;
fixedp = radio.fixedp;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_GLOBAL_POSITION_INT];
if (bytearray != null)
{
var loc = bytearray.ByteArrayToStructure<MAVLink.mavlink_global_position_int_t>(6);
// the new arhs deadreckoning may send 0 alt and 0 long. check for and undo
useLocation = true;
if (loc.lat == 0 && loc.lon == 0)
{
useLocation = false;
}
else
{
//alt = loc.alt / 1000.0f;
lat = loc.lat / 10000000.0f;
lng = loc.lon / 10000000.0f;
}
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_MISSION_CURRENT];
if (bytearray != null)
{
var wpcur = bytearray.ByteArrayToStructure<MAVLink.mavlink_mission_current_t>(6);
int oldwp = (int)wpno;
wpno = wpcur.seq;
if (oldwp != wpno && MainV2.speechEnable && MainV2.getConfig("speechwaypointenabled") == "True")
{
MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
}
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT];
if (bytearray != null)
{
var nav = bytearray.ByteArrayToStructure<MAVLink.mavlink_nav_controller_output_t>(6);
nav_roll = nav.nav_roll;
nav_pitch = nav.nav_pitch;
nav_bearing = nav.nav_bearing;
target_bearing = nav.target_bearing;
wp_dist = nav.wp_dist;
alt_error = nav.alt_error;
aspd_error = nav.aspd_error / 100.0f;
xtrack_error = nav.xtrack_error;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW];
if (bytearray != null)
{
var rcin = bytearray.ByteArrayToStructure<MAVLink.mavlink_rc_channels_raw_t>(6);
ch1in = rcin.chan1_raw;
ch2in = rcin.chan2_raw;
ch3in = rcin.chan3_raw;
ch4in = rcin.chan4_raw;
ch5in = rcin.chan5_raw;
ch6in = rcin.chan6_raw;
ch7in = rcin.chan7_raw;
ch8in = rcin.chan8_raw;
//percent
rxrssi = (float)((rcin.rssi / 255.0) * 100.0);
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW];
if (bytearray != null)
{
var servoout = bytearray.ByteArrayToStructure<MAVLink.mavlink_servo_output_raw_t>(6);
ch1out = servoout.servo1_raw;
ch2out = servoout.servo2_raw;
ch3out = servoout.servo3_raw;
ch4out = servoout.servo4_raw;
ch5out = servoout.servo5_raw;
ch6out = servoout.servo6_raw;
ch7out = servoout.servo7_raw;
ch8out = servoout.servo8_raw;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU];
if (bytearray != null)
{
var imu = bytearray.ByteArrayToStructure<MAVLink.mavlink_raw_imu_t>(6);
gx = imu.xgyro;
gy = imu.ygyro;
gz = imu.zgyro;
ax = imu.xacc;
ay = imu.yacc;
az = imu.zacc;
mx = imu.xmag;
my = imu.ymag;
mz = imu.zmag;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SCALED_IMU];
if (bytearray != null)
{
var imu = bytearray.ByteArrayToStructure<MAVLink.mavlink_scaled_imu_t>(6);
gx = imu.xgyro;
gy = imu.ygyro;
gz = imu.zgyro;
ax = imu.xacc;
ay = imu.yacc;
az = imu.zacc;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD];
if (bytearray != null)
{
var vfr = bytearray.ByteArrayToStructure<MAVLink.mavlink_vfr_hud_t>(6);
groundspeed = vfr.groundspeed;
airspeed = vfr.airspeed;
alt = vfr.alt; // this might include baro
ch3percent = vfr.throttle;
//Console.WriteLine(alt);
//climbrate = vfr.climb;
// check update rate, and ensure time hasnt gone backwards
if ((datetime - lastalt).TotalSeconds >= 0.2 && oldalt != alt || lastalt > datetime)
{
climbrate = (alt - oldalt) / (float)(datetime - lastalt).TotalSeconds;
verticalspeed = (alt - oldalt) / (float)(datetime - lastalt).TotalSeconds;
if (float.IsInfinity(_verticalspeed))
_verticalspeed = 0;
lastalt = datetime;
oldalt = alt;
}
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_MEMINFO];
if (bytearray != null)
{
var mem = bytearray.ByteArrayToStructure<MAVLink.mavlink_meminfo_t>(6);
freemem = mem.freemem;
brklevel = mem.brkval;
}
}
//Console.Write(DateTime.Now.Millisecond + " start ");
// update form
try
{
if (bs != null)
{
//System.Diagnostics.Debug.WriteLine(DateTime.Now.Millisecond);
// Console.Write(" "+DateTime.Now.Millisecond);
//bs.DataSource = this;
// Console.Write(" " + DateTime.Now.Millisecond + " 1 " + updatenow + " " + System.Threading.Thread.CurrentThread.Name);
//bs.ResetBindings(false);
//bs.ResetCurrentItem();
// mono workaround - this is alot faster
bs.Add(this);
// Console.WriteLine(" " + DateTime.Now.Millisecond + " done ");
}
}
catch { log.InfoFormat("CurrentState Binding error"); }
}
}
/*
* public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow)
* {
* UpdateCurrentSettings(bs, false, MainV2.comPort);
* }
*/
public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow, MAVLink mavinterface)
{
lock (locker)
{
if (DateTime.Now > lastupdate.AddMilliseconds(50) || updatenow) // 20 hz
{
lastupdate = DateTime.Now;
//check if valid mavinterface
if (mavinterface != null && mavinterface.packetsnotlost != 0)
{
linkqualitygcs = (ushort)((mavinterface.packetsnotlost / (mavinterface.packetsnotlost + mavinterface.packetslost)) * 100.0);
}
if (DateTime.Now.Second != lastsecondcounter.Second)
{
lastsecondcounter = DateTime.Now;
if (lastpos.Lat != 0 && lastpos.Lng != 0)
{
if (!MainV2.comPort.BaseStream.IsOpen && !MainV2.comPort.logreadmode)
{
distTraveled = 0;
}
distTraveled += (float)lastpos.GetDistance(new PointLatLngAlt(lat, lng, 0, "")) * multiplierdist;
lastpos = new PointLatLngAlt(lat, lng, 0, "");
}
else
{
lastpos = new PointLatLngAlt(lat, lng, 0, "");
}
// throttle is up, or groundspeed is > 3 m/s
if (ch3percent > 12 || _groundspeed > 3.0)
{
timeInAir++;
}
if (!gotwind)
{
dowindcalc();
}
}
if (mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] != null) // status text
{
var msg = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT].ByteArrayToStructure <MAVLink.mavlink_statustext_t>(6);
/*
* enum gcs_severity {
* SEVERITY_LOW=1,
* SEVERITY_MEDIUM,
* SEVERITY_HIGH,
* SEVERITY_CRITICAL
* };
*/
byte sev = msg.severity;
string logdata = Encoding.ASCII.GetString(mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT], 6, mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT].Length - 6);
int ind = logdata.IndexOf('\0');
if (ind != -1)
{
logdata = logdata.Substring(0, ind);
}
if (sev >= 3)
{
messageHigh = logdata;
}
try
{
while (messages.Count > 50)
{
messages.RemoveAt(0);
}
messages.Add(logdata + "\n");
}
catch { }
mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] = null;
}
byte[] bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED];
if (bytearray != null) // hil mavlink 0.9
{
var hil = bytearray.ByteArrayToStructure <MAVLink.mavlink_rc_channels_scaled_t>(6);
hilch1 = hil.chan1_scaled;
hilch2 = hil.chan2_scaled;
hilch3 = hil.chan3_scaled;
hilch4 = hil.chan4_scaled;
hilch5 = hil.chan5_scaled;
hilch6 = hil.chan6_scaled;
hilch7 = hil.chan7_scaled;
hilch8 = hil.chan8_scaled;
// Console.WriteLine("MAVLINK_MSG_ID_RC_CHANNELS_SCALED Packet");
mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_FENCE_STATUS];
if (bytearray != null)
{
var fence = bytearray.ByteArrayToStructure <MAVLink.mavlink_fence_status_t>(6);
if (fence.breach_status != (byte)MAVLink.FENCE_BREACH.NONE)
{
// fence breached
messageHigh = "Fence Breach";
}
mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_FENCE_STATUS] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_HIL_CONTROLS];
if (bytearray != null) // hil mavlink 0.9 and 1.0
{
var hil = bytearray.ByteArrayToStructure <MAVLink.mavlink_hil_controls_t>(6);
hilch1 = (int)(hil.roll_ailerons * 10000);
