public void Activate()
{
log.Info("Enter flyhgtspd!");
horizon_spd.AttachEvents();
horizon_spd.ValueChanged += RNG_ValueChanged;
// max_height.AttachEvents();
// max_height.ValueChanged += RNG_ValueChanged;
des_vel_decel_s.AttachEvents();
des_vel_decel_s.ValueChanged += RNG_ValueChanged;
rng_angle_max.AttachEvents();
rng_angle_max.ValueChanged += RNG_ValueChanged;
ThemeManager.ApplyThemeTo(horizon_spd);
ThemeManager.ApplyThemeTo(rng_angle_max);
ThemeManager.ApplyThemeTo(des_vel_decel_s);
if (MainV2.connectOK)
{
this.horizon_spd.Value = (MainV2.comPort.GetParam("WPNAV_SPEED") / 100).ToString();
// BRK_ACCEL
this.rng_angle_max.Value = (MainV2.comPort.GetParam("WPNAV_BRK_G") * 10).ToString();
this.des_vel_decel_s.Value = (MainV2.comPort.GetParam("WPNAV_BRK_DELAY")).ToString();
this.cb_yaw_mode.Text = ((int)(MainV2.comPort.GetParam("WP_YAW_BEHAVIOR")) == 0) ? "机头保持不变" : "机头跟随航线";
}
}
private void BUT_compare_Click(object sender, EventArgs e)
{
Hashtable param2 = new Hashtable();
var ofd = new OpenFileDialog
{
AddExtension = true,
DefaultExt = ".param",
RestoreDirectory = true,
Filter = "Param List|*.param;*.parm"
};
var dr = ofd.ShowDialog();
if (dr == DialogResult.OK)
{
param2 = loadParamFile(ofd.FileName);
Form paramCompareForm = new ParamCompare(Params, MainV2.comPort.param, param2);
ThemeManager.ApplyThemeTo(paramCompareForm);
paramCompareForm.ShowDialog();
}
}
void createValueControl(KeyValuePair <string, string> x)
{
string value = ((float)MainV2.comPort.MAV.param[x.Key]).ToString("0.###", CultureInfo.InvariantCulture);
string description = ParameterMetaDataRepository.GetParameterMetaData(x.Key, ParameterMetaDataConstants.Description);
string displayName = ParameterMetaDataRepository.GetParameterMetaData(x.Key, ParameterMetaDataConstants.DisplayName) + " (" + x.Key + ")";
string units = ParameterMetaDataRepository.GetParameterMetaData(x.Key, ParameterMetaDataConstants.Units);
var valueControl = new ValuesControl();
valueControl.Name = x.Key;
valueControl.DescriptionText = FitDescriptionText(units, description);
valueControl.LabelText = displayName;
ThemeManager.ApplyThemeTo(valueControl);
valueControl.ComboBoxControl.DisplayMember = "Value";
valueControl.ComboBoxControl.ValueMember = "Key";
valueControl.ComboBoxControl.DataSource = ParameterMetaDataRepository.GetParameterOptionsInt(x.Key);
valueControl.ComboBoxControl.SelectedItem = value;
valueControl.ValueChanged += valueControl_ValueChanged;
flowLayoutPanel1.Controls.Add(valueControl);
}
public MAVLinkInspector(MAVLinkInterface mav)
{
InitializeComponent();
this.mav = mav;
mav.OnPacketReceived += MavOnOnPacketReceived;
mav.OnPacketSent += MavOnOnPacketReceived;
mavi.NewSysidCompid += (sender, args) =>
{
this.BeginInvoke((MethodInvoker) delegate
{
comboBox1.DataSource = mavi.SeenSysid();
comboBox2.DataSource = mavi.SeenCompid();
});
};
timer1.Tick += (sender, args) => Update();
