private void BUT_MagCalibrationLog_Click(object sender, EventArgs e)
{
string minthro = "30";
Common.InputBox("Min Throttle", "Use only data above this throttle percent.", ref minthro);
int ans = 0;
int.TryParse(minthro, out ans);
MagCalib.ProcessLog(ans);
}
private void BUT_MagCalibrationLog_Click(object sender, EventArgs e)
{
string minthro = "30";
if (System.Windows.Forms.DialogResult.Cancel == InputBox.Show("Min Throttle", "Use only data above this throttle percent.", ref minthro))
{
return;
}
int ans = 0;
int.TryParse(minthro, out ans);
MagCalib.ProcessLog(ans);
}
private async void BUT_MagCalibrationLog_Click(object sender, EventArgs e)
{
var minthro = "30";
if (DialogResult.Cancel ==
InputBox.Show("Min Throttle", "Use only data above this throttle percent.", ref minthro))
{
return;
}
var ans = 0;
int.TryParse(minthro, out ans);
await MagCalib.ProcessLog(ans).ConfigureAwait(true);
}
private void BUT_MagCalibration_Click(object sender, EventArgs e)
{
if (DialogResult.Yes == CustomMessageBox.Show("Use live data, or a log\n\nYes for Live data", "Mag Calibration", MessageBoxButtons.YesNo))
{
List <Tuple <float, float, float> > data = new List <Tuple <float, float, float> >();
byte backupratesens = MainV2.cs.ratesensors;
MainV2.cs.ratesensors = 10;
MainV2.comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // mag captures at 10 hz
CustomMessageBox.Show("Data will be collected for 30 seconds, Please click ok and move the apm around all axises");
DateTime deadline = DateTime.Now.AddSeconds(30);
float oldmx = 0;
float oldmy = 0;
float oldmz = 0;
while (deadline > DateTime.Now)
{
Application.DoEvents();
if (oldmx != MainV2.cs.mx &&
oldmy != MainV2.cs.my &&
oldmz != MainV2.cs.mz)
{
data.Add(new Tuple <float, float, float>(
MainV2.cs.mx - (float)MainV2.cs.mag_ofs_x,
MainV2.cs.my - (float)MainV2.cs.mag_ofs_y,
MainV2.cs.mz - (float)MainV2.cs.mag_ofs_z));
oldmx = MainV2.cs.mx;
oldmy = MainV2.cs.my;
oldmz = MainV2.cs.mz;
}
}
MainV2.cs.ratesensors = backupratesens;
if (data.Count < 10)
{
CustomMessageBox.Show("Log does not contain enough data");
return;
}
double[] ans = MagCalib.LeastSq(data);
MagCalib.SaveOffsets(ans);
}
else
{
string minthro = "30";
Common.InputBox("Min Throttle", "Use only data above this throttle percent.", ref minthro);
int ans = 0;
int.TryParse(minthro, out ans);
MagCalib.ProcessLog(ans);
}
}