hilch2 = (int)(hil.pitch_elevator * 10000);
hilch3 = (int)(hil.throttle * 10000);
hilch4 = (int)(hil.yaw_rudder * 10000);
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_HIL_CONTROLS] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_HWSTATUS];
if (bytearray != null)
{
var hwstatus = bytearray.ByteArrayToStructure <MAVLink.mavlink_hwstatus_t>(6);
hwvoltage = hwstatus.Vcc / 1000.0f;
i2cerrors = hwstatus.I2Cerr;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_HWSTATUS] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RANGEFINDER];
if (bytearray != null)
{
var sonar = bytearray.ByteArrayToStructure <MAVLink.mavlink_rangefinder_t>(6);
sonarrange = sonar.distance;
sonarvoltage = sonar.voltage;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_WIND];
if (bytearray != null)
{
var wind = bytearray.ByteArrayToStructure <MAVLink.mavlink_wind_t>(6);
gotwind = true;
wind_dir = (wind.direction + 360) % 360;
wind_vel = wind.speed * multiplierspeed;
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_HEARTBEAT];
if (bytearray != null)
{
var hb = bytearray.ByteArrayToStructure <MAVLink.mavlink_heartbeat_t>(6);
armed = (hb.base_mode & (byte)MAVLink.MAV_MODE_FLAG.SAFETY_ARMED) == (byte)MAVLink.MAV_MODE_FLAG.SAFETY_ARMED;
failsafe = hb.system_status == (byte)MAVLink.MAV_STATE.CRITICAL;
string oldmode = mode;
if ((hb.base_mode & (byte)MAVLink.MAV_MODE_FLAG.CUSTOM_MODE_ENABLED) != 0)
{
// prevent running thsi unless we have to
if (_mode != hb.custom_mode)
{
List <KeyValuePair <int, string> > modelist = Common.getModesList(this);
bool found = false;
foreach (KeyValuePair <int, string> pair in modelist)
{
if (pair.Key == hb.custom_mode)
{
mode = pair.Value.ToString();
_mode = hb.custom_mode;
found = true;
break;
}
}
if (!found)
{
log.Warn("Mode not found bm:" + hb.base_mode + " cm:" + hb.custom_mode);
_mode = hb.custom_mode;
}
}
}
if (oldmode != mode && MainV2.speechEnable && MainV2.getConfig("speechmodeenabled") == "True")
{
MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
}
}
bytearray = mavinterface.MAV.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS];
if (bytearray != null)
{
var sysstatus = bytearray.ByteArrayToStructure <MAVLink.mavlink_sys_status_t>(6);
battery_voltage = (float)sysstatus.voltage_battery / 1000.0f;
battery_remaining = (float)sysstatus.battery_remaining;
current = (float)sysstatus.current_battery / 100.0f;
packetdropremote = sysstatus.drop_rate_comm;
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SCALED_PRESSURE];
if (bytearray != null)
{
var pres = bytearray.ByteArrayToStructure <MAVLink.mavlink_scaled_pressure_t>(6);
press_abs = pres.press_abs;
press_temp = pres.temperature;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SENSOR_OFFSETS];
if (bytearray != null)
{
var sensofs = bytearray.ByteArrayToStructure <MAVLink.mavlink_sensor_offsets_t>(6);
mag_ofs_x = sensofs.mag_ofs_x;
mag_ofs_y = sensofs.mag_ofs_y;
mag_ofs_z = sensofs.mag_ofs_z;
mag_declination = sensofs.mag_declination;
raw_press = sensofs.raw_press;
raw_temp = sensofs.raw_temp;
gyro_cal_x = sensofs.gyro_cal_x;
gyro_cal_y = sensofs.gyro_cal_y;
gyro_cal_z = sensofs.gyro_cal_z;
accel_cal_x = sensofs.accel_cal_x;
accel_cal_y = sensofs.accel_cal_y;
accel_cal_z = sensofs.accel_cal_z;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE];
if (bytearray != null)
{
var att = bytearray.ByteArrayToStructure <MAVLink.mavlink_attitude_t>(6);
roll = att.roll * rad2deg;
pitch = att.pitch * rad2deg;
yaw = att.yaw * rad2deg;
// Console.WriteLine(roll + " " + pitch + " " + yaw);
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT];
if (bytearray != null)
{
var gps = bytearray.ByteArrayToStructure <MAVLink.mavlink_gps_raw_int_t>(6);
if (!useLocation)
{
lat = gps.lat * 1.0e-7f;
lng = gps.lon * 1.0e-7f;
// alt = gps.alt; // using vfr as includes baro calc
}
altasl = gps.alt / 1000.0f;
gpsstatus = gps.fix_type;
// Console.WriteLine("gpsfix {0}",gpsstatus);
gpshdop = (float)Math.Round((double)gps.eph / 100.0, 2);
satcount = gps.satellites_visible;
groundspeed = gps.vel * 1.0e-2f;
groundcourse = gps.cog * 1.0e-2f;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_GPS_STATUS];
if (bytearray != null)
{
var gps = bytearray.ByteArrayToStructure <MAVLink.mavlink_gps_status_t>(6);
satcount = gps.satellites_visible;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RADIO];
if (bytearray != null)
{
var radio = bytearray.ByteArrayToStructure <MAVLink.mavlink_radio_t>(6);
rssi = radio.rssi;
remrssi = radio.remrssi;
txbuffer = radio.txbuf;
rxerrors = radio.rxerrors;
noise = radio.noise;
remnoise = radio.remnoise;
fixedp = radio.fixedp;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_GLOBAL_POSITION_INT];
if (bytearray != null)
{
var loc = bytearray.ByteArrayToStructure <MAVLink.mavlink_global_position_int_t>(6);
// the new arhs deadreckoning may send 0 alt and 0 long. check for and undo
alt = loc.relative_alt / 1000.0f;
useLocation = true;
if (loc.lat == 0 && loc.lon == 0)
{
useLocation = false;
}
else
{
lat = loc.lat / 10000000.0f;
lng = loc.lon / 10000000.0f;
}
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_MISSION_CURRENT];
if (bytearray != null)
{
var wpcur = bytearray.ByteArrayToStructure <MAVLink.mavlink_mission_current_t>(6);
int oldwp = (int)wpno;
wpno = wpcur.seq;
if (oldwp != wpno && MainV2.speechEnable && MainV2.getConfig("speechwaypointenabled") == "True")
{
MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
}
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT];
if (bytearray != null)
{
var nav = bytearray.ByteArrayToStructure <MAVLink.mavlink_nav_controller_output_t>(6);
nav_roll = nav.nav_roll;
nav_pitch = nav.nav_pitch;
nav_bearing = nav.nav_bearing;
target_bearing = nav.target_bearing;
wp_dist = nav.wp_dist;
alt_error = nav.alt_error;
aspd_error = nav.aspd_error / 100.0f;
xtrack_error = nav.xtrack_error;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW];
if (bytearray != null)
{
var rcin = bytearray.ByteArrayToStructure <MAVLink.mavlink_rc_channels_raw_t>(6);
ch1in = rcin.chan1_raw;
ch2in = rcin.chan2_raw;
ch3in = rcin.chan3_raw;
ch4in = rcin.chan4_raw;
ch5in = rcin.chan5_raw;
ch6in = rcin.chan6_raw;
ch7in = rcin.chan7_raw;
ch8in = rcin.chan8_raw;
//percent
rxrssi = (float)((rcin.rssi / 255.0) * 100.0);
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW];
if (bytearray != null)
{
var servoout = bytearray.ByteArrayToStructure <MAVLink.mavlink_servo_output_raw_t>(6);
ch1out = servoout.servo1_raw;
ch2out = servoout.servo2_raw;
ch3out = servoout.servo3_raw;
ch4out = servoout.servo4_raw;
ch5out = servoout.servo5_raw;
ch6out = servoout.servo6_raw;
ch7out = servoout.servo7_raw;
ch8out = servoout.servo8_raw;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU];
if (bytearray != null)
{
var imu = bytearray.ByteArrayToStructure <MAVLink.mavlink_raw_imu_t>(6);
gx = imu.xgyro;
gy = imu.ygyro;
gz = imu.zgyro;
ax = imu.xacc;
ay = imu.yacc;
az = imu.zacc;
mx = imu.xmag;
my = imu.ymag;
mz = imu.zmag;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SCALED_IMU];
if (bytearray != null)
{
var imu = bytearray.ByteArrayToStructure <MAVLink.mavlink_scaled_imu_t>(6);