timer1.Start();
ThemeManager.ApplyThemeTo(this);
}
private void but_iris_Click(object sender, EventArgs e)
{
try
{
string filepath = Application.StartupPath + Path.DirectorySeparatorChar + "Iris.param";
if (Common.getFilefromNet("https://github.com/diydrones/ardupilot/raw/master/Tools/Frame_params/Iris.param", filepath))
{
Hashtable param2 = Utilities.ParamFile.loadParamFile(filepath);
Form paramCompareForm = new ParamCompare(Params, MainV2.comPort.MAV.param, param2);
ThemeManager.ApplyThemeTo(paramCompareForm);
paramCompareForm.ShowDialog();
CustomMessageBox.Show("Loaded parameters, please make sure you write them!", "Loaded");
}
else
{
CustomMessageBox.Show("Error getting Iris param file");
}
}
catch (Exception ex) { CustomMessageBox.Show("Error getting Iris param file" + ex.ToString()); }
}
private void BUT_compare_Click(object sender, EventArgs e)
{
var param2 = new Dictionary <string, double>();
using (var ofd = new OpenFileDialog
{
AddExtension = true,
DefaultExt = ".param",
RestoreDirectory = true,
Filter = ParamFile.FileMask
})
{
var dr = ofd.ShowDialog();
if (dr == DialogResult.OK)
{
param2 = ParamFile.loadParamFile(ofd.FileName);
Form paramCompareForm = new ParamCompare(Params, MainV2.comPort.MAV.param, param2);
ThemeManager.ApplyThemeTo(paramCompareForm);
paramCompareForm.ShowDialog();
}
}
}
public SonarView(MAVLinkInterface mav)
{
InitializeComponent();
this.mav = mav;
ThemeManager.ApplyThemeTo(this);
// Get a random number generator
//Random rand = new Random();
//GraphPane myPane = zedGraphControl1.GraphPane;
//PointPairList list = new PointPairList();
//for (int i = 0; i < 200; i++)
//{
// double x = rand.NextDouble() * 20.0 + 1;
// double y = Math.Log(10.0 * (x - 1.0) + 1.0) * (rand.NextDouble() * 0.2 + 0.9);
// list.Add(x, y);
//}
//// Add the curve
//LineItem myCurve = myPane.AddCurve("Performance", list, Color.White, SymbolType.Diamond);
//// Don't display the line (This makes a scatter plot)
//myCurve.Line.IsVisible = false;
//zedGraphControl1.AxisChange();
}
public SpectrogramUI()
{
InitializeComponent();
zedGraphControl1.MasterPane[0].Title.Text = "X";
zedGraphControl1.MasterPane[0].XAxis.Title.Text = "T";
zedGraphControl1.MasterPane[0].YAxis.Title.Text = "Frequency";
zedGraphControl1.MasterPane.Add(new GraphPane());
zedGraphControl1.MasterPane[1].Title.Text = "Y";
zedGraphControl1.MasterPane[1].XAxis.Title.Text = "T";
zedGraphControl1.MasterPane[1].YAxis.Title.Text = "Frequency";
zedGraphControl1.MasterPane.Add(new GraphPane());
zedGraphControl1.MasterPane[2].Title.Text = "Z";
zedGraphControl1.MasterPane[2].XAxis.Title.Text = "T";
zedGraphControl1.MasterPane[2].YAxis.Title.Text = "Frequency";
zedGraphControl1.AxisChange();
ThemeManager.ApplyThemeTo(zedGraphControl1);
zedGraphControl1.Invalidate();
}
private void BUT_writePIDS_Click(object sender, EventArgs e)
{
// Prevent upload mission if UAV is armed!