gx = imu.xgyro;
gy = imu.ygyro;
gz = imu.zgyro;
ax = imu.xacc;
ay = imu.yacc;
az = imu.zacc;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD];
if (bytearray != null)
{
var vfr = bytearray.ByteArrayToStructure <MAVLink.mavlink_vfr_hud_t>(6);
//groundspeed = vfr.groundspeed;
airspeed = vfr.airspeed;
//alt = vfr.alt; // this might include baro
ch3percent = vfr.throttle;
//Console.WriteLine(alt);
//climbrate = vfr.climb;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_MEMINFO];
if (bytearray != null)
{
var mem = bytearray.ByteArrayToStructure <MAVLink.mavlink_meminfo_t>(6);
freemem = mem.freemem;
brklevel = mem.brkval;
}
}
//Console.Write(DateTime.Now.Millisecond + " start ");
// update form
try
{
if (bs != null)
{
//System.Diagnostics.Debug.WriteLine(DateTime.Now.Millisecond);
// Console.Write(" "+DateTime.Now.Millisecond);
bs.DataSource = this;
// Console.Write(" " + DateTime.Now.Millisecond + " 1 " + updatenow + " " + System.Threading.Thread.CurrentThread.Name);
bs.ResetBindings(false);
//bs.ResetCurrentItem();
// mono workaround - this is alot faster
//bs.Clear();
//bs.Add(this);
// Console.WriteLine(" " + DateTime.Now.Millisecond + " done ");
}
}
catch { log.InfoFormat("CurrentState Binding error"); }
}
}
List <PointLatLngAlt> getGEAltPath(List <PointLatLngAlt> list)
{
double alt = 0;
double lat = 0;
double lng = 0;
int pos = 0;
List <PointLatLngAlt> answer = new List <PointLatLngAlt>();
//http://code.google.com/apis/maps/documentation/elevation/
//http://maps.google.com/maps/api/elevation/xml
string coords = "";
foreach (PointLatLngAlt loc in list)
{
coords = coords + loc.Lat.ToString(new System.Globalization.CultureInfo("en-US")) + "," + loc.Lng.ToString(new System.Globalization.CultureInfo("en-US")) + "|";
}
coords = coords.Remove(coords.Length - 1);
if (list.Count <= 2 || coords.Length > (2048 - 256) || distance > 50000)
{
CustomMessageBox.Show("To many/few WP's or to Big a Distance " + (distance / 1000) + "km");
return(answer);
}
try
{
using (XmlTextReader xmlreader = new XmlTextReader("http://maps.google.com/maps/api/elevation/xml?path=" + coords + "&samples=" + (distance / 100).ToString(new System.Globalization.CultureInfo("en-US")) + "&sensor=false"))
{
while (xmlreader.Read())
{
xmlreader.MoveToElement();
switch (xmlreader.Name)
{
case "elevation":
alt = double.Parse(xmlreader.ReadString(), new System.Globalization.CultureInfo("en-US"));
Console.WriteLine("DO it " + lat + " " + lng + " " + alt);
PointLatLngAlt loc = new PointLatLngAlt(lat, lng, alt, "");
answer.Add(loc);
pos++;
break;
case "lat":
lat = double.Parse(xmlreader.ReadString(), new System.Globalization.CultureInfo("en-US"));
break;
case "lng":
lng = double.Parse(xmlreader.ReadString(), new System.Globalization.CultureInfo("en-US"));
break;
default:
break;
}
}
}
}
catch { CustomMessageBox.Show("Error getting GE data"); }
return(answer);
}
List<PointLatLngAlt> getGEAltPath(List<PointLatLngAlt> list)
{
double alt = 0;
double lat = 0;
double lng = 0;
int pos = 0;
List<PointLatLngAlt> answer = new List<PointLatLngAlt>();
//http://code.google.com/apis/maps/documentation/elevation/
//http://maps.google.com/maps/api/elevation/xml
string coords = "";
foreach (PointLatLngAlt loc in list)
{
coords = coords + loc.Lat.ToString(new System.Globalization.CultureInfo("en-US")) + "," + loc.Lng.ToString(new System.Globalization.CultureInfo("en-US")) + "|";
}
coords = coords.Remove(coords.Length - 1);
if (list.Count <= 2 || coords.Length > (2048 - 256) || distance > 50000)
{
MessageBox.Show("To many/few WP's or to Big a Distance " + (distance/1000) + "km");
return answer;
}
try
{
using (XmlTextReader xmlreader = new XmlTextReader("http://maps.google.com/maps/api/elevation/xml?path=" + coords + "&samples=" + (distance / 100).ToString(new System.Globalization.CultureInfo("en-US")) + "&sensor=false"))
{
while (xmlreader.Read())
{
xmlreader.MoveToElement();
switch (xmlreader.Name)
{
case "elevation":
alt = double.Parse(xmlreader.ReadString(), new System.Globalization.CultureInfo("en-US"));
Console.WriteLine("DO it " + lat + " " + lng + " " + alt);
PointLatLngAlt loc = new PointLatLngAlt(lat,lng,alt,"");
answer.Add(loc);
pos++;
break;
case "lat":
lat = double.Parse(xmlreader.ReadString(), new System.Globalization.CultureInfo("en-US"));
break;
case "lng":
lng = double.Parse(xmlreader.ReadString(), new System.Globalization.CultureInfo("en-US"));
break;
default:
break;
}
}
}
}
catch { MessageBox.Show("Error getting GE data"); }
return answer;
}
private void processLine(string line)
{
try
{
Application.DoEvents();
line = line.Replace(", ", ",");
line = line.Replace(": ", ":");
string[] items = line.Split(',', ':');
if (items[0].Contains("CMD"))
{
if (flightdata.Count == 0)
{
if (int.Parse(items[2]) <= (int)MAVLink.MAV_CMD.LAST) // wps
{
PointLatLngAlt temp = new PointLatLngAlt(double.Parse(items[5], new System.Globalization.CultureInfo("en-US")) / 10000000, double.Parse(items[6], new System.Globalization.CultureInfo("en-US")) / 10000000, double.Parse(items[4], new System.Globalization.CultureInfo("en-US")) / 100, items[1].ToString());
cmd.Add(temp);
}
}
}
if (items[0].Contains("MOD"))
{
positionindex++;
modelist.Add(""); // i cant be bothered doing this properly
modelist.Add("");
modelist[positionindex] = (items[1]);
}
if (items[0].Contains("GPS") && items[2] == "1" && items[4] != "0" && items[4] != "-1" && lastline != line) // check gps line and fixed status
{
if (position[positionindex] == null)
{
position[positionindex] = new List <Point3D>();
}
double alt = double.Parse(items[6], new System.Globalization.CultureInfo("en-US"));
if (items.Length == 11 && items[6] == "0.0000")
{
alt = double.Parse(items[7], new System.Globalization.CultureInfo("en-US"));
}
position[positionindex].Add(new Point3D(double.Parse(items[5], new System.Globalization.CultureInfo("en-US")), double.Parse(items[4], new System.Globalization.CultureInfo("en-US")), alt));
oldlastpos = lastpos;
lastpos = (position[positionindex][position[positionindex].Count - 1]);
lastline = line;
}
if (items[0].Contains("GPS") && items[4] != "0" && items[4] != "-1" && items.Length <= 9)
{
if (position[positionindex] == null)
{
position[positionindex] = new List <Point3D>();
}
MainV2.cs.firmware = MainV2.Firmwares.ArduCopter2;
double alt = double.Parse(items[5], new System.Globalization.CultureInfo("en-US"));
position[positionindex].Add(new Point3D(double.Parse(items[4], new System.Globalization.CultureInfo("en-US")), double.Parse(items[3], new System.Globalization.CultureInfo("en-US")), alt));
oldlastpos = lastpos;
lastpos = (position[positionindex][position[positionindex].Count - 1]);
lastline = line;
}
if (items[0].Contains("CTUN"))
{
ctunlast = items;
}
if (items[0].Contains("NTUN"))
{
ntunlast = items;
line = "ATT:" + double.Parse(ctunlast[3], new System.Globalization.CultureInfo("en-US")) * 100 + "," + double.Parse(ctunlast[6], new System.Globalization.CultureInfo("en-US")) * 100 + "," + double.Parse(items[1], new System.Globalization.CultureInfo("en-US")) * 100;
items = line.Split(',', ':');
}
if (items[0].Contains("ATT"))
{
try
{
if (lastpos.X != 0 && oldlastpos.X != lastpos.X && oldlastpos.Y != lastpos.Y)
{
Data dat = new Data();
try
{
dat.datetime = int.Parse(lastline.Split(',', ':')[1]);
}
catch { }
runmodel = new Model();
runmodel.Location.longitude = lastpos.X;
runmodel.Location.latitude = lastpos.Y;
runmodel.Location.altitude = lastpos.Z;
oldlastpos = lastpos;
runmodel.Orientation.roll = double.Parse(items[1], new System.Globalization.CultureInfo("en-US")) / -100;
runmodel.Orientation.tilt = double.Parse(items[2], new System.Globalization.CultureInfo("en-US")) / -100;
runmodel.Orientation.heading = double.Parse(items[3], new System.Globalization.CultureInfo("en-US")) / 100;
dat.model = runmodel;
dat.ctun = ctunlast;
dat.ntun = ntunlast;
flightdata.Add(dat);
}
}
catch { }
}
}
catch (Exception)
{
// if items is to short or parse fails.. ignore
}
}
/// <summary>
/// Used to extract mission from log file
/// </summary>
/// <param name="buffer">packet</param>
void getWPsfromstream(ref byte[] buffer)
{
#if MAVLINK10
if (buffer[5] == MAVLINK_MSG_ID_MISSION_COUNT)
{
// clear old
wps = new PointLatLngAlt[wps.Length];
}
if (buffer[5] == MAVLink.MAVLINK_MSG_ID_MISSION_ITEM)
{
mavlink_mission_item_t wp = buffer.ByteArrayToStructure<mavlink_mission_item_t>(6);
#else
if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_COUNT)
{
// clear old
wps = new PointLatLngAlt[wps.Length];
}
if (buffer[5] == MAVLink.MAVLINK_MSG_ID_WAYPOINT)
{
mavlink_waypoint_t wp = buffer.ByteArrayToStructure<mavlink_waypoint_t>(6);
#endif
wps[wp.seq] = new PointLatLngAlt(wp.x, wp.y, wp.z, wp.seq.ToString());
Console.WriteLine("WP # {7} cmd {8} p1 {0} p2 {1} p3 {2} p4 {3} x {4} y {5} z {6}",wp.param1,wp.param2,wp.param3,wp.param4,wp.x,wp.y,wp.z,wp.seq,wp.command);
}
}
public PointLatLngAlt getFencePoint(int no, ref int total)
{
byte[] buffer;
MainV2.giveComport = true;
PointLatLngAlt plla = new PointLatLngAlt();
mavlink_fence_fetch_point_t req = new mavlink_fence_fetch_point_t();
req.idx = (byte)no;
req.target_component = compid;
req.target_system = sysid;
// request point
generatePacket(MAVLINK_MSG_ID_FENCE_FETCH_POINT, req);
DateTime start = DateTime.Now;
int retrys = 3;
while (true)
{
if (!(start.AddMilliseconds(500) > DateTime.Now))
{
if (retrys > 0)
{
log.Info("getFencePoint Retry " + retrys + " - giv com " + MainV2.giveComport);
generatePacket(MAVLINK_MSG_ID_FENCE_FETCH_POINT, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.giveComport = false;
throw new Exception("Timeout on read - getFencePoint");
}
buffer = readPacket();
if (buffer.Length > 5)
{
if (buffer[5] == MAVLINK_MSG_ID_FENCE_POINT)
{
MainV2.giveComport = false;
mavlink_fence_point_t fp = buffer.ByteArrayToStructure<mavlink_fence_point_t>(6);
plla.Lat = fp.lat;
plla.Lng = fp.lng;
plla.Tag = fp.idx.ToString();
total = fp.count;
return plla;
}
}
}
}
/*
* public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow)
* {
* UpdateCurrentSettings(bs, false, MainV2.comPort);
* }
*/
public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow, MAVLink mavinterface)
{
lock (locker)
{
if (DateTime.Now > lastupdate.AddMilliseconds(19) || updatenow) // 50 hz
{
lastupdate = DateTime.Now;
if (DateTime.Now.Second != lastsecondcounter.Second)
{
lastsecondcounter = DateTime.Now;
if (lastpos.Lat != 0 && lastpos.Lng != 0)
{
if (!MainV2.comPort.BaseStream.IsOpen && !MainV2.comPort.logreadmode)
{
distTraveled = 0;
}
distTraveled += (float)lastpos.GetDistance(new PointLatLngAlt(lat, lng, 0, "")) * multiplierdist;
lastpos = new PointLatLngAlt(lat, lng, 0, "");
}
else
{
lastpos = new PointLatLngAlt(lat, lng, 0, "");
}
// cant use gs, cant use alt,
if (ch3percent > 12)
{
timeInAir++;
}
if (!gotwind)
{
dowindcalc();
}
}
if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] != null) // status text
{
string logdata = DateTime.Now + " " + Encoding.ASCII.GetString(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT], 6, mavinterface.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT].Length - 6);
int ind = logdata.IndexOf('\0');
if (ind != -1)
{
logdata = logdata.Substring(0, ind);
}
try
{
while (messages.Count > 5)
{
messages.RemoveAt(0);
}
messages.Add(logdata + "\n");
}
catch { }
mavinterface.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] = null;
}
byte[] bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED];
if (bytearray != null) // hil mavlink 0.9
{
var hil = bytearray.ByteArrayToStructure <MAVLink.mavlink_rc_channels_scaled_t>(6);
hilch1 = hil.chan1_scaled;
hilch2 = hil.chan2_scaled;
hilch3 = hil.chan3_scaled;
hilch4 = hil.chan4_scaled;
hilch5 = hil.chan5_scaled;
hilch6 = hil.chan6_scaled;
hilch7 = hil.chan7_scaled;
hilch8 = hil.chan8_scaled;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED] = null;
}
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_HIL_CONTROLS];
if (bytearray != null) // hil mavlink 0.9 and 1.0
{
var hil = bytearray.ByteArrayToStructure <MAVLink.mavlink_hil_controls_t>(6);
hilch1 = (int)(hil.roll_ailerons * 10000);
hilch2 = (int)(hil.pitch_elevator * 10000);
hilch3 = (int)(hil.throttle * 10000);
hilch4 = (int)(hil.yaw_rudder * 10000);
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_HIL_CONTROLS] = null;
}
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_HWSTATUS];
if (bytearray != null)
{
var hwstatus = bytearray.ByteArrayToStructure <MAVLink.mavlink_hwstatus_t>(6);
hwvoltage = hwstatus.Vcc;
i2cerrors = hwstatus.I2Cerr;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_HWSTATUS] = null;
}
bytearray = mavinterface.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WIND];
if (bytearray != null)
{
var wind = bytearray.ByteArrayToStructure <MAVLink.mavlink_wind_t>(6);
gotwind = true;
wind_dir = (wind.direction + 360) % 360;
wind_vel = wind.speed;
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
}
#if MAVLINK10
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_HEARTBEAT];
if (bytearray != null)
{
var hb = bytearray.ByteArrayToStructure <MAVLink.mavlink_heartbeat_t>(6);
armed = (hb.base_mode & (byte)MAVLink.MAV_MODE_FLAG.SAFETY_ARMED) == (byte)MAVLink.MAV_MODE_FLAG.SAFETY_ARMED;
string oldmode = mode;
mode = "Unknown";
if ((hb.base_mode & (byte)MAVLink.MAV_MODE_FLAG.CUSTOM_MODE_ENABLED) != 0)
{
if (hb.type == (byte)MAVLink.MAV_TYPE.FIXED_WING)
{
switch (hb.custom_mode)
{
case (byte)(Common.apmmodes.MANUAL):
mode = "Manual";
break;
case (byte)(Common.apmmodes.GUIDED):
mode = "Guided";
break;
case (byte)(Common.apmmodes.STABILIZE):
mode = "Stabilize";
break;
case (byte)(Common.apmmodes.FLY_BY_WIRE_A):
mode = "FBW A";
break;
case (byte)(Common.apmmodes.FLY_BY_WIRE_B):
mode = "FBW B";
break;
case (byte)(Common.apmmodes.AUTO):
mode = "Auto";
break;
case (byte)(Common.apmmodes.RTL):
mode = "RTL";
break;
case (byte)(Common.apmmodes.LOITER):
mode = "Loiter";
break;
case (byte)(Common.apmmodes.CIRCLE):
mode = "Circle";
break;
case 16:
mode = "Initialising";
break;
default:
mode = "Unknown";
break;
}
}
else if (hb.type == (byte)MAVLink.MAV_TYPE.QUADROTOR)
{
switch (hb.custom_mode)
{
case (byte)(Common.ac2modes.STABILIZE):
mode = "Stabilize";
break;
case (byte)(Common.ac2modes.ACRO):
mode = "Acro";
break;
case (byte)(Common.ac2modes.ALT_HOLD):