if (MainV2.comPort.MAV.cs.armed && !Settings.isDevMode)
{
if (MessageBox.Show("UAV is Armed! Are You sure want to write parameters?", "Warning", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == DialogResult.No)
{
return;
}
}
if (Common.MessageShowAgain("Write Raw Params", "Are you Sure?") != DialogResult.OK)
{
return;
}
// sort with enable at the bottom - this ensures params are set before the function is disabled
var temp = new List <string>();
foreach (var item in _changes.Keys)
{
temp.Add((string)item);
}
temp.SortENABLE();
foreach (string value in temp)
{
try
{
MainV2.comPort.setParam(value, (float)_changes[value]);
try
{
// set control as well
var textControls = Controls.Find(value, true);
if (textControls.Length > 0)
{
ThemeManager.ApplyThemeTo(textControls[0]);
}
}
catch
{
}
try
{
// set param table as well
foreach (DataGridViewRow row in Params.Rows)
{
if (row.Cells[0].Value.ToString() == value)
{
row.Cells[1].Style.BackColor = ThemeManager.ControlBGColor;
_changes.Remove(value);
break;
}
}
}
catch
{
}
}
catch
{
CustomMessageBox.Show("Set " + value + " Failed");
}
}
}
internal void processToScreen()
{
toolTip1.RemoveAll();
disableNumericUpDownControls(this);
// process hashdefines and update display
foreach (string value in MainV2.comPort.MAV.param.Keys)
{
if (value == null || value == "")
{
continue;
}
//System.Diagnostics.Debug.WriteLine("Doing: " + value);
string name = value;
Control[] text = this.Controls.Find(name, true);
foreach (Control ctl in text)
{
try
{
if (ctl.GetType() == typeof(NumericUpDown))
{
float numbervalue = (float)MainV2.comPort.MAV.param[value];
MAVLink.modifyParamForDisplay(true, value, ref numbervalue);
NumericUpDown thisctl = ((NumericUpDown)ctl);
thisctl.Maximum = 9000;
thisctl.Minimum = -9000;
thisctl.Value = (decimal)numbervalue;
thisctl.Increment = (decimal)0.0001;
if (thisctl.Name.EndsWith("_P") || thisctl.Name.EndsWith("_I") || thisctl.Name.EndsWith("_D") ||
thisctl.Name.EndsWith("_LOW") || thisctl.Name.EndsWith("_HIGH") || thisctl.Value == 0 ||
thisctl.Value.ToString("0.####", new System.Globalization.CultureInfo("en-US")).Contains("."))
{
thisctl.DecimalPlaces = 4;
}
else
{
thisctl.Increment = (decimal)1;
thisctl.DecimalPlaces = 1;
}
if (thisctl.Name.ToUpper().EndsWith("THR_RATE_IMAX"))
{
thisctl.Maximum = 1000; // is a pwm
thisctl.Minimum = 0;
}
else if (thisctl.Name.EndsWith("_IMAX"))
{
thisctl.Maximum = 180;
thisctl.Minimum = -180;
}
thisctl.Enabled = true;
ThemeManager.ApplyThemeTo(thisctl);
thisctl.Validated += null;
if (tooltips[value] != null)
{
try
{
toolTip1.SetToolTip(ctl, ((paramsettings)tooltips[value]).desc);
}
catch { }
}
thisctl.Validated += new EventHandler(EEPROM_View_float_TextChanged);
}
else if (ctl.GetType() == typeof(ComboBox))
{
ComboBox thisctl = ((ComboBox)ctl);
thisctl.SelectedValue = (int)(float)MainV2.comPort.MAV.param[value];
thisctl.Validated += new EventHandler(ComboBox_Validated);
ThemeManager.ApplyThemeTo(thisctl);
}
}
catch { }
}
if (text.Length == 0)
{
//Console.WriteLine(name + " not found");
}
}
}
private void Help_Load(object sender, EventArgs e)
{
richTextBox1.Rtf = Resources.help_text;
ThemeManager.ApplyThemeTo(richTextBox1);
}
private void timer_Tick(object sender, EventArgs e)
{
try
{