mode = "Alt Hold";
break;
case (byte)(Common.ac2modes.AUTO):
mode = "Auto";
break;
case (byte)(Common.ac2modes.GUIDED):
mode = "Guided";
break;
case (byte)(Common.ac2modes.LOITER):
mode = "Loiter";
break;
case (byte)(Common.ac2modes.RTL):
mode = "RTL";
break;
case (byte)(Common.ac2modes.CIRCLE):
mode = "Circle";
break;
case (byte)(Common.ac2modes.LAND):
mode = "Land";
break;
default:
mode = "Unknown";
break;
}
}
}
if (oldmode != mode && MainV2.speechEnable && MainV2.getConfig("speechmodeenabled") == "True")
{
MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
}
}
bytearray = mavinterface.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS];
if (bytearray != null)
{
var sysstatus = bytearray.ByteArrayToStructure <MAVLink.mavlink_sys_status_t>(6);
battery_voltage = sysstatus.voltage_battery;
battery_remaining = sysstatus.battery_remaining;
current = sysstatus.current_battery;
packetdropremote = sysstatus.drop_rate_comm;
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
}
#else
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SYS_STATUS];
if (bytearray != null)
{
var sysstatus = bytearray.ByteArrayToStructure <MAVLink.mavlink_sys_status_t>(6);
armed = sysstatus.status;
string oldmode = mode;
switch (sysstatus.mode)
{
case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_UNINIT:
switch (sysstatus.nav_mode)
{
case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_GROUNDED:
mode = "Initialising";
break;
}
break;
case (byte)(100 + Common.ac2modes.STABILIZE):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.STABILIZE);
break;
case (byte)(100 + Common.ac2modes.ACRO):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.ACRO);
break;
case (byte)(100 + Common.ac2modes.ALT_HOLD):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.ALT_HOLD);
break;
case (byte)(100 + Common.ac2modes.AUTO):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.AUTO);
break;
case (byte)(100 + Common.ac2modes.GUIDED):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.GUIDED);
break;
case (byte)(100 + Common.ac2modes.LOITER):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.LOITER);
break;
case (byte)(100 + Common.ac2modes.RTL):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.RTL);
break;
case (byte)(100 + Common.ac2modes.CIRCLE):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.CIRCLE);
break;
case (byte)(100 + Common.ac2modes.LAND):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.LAND);
break;
case (byte)(100 + Common.ac2modes.POSITION):
mode = EnumTranslator.GetDisplayText(Common.ac2modes.POSITION);
break;
case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_MANUAL:
mode = "Manual";
break;
case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_GUIDED:
mode = "Guided";
break;
case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_TEST1:
mode = "Stabilize";
break;
case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_TEST2:
mode = "FBW A"; // fall though old
switch (sysstatus.nav_mode)
{
case (byte)1:
mode = "FBW A";
break;
case (byte)2:
mode = "FBW B";
break;
case (byte)3:
mode = "FBW C";
break;
}
break;
case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_TEST3:
mode = "Circle";
break;
case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_AUTO:
switch (sysstatus.nav_mode)
{
case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_WAYPOINT:
mode = "Auto";
break;
case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_RETURNING:
mode = "RTL";
break;
case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_HOLD:
case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_LOITER:
mode = "Loiter";
break;
case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_LIFTOFF:
mode = "Takeoff";
break;
case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_LANDING:
mode = "Land";
break;
}
break;
default:
mode = "Unknown";
break;
}
battery_voltage = sysstatus.vbat;
battery_remaining = sysstatus.battery_remaining;
packetdropremote = sysstatus.packet_drop;
if (oldmode != mode && MainV2.speechEnable && MainV2.speechEngine != null && MainV2.getConfig("speechmodeenabled") == "True")
{
MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
}
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
}
#endif
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SCALED_PRESSURE];
if (bytearray != null)
{
var pres = bytearray.ByteArrayToStructure <MAVLink.mavlink_scaled_pressure_t>(6);
press_abs = pres.press_abs;
press_temp = pres.temperature;
}
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SENSOR_OFFSETS];
if (bytearray != null)
{
var sensofs = bytearray.ByteArrayToStructure <MAVLink.mavlink_sensor_offsets_t>(6);
mag_ofs_x = sensofs.mag_ofs_x;
mag_ofs_y = sensofs.mag_ofs_y;
mag_ofs_z = sensofs.mag_ofs_z;
mag_declination = sensofs.mag_declination;
raw_press = sensofs.raw_press;
raw_temp = sensofs.raw_temp;
gyro_cal_x = sensofs.gyro_cal_x;
gyro_cal_y = sensofs.gyro_cal_y;
gyro_cal_z = sensofs.gyro_cal_z;
accel_cal_x = sensofs.accel_cal_x;
accel_cal_y = sensofs.accel_cal_y;
accel_cal_z = sensofs.accel_cal_z;
}
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE];
if (bytearray != null)
{
var att = bytearray.ByteArrayToStructure <MAVLink.mavlink_attitude_t>(6);
roll = att.roll * rad2deg;
pitch = att.pitch * rad2deg;
yaw = att.yaw * rad2deg;
// Console.WriteLine(roll + " " + pitch + " " + yaw);
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE] = null;
}
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT];
if (bytearray != null)
{
var gps = bytearray.ByteArrayToStructure <MAVLink.mavlink_gps_raw_int_t>(6);
if (!useLocation)
{
lat = gps.lat * 1.0e-7f;
lng = gps.lon * 1.0e-7f;
}
// alt = gps.alt; // using vfr as includes baro calc
gpsstatus = gps.fix_type;
// Console.WriteLine("gpsfix {0}",gpsstatus);
gpshdop = (float)Math.Round((double)gps.eph / 100.0, 2);
satcount = gps.satellites_visible;
groundspeed = gps.vel * 1.0e-2f;
groundcourse = gps.cog * 1.0e-2f;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW] = null;
}
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GPS_STATUS];
if (bytearray != null)
{
var gps = bytearray.ByteArrayToStructure <MAVLink.mavlink_gps_status_t>(6);
satcount = gps.satellites_visible;
}
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RADIO];
if (bytearray != null)
{
var radio = bytearray.ByteArrayToStructure <MAVLink.mavlink_radio_t>(6);
rssi = radio.rssi;
remrssi = radio.remrssi;
txbuffer = radio.txbuf;
rxerrors = radio.rxerrors;
noise = radio.noise;
remnoise = radio.remnoise;
fixedp = radio.fixedp;
}
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GLOBAL_POSITION_INT];
if (bytearray != null)
{
var loc = bytearray.ByteArrayToStructure <MAVLink.mavlink_global_position_int_t>(6);
// the new arhs deadreckoning may send 0 alt and 0 long. check for and undo
useLocation = true;
if (loc.lat == 0 && loc.lon == 0)
{
useLocation = false;
}
else
{
//alt = loc.alt / 1000.0f;
lat = loc.lat / 10000000.0f;
lng = loc.lon / 10000000.0f;
}
}
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_MISSION_CURRENT];
if (bytearray != null)
{
var wpcur = bytearray.ByteArrayToStructure <MAVLink.mavlink_mission_current_t>(6);