MainV2.comPort.MAV.cs.UpdateCurrentSettings(currentStateBindingSource.UpdateDataSource(MainV2.comPort.MAV.cs));
}
catch
{
}
float pwm = 0;
if (MainV2.comPort.MAV.cs.firmware == Firmwares.ArduPlane ||
MainV2.comPort.MAV.cs.firmware == Firmwares.ArduRover ||
MainV2.comPort.MAV.cs.firmware == Firmwares.Ateryx) // APM
{
if (MainV2.comPort.MAV.param.ContainsKey("FLTMODE_CH") ||
MainV2.comPort.MAV.param.ContainsKey("MODE_CH"))
{
var sw = 0;
if (MainV2.comPort.MAV.param.ContainsKey("FLTMODE_CH"))
{
sw = (int)MainV2.comPort.MAV.param["FLTMODE_CH"].Value;
}
else
{
sw = (int)MainV2.comPort.MAV.param["MODE_CH"].Value;
}
switch (sw)
{
case 5:
pwm = MainV2.comPort.MAV.cs.ch5in;
break;
case 6:
pwm = MainV2.comPort.MAV.cs.ch6in;
break;
case 7:
pwm = MainV2.comPort.MAV.cs.ch7in;
break;
case 8:
pwm = MainV2.comPort.MAV.cs.ch8in;
break;
default:
break;
}
if (MainV2.comPort.MAV.param.ContainsKey("FLTMODE_CH"))
{
LBL_flightmodepwm.Text = MainV2.comPort.MAV.param["FLTMODE_CH"] + ": " + pwm;
}
else
{
LBL_flightmodepwm.Text = MainV2.comPort.MAV.param["MODE_CH"] + ": " + pwm;
}
}
}
if (MainV2.comPort.MAV.cs.firmware == Firmwares.ArduCopter2) // ac2
{
pwm = MainV2.comPort.MAV.cs.ch5in;
LBL_flightmodepwm.Text = "5: " + MainV2.comPort.MAV.cs.ch5in;
}
Control[] fmodelist = { CMB_fmode1, CMB_fmode2, CMB_fmode3, CMB_fmode4, CMB_fmode5, CMB_fmode6 };
foreach (var ctl in fmodelist)
{
ThemeManager.ApplyThemeTo(ctl);
}
var no = readSwitch(pwm);
fmodelist[no].BackColor = ThemeManager.CurrentPPMBackground;
}
private void BUT_writePIDS_Click(object sender, EventArgs e)
{
if (Common.MessageShowAgain("Write Raw Params", "Are you Sure?") != DialogResult.OK)
{
return;
}
// sort with enable at the bottom - this ensures params are set before the function is disabled
var temp = _changes.Keys.Cast <string>().ToList();
temp.SortENABLE();
bool enable = temp.Any(a => a.EndsWith("_ENABLE"));
if (enable)
{
CustomMessageBox.Show(
"You have changed an Enable parameter. You may need to do a full param refresh to show all params",
"Params");
}
int error = 0;
foreach (string value in temp)
{
try
{
if (MainV2.comPort.BaseStream == null || !MainV2.comPort.BaseStream.IsOpen)
{
CustomMessageBox.Show("Your are not connected", Strings.ERROR);
return;
}
MainV2.comPort.setParam(value, (float)_changes[value]);
try
{
// set control as well
var textControls = Controls.Find(value, true);
if (textControls.Length > 0)
{
ThemeManager.ApplyThemeTo(textControls[0]);
}
}
catch
{
}
try
{
// set param table as well
foreach (DataGridViewRow row in Params.Rows)
{
if (row.Cells[0].Value.ToString() == value)
{
row.Cells[1].Style.BackColor = ThemeManager.ControlBGColor;
_changes.Remove(value);
break;
}
}
}
catch
{
}
}
catch
{
error++;
CustomMessageBox.Show("Set " + value + " Failed");
}
}
if (error > 0)
{
CustomMessageBox.Show("Not all parameters successfully saved.", "Saved");
}
else
{
CustomMessageBox.Show("Parameters successfully saved.", "Saved");
}
}
private void Rtcm3_ObsMessage(object sender, EventArgs e)
{
if (MainV2.instance.IsDisposed)
{
threadrun = false;
}
MainV2.instance.BeginInvoke((MethodInvoker) delegate
{
List <rtcm3.ob> obs = sender as List <rtcm3.ob>;
// get system controls
Func <char, List <VerticalProgressBar2> > ctls = delegate(char sys)
{
return(panel1.Controls.OfType <VerticalProgressBar2>()
.Where(ctl => { return ctl.Label.StartsWith(sys + ""); }).ToList());
};
// we need more ctls for this system
while (ctls.Invoke(obs[0].sys).Count() < obs.Count)
{
panel1.Controls.Add(new VerticalProgressBar2()
{
Height = panel1.Height - 30,
Label = obs[0].sys + ""
});
}
// we need to remove ctls for this system
while (ctls.Invoke(obs[0].sys).Count() > obs.Count)
{
var list = ctls.Invoke(obs[0].sys);
panel1.Controls.Remove(list.First());
panel1.Controls.Remove(list.First().lbl);
panel1.Controls.Remove(list.First().lbl1);
}
int width = panel1.Width / panel1.Controls.OfType <VerticalProgressBar2>().Count();
var tmp = ctls('G');
var tmp2 = ctls('R');
var tmp3 = ctls('C');
var start = 0;
if (obs[0].sys == 'G')
{
start = 0;
}
if (obs[0].sys == 'R')
{
start = tmp.Count;
}
if (obs[0].sys == 'C')
{
start = tmp.Count + tmp2.Count;
}
// if G 0, if R = G.count (2 system support)
var a = start;
var sysctls = ctls.Invoke(obs[0].sys);
var cnt = 0;
foreach (var ob in obs)
{
var vpb = sysctls[cnt];
vpb.Value = (int)ob.snr;
//vpb.Text = ob.snr.ToString();
vpb.Label = ob.sys + ob.prn.ToString();
vpb.Location = new Point(width * (a + cnt), 0);
vpb.DrawLabel = true;
vpb.Width = width;
vpb.Height = panel1.Height - 30;
vpb.Minimum = 25;
vpb.Maximum = 55;
vpb.minline = 30;
vpb.maxline = 99;
cnt++;
}
ThemeManager.ApplyThemeTo(panel1);
}
);
}
public Setup()
{
InitializeComponent();
ThemeManager.ApplyThemeTo(this);
}
private void btn_docalc_Click(object sender, EventArgs e)
{
//Convert for sanity check
prop_size = t_prop.Text.ConvertToDouble();
batt_cells = t_cellcount.Text.ConvertToDouble();
batt_cell_max_voltage = t_cellmax.Text.ConvertToDouble();
batt_cell_min_voltage = t_cellmin.Text.ConvertToDouble();
if (prop_size <= 0)
{
CustomMessageBox.Show("Prop size must be larger than zero.", "ERROR!");
return;
}
if (batt_cells < 1)
{
CustomMessageBox.Show("Battery cell count must be at least 1.", "ERROR!");
return;
}
calc_values();
if (cb_tmotor.Checked)
{
mot_thst_expo = 0.2;
}
var atc_prefix = "ATC";
var mot_prefix = "MOT";
if (MainV2.comPort.MAV.cs.firmware == Firmwares.ArduPlane)
{
atc_prefix = "Q_A";
mot_prefix = "Q_M";
}
var new_params = new Dictionary <string, double>();
//Fill up the list of params to change
new_params.Add("ACRO_YAW_P", acro_yaw_p);
new_params.Add(atc_prefix + "_ACCEL_P_MAX", atc_accel_p_max);
new_params.Add(atc_prefix + "_ACCEL_R_MAX", atc_accel_r_max);
new_params.Add(atc_prefix + "_ACCEL_Y_MAX", atc_accel_y_max);
//Filters has different name in 4.x and in 3.x
if (MainV2.comPort.MAV.cs.version.Major == 4)
{
new_params.Add(atc_prefix + "_RAT_PIT_FLTD", atc_rat_pit_fltd);
new_params.Add(atc_prefix + "_RAT_PIT_FLTE", atc_rat_pit_flte);
new_params.Add(atc_prefix + "_RAT_PIT_FLTT", atc_rat_pit_fltt);
new_params.Add(atc_prefix + "_RAT_RLL_FLTD", atc_rat_rll_fltd);
new_params.Add(atc_prefix + "_RAT_RLL_FLTE", atc_rat_rll_flte);
new_params.Add(atc_prefix + "_RAT_RLL_FLTT", atc_rat_rll_fltt);
new_params.Add(atc_prefix + "_RAT_YAW_FLTD", atc_rat_yaw_fltd);
new_params.Add(atc_prefix + "_RAT_YAW_FLTE", atc_rat_yaw_flte);
new_params.Add(atc_prefix + "_RAT_YAW_FLTT", atc_rat_yaw_fltt);
}
else
{
new_params.Add(atc_prefix + "_RAT_PIT_FILT", atc_rat_pit_fltd);