int oldwp = (int)wpno;
wpno = wpcur.seq;
if (oldwp != wpno && MainV2.speechEnable && MainV2.getConfig("speechwaypointenabled") == "True")
{
MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
}
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null;
}
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT];
if (bytearray != null)
{
var nav = bytearray.ByteArrayToStructure <MAVLink.mavlink_nav_controller_output_t>(6);
nav_roll = nav.nav_roll;
nav_pitch = nav.nav_pitch;
nav_bearing = nav.nav_bearing;
target_bearing = nav.target_bearing;
wp_dist = nav.wp_dist;
alt_error = nav.alt_error;
aspd_error = nav.aspd_error / 100.0f;
xtrack_error = nav.xtrack_error;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT] = null;
}
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW];
if (bytearray != null)
{
var rcin = bytearray.ByteArrayToStructure <MAVLink.mavlink_rc_channels_raw_t>(6);
ch1in = rcin.chan1_raw;
ch2in = rcin.chan2_raw;
ch3in = rcin.chan3_raw;
ch4in = rcin.chan4_raw;
ch5in = rcin.chan5_raw;
ch6in = rcin.chan6_raw;
ch7in = rcin.chan7_raw;
ch8in = rcin.chan8_raw;
//percent
rxrssi = (float)((rcin.rssi / 255.0) * 100.0);
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW] = null;
}
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW];
if (bytearray != null)
{
var servoout = bytearray.ByteArrayToStructure <MAVLink.mavlink_servo_output_raw_t>(6);
ch1out = servoout.servo1_raw;
ch2out = servoout.servo2_raw;
ch3out = servoout.servo3_raw;
ch4out = servoout.servo4_raw;
ch5out = servoout.servo5_raw;
ch6out = servoout.servo6_raw;
ch7out = servoout.servo7_raw;
ch8out = servoout.servo8_raw;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW] = null;
}
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU];
if (bytearray != null)
{
var imu = bytearray.ByteArrayToStructure <MAVLink.mavlink_raw_imu_t>(6);
gx = imu.xgyro;
gy = imu.ygyro;
gz = imu.zgyro;
ax = imu.xacc;
ay = imu.yacc;
az = imu.zacc;
mx = imu.xmag;
my = imu.ymag;
mz = imu.zmag;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU] = null;
}
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SCALED_IMU];
if (bytearray != null)
{
var imu = bytearray.ByteArrayToStructure <MAVLink.mavlink_scaled_imu_t>(6);
gx = imu.xgyro;
gy = imu.ygyro;
gz = imu.zgyro;
ax = imu.xacc;
ay = imu.yacc;
az = imu.zacc;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU] = null;
}
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD];
if (bytearray != null)
{
var vfr = bytearray.ByteArrayToStructure <MAVLink.mavlink_vfr_hud_t>(6);
groundspeed = vfr.groundspeed;
airspeed = vfr.airspeed;
alt = vfr.alt; // this might include baro
ch3percent = vfr.throttle;
//Console.WriteLine(alt);
//climbrate = vfr.climb;
if ((DateTime.Now - lastalt).TotalSeconds >= 0.2 && oldalt != alt)
{
climbrate = (alt - oldalt) / (float)(DateTime.Now - lastalt).TotalSeconds;
verticalspeed = (alt - oldalt) / (float)(DateTime.Now - lastalt).TotalSeconds;
if (float.IsInfinity(_verticalspeed))
{
_verticalspeed = 0;
}
lastalt = DateTime.Now;
oldalt = alt;
}
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD] = null;
}
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_MEMINFO];
if (bytearray != null)
{
var mem = bytearray.ByteArrayToStructure <MAVLink.mavlink_meminfo_t>(6);
freemem = mem.freemem;
brklevel = mem.brkval;
}
}
//Console.WriteLine(DateTime.Now.Millisecond + " start ");
// update form
try
{
if (bs != null)
{
//System.Diagnostics.Debug.WriteLine(DateTime.Now.Millisecond);
//Console.WriteLine(DateTime.Now.Millisecond);
bs.DataSource = this;
// Console.WriteLine(DateTime.Now.Millisecond + " 1 " + updatenow + " " + System.Threading.Thread.CurrentThread.Name);
bs.ResetBindings(false);
//Console.WriteLine(DateTime.Now.Millisecond + " done ");
}
}
catch { log.InfoFormat("CurrentState Binding error"); }
}
}
private void processLine(string line)
{
try
{
Application.DoEvents();
line = line.Replace(", ", ",");
line = line.Replace(": ", ":");
string[] items = line.Split(',', ':');
if (items[0].Contains("CMD"))
{
if (flightdata.Count == 0)
{
if (int.Parse(items[2]) <= (int)MAVLink.MAV_CMD.LAST) // wps
{
PointLatLngAlt temp = new PointLatLngAlt(double.Parse(items[5], new System.Globalization.CultureInfo("en-US")) / 10000000, double.Parse(items[6], new System.Globalization.CultureInfo("en-US")) / 10000000, double.Parse(items[4], new System.Globalization.CultureInfo("en-US")) / 100, items[1].ToString());
cmd.Add(temp);
}
}
}
if (items[0].Contains("MOD"))
{
positionindex++;
modelist.Add(""); // i cant be bothered doing this properly
modelist.Add("");
modelist[positionindex] = (items[1]);
}
if (items[0].Contains("GPS") && items[2] == "1" && items[4] != "0" && items[4] != "-1" && lastline != line) // check gps line and fixed status
{
if (position[positionindex] == null)
position[positionindex] = new List<Point3D>();
double alt = double.Parse(items[6], new System.Globalization.CultureInfo("en-US"));
if (items.Length == 11 && items[6] == "0.0000")
alt = double.Parse(items[7], new System.Globalization.CultureInfo("en-US"));
if (items.Length == 11 && items[6] == "0")
alt = double.Parse(items[7], new System.Globalization.CultureInfo("en-US"));
position[positionindex].Add(new Point3D(double.Parse(items[5], new System.Globalization.CultureInfo("en-US")), double.Parse(items[4], new System.Globalization.CultureInfo("en-US")), alt));
oldlastpos = lastpos;
lastpos = (position[positionindex][position[positionindex].Count - 1]);
lastline = line;
}
if (items[0].Contains("GPS") && items[4] != "0" && items[4] != "-1" && items.Length <= 9)
{
if (position[positionindex] == null)
position[positionindex] = new List<Point3D>();
double alt = double.Parse(items[5], new System.Globalization.CultureInfo("en-US"));
position[positionindex].Add(new Point3D(double.Parse(items[4], new System.Globalization.CultureInfo("en-US")), double.Parse(items[3], new System.Globalization.CultureInfo("en-US")), alt));
oldlastpos = lastpos;
lastpos = (position[positionindex][position[positionindex].Count - 1]);
lastline = line;
}
if (items[0].Contains("CTUN"))
{
ctunlast = items;
}
if (items[0].Contains("NTUN"))
{
ntunlast = items;
line = "ATT:" + double.Parse(ctunlast[3], new System.Globalization.CultureInfo("en-US")) * 100 + "," + double.Parse(ctunlast[6], new System.Globalization.CultureInfo("en-US")) * 100 + "," + double.Parse(items[1], new System.Globalization.CultureInfo("en-US")) * 100;
items = line.Split(',', ':');
}
if (items[0].Contains("ATT"))
{
try
{
if (lastpos.X != 0 && oldlastpos.X != lastpos.X && oldlastpos.Y != lastpos.Y)
{
Data dat = new Data();
try
{
dat.datetime = int.Parse(lastline.Split(',', ':')[1]);
}
catch { }
runmodel = new Model();
runmodel.Location.longitude = lastpos.X;
runmodel.Location.latitude = lastpos.Y;
runmodel.Location.altitude = lastpos.Z;
oldlastpos = lastpos;
runmodel.Orientation.roll = double.Parse(items[1], new System.Globalization.CultureInfo("en-US")) / -100;
runmodel.Orientation.tilt = double.Parse(items[2], new System.Globalization.CultureInfo("en-US")) / -100;
runmodel.Orientation.heading = double.Parse(items[3], new System.Globalization.CultureInfo("en-US")) / 100;
dat.model = runmodel;
dat.ctun = ctunlast;
dat.ntun = ntunlast;
flightdata.Add(dat);
}
}
catch { }
}
}
catch (Exception)
{
// if items is to short or parse fails.. ignore
}
}
public bool setFencePoint(byte index, PointLatLngAlt plla, byte fencepointcount)
{
mavlink_fence_point_t fp = new mavlink_fence_point_t();
fp.idx = index;
fp.count = fencepointcount;
fp.lat = (float)plla.Lat;
fp.lng = (float)plla.Lng;
fp.target_component = compid;
fp.target_system = sysid;
int retry = 3;
while (retry > 0)
{
generatePacket(MAVLINK_MSG_ID_FENCE_POINT, fp);
int counttemp = 0;
PointLatLngAlt newfp = getFencePoint(fp.idx, ref counttemp);
if (newfp.Lat == plla.Lat && newfp.Lng == fp.lng)
return true;
retry--;
}
return false;
}
/*
public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow)
{
UpdateCurrentSettings(bs, false, MainV2.comPort);
}
*/
public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow, MAVLink mavinterface)
{
lock (locker)
{
if (DateTime.Now > lastupdate.AddMilliseconds(50) || updatenow) // 20 hz
{
lastupdate = DateTime.Now;
//check if valid mavinterface
if (mavinterface != null && mavinterface.packetsnotlost != 0)
linkqualitygcs = (ushort)((mavinterface.packetsnotlost / (mavinterface.packetsnotlost + mavinterface.packetslost)) * 100.0);
if (DateTime.Now.Second != lastsecondcounter.Second)
{
lastsecondcounter = DateTime.Now;
if (lastpos.Lat != 0 && lastpos.Lng != 0)
{
if (!MainV2.comPort.BaseStream.IsOpen && !MainV2.comPort.logreadmode)
distTraveled = 0;
distTraveled += (float)lastpos.GetDistance(new PointLatLngAlt(lat, lng, 0, "")) * multiplierdist;
lastpos = new PointLatLngAlt(lat, lng, 0, "");
}
else
{
lastpos = new PointLatLngAlt(lat, lng, 0, "");
}
// throttle is up, or groundspeed is > 3 m/s
if (ch3percent > 12 || _groundspeed > 3.0)
timeInAir++;
if (!gotwind)
dowindcalc();
}
if (mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] != null) // status text
{
var msg = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT].ByteArrayToStructure<MAVLink.mavlink_statustext_t>(6);
/*
enum gcs_severity {
SEVERITY_LOW=1,
SEVERITY_MEDIUM,
SEVERITY_HIGH,
SEVERITY_CRITICAL
};
*/
byte sev = msg.severity;
string logdata = Encoding.ASCII.GetString(mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT], 6, mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT].Length - 6);
int ind = logdata.IndexOf('\0');
if (ind != -1)
logdata = logdata.Substring(0, ind);
if (sev >= 3)
{
messageHigh = logdata;
}
try
{
while (messages.Count > 50)
{
messages.RemoveAt(0);
}
messages.Add(logdata + "\n");
}
catch { }
mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] = null;
}
byte[] bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED];
if (bytearray != null) // hil mavlink 0.9
{
var hil = bytearray.ByteArrayToStructure<MAVLink.mavlink_rc_channels_scaled_t>(6);
hilch1 = hil.chan1_scaled;
hilch2 = hil.chan2_scaled;
hilch3 = hil.chan3_scaled;
hilch4 = hil.chan4_scaled;
hilch5 = hil.chan5_scaled;
hilch6 = hil.chan6_scaled;
hilch7 = hil.chan7_scaled;
hilch8 = hil.chan8_scaled;
// Console.WriteLine("MAVLINK_MSG_ID_RC_CHANNELS_SCALED Packet");
mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_FENCE_STATUS];
if (bytearray != null)
{
var fence = bytearray.ByteArrayToStructure<MAVLink.mavlink_fence_status_t>(6);
if (fence.breach_status != (byte)MAVLink.FENCE_BREACH.NONE)
{
// fence breached
}
mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_FENCE_STATUS] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_HIL_CONTROLS];
if (bytearray != null) // hil mavlink 0.9 and 1.0
{
var hil = bytearray.ByteArrayToStructure<MAVLink.mavlink_hil_controls_t>(6);
hilch1 = (int)(hil.roll_ailerons * 10000);
hilch2 = (int)(hil.pitch_elevator * 10000);
hilch3 = (int)(hil.throttle * 10000);
hilch4 = (int)(hil.yaw_rudder * 10000);
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_HIL_CONTROLS] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_HWSTATUS];
if (bytearray != null)
{
var hwstatus = bytearray.ByteArrayToStructure<MAVLink.mavlink_hwstatus_t>(6);
hwvoltage = hwstatus.Vcc / 1000.0f;
i2cerrors = hwstatus.I2Cerr;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_HWSTATUS] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RANGEFINDER];
if (bytearray != null)
{
var sonar = bytearray.ByteArrayToStructure<MAVLink.mavlink_rangefinder_t>(6);
sonarrange = sonar.distance;
sonarvoltage = sonar.voltage;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_WIND];
if (bytearray != null)
{
var wind = bytearray.ByteArrayToStructure<MAVLink.mavlink_wind_t>(6);
gotwind = true;
wind_dir = (wind.direction + 360) % 360;
wind_vel = wind.speed * multiplierspeed;
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_HEARTBEAT];
if (bytearray != null)
{
var hb = bytearray.ByteArrayToStructure<MAVLink.mavlink_heartbeat_t>(6);
armed = (hb.base_mode & (byte)MAVLink.MAV_MODE_FLAG.SAFETY_ARMED) == (byte)MAVLink.MAV_MODE_FLAG.SAFETY_ARMED;
failsafe = hb.system_status == (byte)MAVLink.MAV_STATE.CRITICAL;
string oldmode = mode;
if ((hb.base_mode & (byte)MAVLink.MAV_MODE_FLAG.CUSTOM_MODE_ENABLED) != 0)
{
// prevent running thsi unless we have to
if (_mode != hb.custom_mode)
{
List<KeyValuePair<int, string>> modelist = Common.getModesList();
bool found = false;
foreach (KeyValuePair<int, string> pair in modelist)
{
if (pair.Key == hb.custom_mode)
{
mode = pair.Value.ToString();
_mode = hb.custom_mode;
found = true;
break;
}
}
if (!found)
{
log.Warn("Mode not found bm:" + hb.base_mode + " cm:" + hb.custom_mode);
}
}
}
if (oldmode != mode && MainV2.speechEnable && MainV2.getConfig("speechmodeenabled") == "True")
{
MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
}
}
bytearray = mavinterface.MAV.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS];
if (bytearray != null)
{
var sysstatus = bytearray.ByteArrayToStructure<MAVLink.mavlink_sys_status_t>(6);
battery_voltage = (float)sysstatus.voltage_battery / 1000.0f;
battery_remaining = (float)sysstatus.battery_remaining;
current = (float)sysstatus.current_battery / 100.0f;
packetdropremote = sysstatus.drop_rate_comm;
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SCALED_PRESSURE];
if (bytearray != null)
{
var pres = bytearray.ByteArrayToStructure<MAVLink.mavlink_scaled_pressure_t>(6);
press_abs = pres.press_abs;
press_temp = pres.temperature;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SENSOR_OFFSETS];
if (bytearray != null)
{
var sensofs = bytearray.ByteArrayToStructure<MAVLink.mavlink_sensor_offsets_t>(6);
mag_ofs_x = sensofs.mag_ofs_x;
mag_ofs_y = sensofs.mag_ofs_y;
mag_ofs_z = sensofs.mag_ofs_z;
mag_declination = sensofs.mag_declination;
raw_press = sensofs.raw_press;
raw_temp = sensofs.raw_temp;
gyro_cal_x = sensofs.gyro_cal_x;
gyro_cal_y = sensofs.gyro_cal_y;
gyro_cal_z = sensofs.gyro_cal_z;
accel_cal_x = sensofs.accel_cal_x;
accel_cal_y = sensofs.accel_cal_y;
accel_cal_z = sensofs.accel_cal_z;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE];
if (bytearray != null)
{
var att = bytearray.ByteArrayToStructure<MAVLink.mavlink_attitude_t>(6);
roll = att.roll * rad2deg;
pitch = att.pitch * rad2deg;
yaw = att.yaw * rad2deg;
// Console.WriteLine(roll + " " + pitch + " " + yaw);
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT];
if (bytearray != null)
{
var gps = bytearray.ByteArrayToStructure<MAVLink.mavlink_gps_raw_int_t>(6);
if (!useLocation)
{
lat = gps.lat * 1.0e-7f;
lng = gps.lon * 1.0e-7f;
// alt = gps.alt; // using vfr as includes baro calc
}
gpsstatus = gps.fix_type;
// Console.WriteLine("gpsfix {0}",gpsstatus);
gpshdop = (float)Math.Round((double)gps.eph / 100.0,2);
satcount = gps.satellites_visible;
groundspeed = gps.vel * 1.0e-2f;
groundcourse = gps.cog * 1.0e-2f;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_GPS_STATUS];
if (bytearray != null)
{
var gps = bytearray.ByteArrayToStructure<MAVLink.mavlink_gps_status_t>(6);
satcount = gps.satellites_visible;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RADIO];
if (bytearray != null)
{
var radio = bytearray.ByteArrayToStructure<MAVLink.mavlink_radio_t>(6);
rssi = radio.rssi;
remrssi = radio.remrssi;
txbuffer = radio.txbuf;
rxerrors = radio.rxerrors;
noise = radio.noise;
remnoise = radio.remnoise;
fixedp = radio.fixedp;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_GLOBAL_POSITION_INT];
if (bytearray != null)
{
var loc = bytearray.ByteArrayToStructure<MAVLink.mavlink_global_position_int_t>(6);
// the new arhs deadreckoning may send 0 alt and 0 long. check for and undo
alt = loc.relative_alt / 1000.0f;
useLocation = true;
if (loc.lat == 0 && loc.lon == 0)
{
useLocation = false;
}
else
{
lat = loc.lat / 10000000.0f;
lng = loc.lon / 10000000.0f;
}
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_MISSION_CURRENT];
if (bytearray != null)
{
var wpcur = bytearray.ByteArrayToStructure<MAVLink.mavlink_mission_current_t>(6);
int oldwp = (int)wpno;
wpno = wpcur.seq;
if (oldwp != wpno && MainV2.speechEnable && MainV2.getConfig("speechwaypointenabled") == "True")
{
MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
}
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT];
if (bytearray != null)
{
var nav = bytearray.ByteArrayToStructure<MAVLink.mavlink_nav_controller_output_t>(6);
nav_roll = nav.nav_roll;
nav_pitch = nav.nav_pitch;
nav_bearing = nav.nav_bearing;
target_bearing = nav.target_bearing;
wp_dist = nav.wp_dist;
alt_error = nav.alt_error;
aspd_error = nav.aspd_error / 100.0f;
xtrack_error = nav.xtrack_error;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW];
if (bytearray != null)
{
var rcin = bytearray.ByteArrayToStructure<MAVLink.mavlink_rc_channels_raw_t>(6);
ch1in = rcin.chan1_raw;
ch2in = rcin.chan2_raw;
ch3in = rcin.chan3_raw;
ch4in = rcin.chan4_raw;
ch5in = rcin.chan5_raw;
ch6in = rcin.chan6_raw;
ch7in = rcin.chan7_raw;
ch8in = rcin.chan8_raw;
//percent
rxrssi = (float)((rcin.rssi / 255.0) * 100.0);
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW];
if (bytearray != null)
{
var servoout = bytearray.ByteArrayToStructure<MAVLink.mavlink_servo_output_raw_t>(6);
ch1out = servoout.servo1_raw;
ch2out = servoout.servo2_raw;
ch3out = servoout.servo3_raw;
ch4out = servoout.servo4_raw;
ch5out = servoout.servo5_raw;
ch6out = servoout.servo6_raw;
ch7out = servoout.servo7_raw;
ch8out = servoout.servo8_raw;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU];
if (bytearray != null)
{
var imu = bytearray.ByteArrayToStructure<MAVLink.mavlink_raw_imu_t>(6);
gx = imu.xgyro;
gy = imu.ygyro;
gz = imu.zgyro;
ax = imu.xacc;
ay = imu.yacc;
az = imu.zacc;
mx = imu.xmag;
my = imu.ymag;
mz = imu.zmag;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SCALED_IMU];
if (bytearray != null)
{
var imu = bytearray.ByteArrayToStructure<MAVLink.mavlink_scaled_imu_t>(6);
gx = imu.xgyro;
gy = imu.ygyro;
gz = imu.zgyro;
ax = imu.xacc;
ay = imu.yacc;
az = imu.zacc;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD];
if (bytearray != null)
{
var vfr = bytearray.ByteArrayToStructure<MAVLink.mavlink_vfr_hud_t>(6);
//groundspeed = vfr.groundspeed;
airspeed = vfr.airspeed;
// alt = vfr.alt; // this might include baro
ch3percent = vfr.throttle;
//Console.WriteLine(alt);
//climbrate = vfr.climb;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD] = null;
}
bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_MEMINFO];
if (bytearray != null)
{
var mem = bytearray.ByteArrayToStructure<MAVLink.mavlink_meminfo_t>(6);
freemem = mem.freemem;
brklevel = mem.brkval;
}
}
//Console.Write(DateTime.Now.Millisecond + " start ");
// update form
try
{
if (bs != null)
{
//System.Diagnostics.Debug.WriteLine(DateTime.Now.Millisecond);
// Console.Write(" "+DateTime.Now.Millisecond);
//bs.DataSource = this;
// Console.Write(" " + DateTime.Now.Millisecond + " 1 " + updatenow + " " + System.Threading.Thread.CurrentThread.Name);
//bs.ResetBindings(false);
//bs.ResetCurrentItem();
// mono workaround - this is alot faster
bs.Add(this);
// Console.WriteLine(" " + DateTime.Now.Millisecond + " done ");
}
}
catch { log.InfoFormat("CurrentState Binding error"); }
}
}
void mainloop()
{
DateTime nextsend = DateTime.Now;
StreamWriter sw = new StreamWriter(File.OpenWrite("followmeraw.txt"));
threadrun = true;
while (threadrun)
{
try
{
string line = comPort.ReadLine();
sw.WriteLine(line);
//string line = string.Format("$GP{0},{1:HHmmss},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},", "GGA", DateTime.Now.ToUniversalTime(), Math.Abs(lat * 100), MainV2.comPort.MAV.cs.lat < 0 ? "S" : "N", Math.Abs(lng * 100), MainV2.comPort.MAV.cs.lng < 0 ? "W" : "E", MainV2.comPort.MAV.cs.gpsstatus, MainV2.comPort.MAV.cs.satcount, MainV2.comPort.MAV.cs.gpshdop, MainV2.comPort.MAV.cs.alt, "M", 0, "M", "");
if (line.StartsWith("$GPGGA")) //
{
string[] items = line.Trim().Split(',', '*');
if (items[15] != GetChecksum(line.Trim()))
{
Console.WriteLine("Bad Nmea line " + items[15] + " vs " + GetChecksum(line.Trim()));
continue;
}
if (items[6] == "0")
{
Console.WriteLine("No Fix");
continue;
}
gotolocation.Lat = double.Parse(items[2], CultureInfo.InvariantCulture) / 100.0;
gotolocation.Lat = (int)gotolocation.Lat + ((gotolocation.Lat - (int)gotolocation.Lat) / 0.60);
if (items[3] == "S")
{
gotolocation.Lat *= -1;
}
gotolocation.Lng = double.Parse(items[4], CultureInfo.InvariantCulture) / 100.0;
gotolocation.Lng = (int)gotolocation.Lng + ((gotolocation.Lng - (int)gotolocation.Lng) / 0.60);
if (items[5] == "W")
{
gotolocation.Lng *= -1;
}
gotolocation.Alt = intalt; // double.Parse(line.Substring(c9, c10 - c9 - 1)) +
gotolocation.Tag = "Sats " + items[7] + " hdop " + items[8];
}
if (DateTime.Now > nextsend && gotolocation.Lat != 0 && gotolocation.Lng != 0 && gotolocation.Alt != 0) // 200 * 10 = 2 sec /// lastgotolocation != gotolocation &&
{
nextsend = DateTime.Now.AddMilliseconds(1000 / updaterate);
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 = (gotolocation.Lat);
gotohere.lng = (gotolocation.Lng);
try
{
updateLocationLabel(gotohere);
}
catch { }
if (MainV2.comPort.BaseStream.IsOpen && MainV2.comPort.giveComport == false)
{
try
{
MainV2.comPort.giveComport = true;
MainV2.comPort.setGuidedModeWP(gotohere);
MainV2.comPort.giveComport = false;
}
catch { MainV2.comPort.giveComport = false; }
}
}
}
catch { System.Threading.Thread.Sleep((int)(1000 / updaterate)); }
}
sw.Close();
}