new_params.Add(atc_prefix + "_RAT_RLL_FILT", atc_rat_rll_fltd);
new_params.Add(atc_prefix + "_RAT_YAW_FILT", atc_rat_yaw_flte);
}
new_params.Add(atc_prefix + "_THR_MIX_MAN", atc_thr_mix_man);
new_params.Add("INS_ACCEL_FILTER", ins_accel_filter);
new_params.Add("INS_GYRO_FILTER", ins_gyro_filter);
new_params.Add(mot_prefix + "_THST_EXPO", mot_thst_expo);
new_params.Add(mot_prefix + "_THST_HOVER", mot_thst_hover);
new_params.Add("BATT_ARM_VOLT", batt_arm_volt);
new_params.Add("BATT_CRT_VOLT", batt_crt_volt);
new_params.Add("BATT_LOW_VOLT", batt_low_volt);
new_params.Add(mot_prefix + "_BAT_VOLT_MAX", mot_bat_volt_max);
new_params.Add(mot_prefix + "_BAT_VOLT_MIN", mot_bat_volt_min);
if (cb_tmotor.Checked)
{
new_params.Add(mot_prefix + "_PWM_MIN", 1100);
new_params.Add(mot_prefix + "_PWM_MAX", 1940);
}
if (cb_suggested.Checked && MainV2.comPort.MAV.cs.version.Major == 4 && (MainV2.comPort.MAV.cs.firmware != Firmwares.ArduPlane))
{
new_params.Add("BATT_FS_CRT_ACT", 1);
new_params.Add("BATT_FS_LOW_ACT", 2);
new_params.Add("FENCE_ACTION", 3);
new_params.Add("FENCE_ALT_MAX", 120);
new_params.Add("FENCE_ENABLE", 1);
new_params.Add("FENCE_RADIUS", 150);
new_params.Add("FENCE_TYPE", 7);
}
Form paramCompareForm = new ParamCompare(null, MainV2.comPort.MAV.param, new_params);
ThemeManager.ApplyThemeTo(paramCompareForm);
MissionPlanner.Controls.MyButton button = paramCompareForm.Controls.Find("BUT_save", true).FirstOrDefault() as MissionPlanner.Controls.MyButton;
button.Text = "Write to FC";
paramCompareForm.StartPosition = FormStartPosition.CenterParent;
paramCompareForm.ShowDialog();
if (paramCompareForm.DialogResult == DialogResult.OK)
{
CustomMessageBox.Show("Initial Parameters succesfully updated.\r\nCheck parameters before flight!\r\n\r\nAfter test flight :\r\n\tSet ATC_THR_MIX_MAN to 0.5\r\n\tSet PSC_ACCZ_P to MOT_THST_HOVER\r\n\tSet PSC_ACCZ_I to 2*MOT_THST_HOVER\r\n\r\nHappy flying!", "Initial parameter calculator");
}
}
private void SoftwareConfig_Load(object sender, EventArgs e)
{
try
{
BackstageViewPage start = null;
if (gotAllParams)
{
if (MainV2.comPort.BaseStream.IsOpen)
{
AddBackstageViewPage(typeof(Parametermodification), "舵机/PID快捷");
if (MainV2.DisplayConfiguration.displayFlightModes)
{
start = AddBackstageViewPage(typeof(ConfigFlightModes), Strings.FlightModes);
}
if (MainV2.comPort.MAV.cs.firmware == Firmwares.ArduCopter2)
{
AddBackstageViewPage(typeof(ConfigAC_Fence), Strings.GeoFence);
}
if (MainV2.comPort.MAV.cs.firmware == Firmwares.ArduCopter2)
{
if (MainV2.DisplayConfiguration.displayBasicTuning)
{
start = AddBackstageViewPage(typeof(ConfigSimplePids), Strings.BasicTuning);
}
if (MainV2.DisplayConfiguration.displayExtendedTuning)
{
AddBackstageViewPage(typeof(ConfigArducopter), Strings.ExtendedTuning);
}
}
if (MainV2.comPort.MAV.cs.firmware == Firmwares.ArduPlane)
{
start = AddBackstageViewPage(typeof(ConfigArduplane), Strings.BasicTuning);
}
if (MainV2.comPort.MAV.cs.firmware == Firmwares.ArduRover)
{
start = AddBackstageViewPage(typeof(ConfigArdurover), Strings.BasicTuning);
}
if (MainV2.comPort.MAV.cs.firmware == Firmwares.ArduTracker)
{
start = AddBackstageViewPage(typeof(ConfigAntennaTracker), Strings.ExtendedTuning);
}
if (MainV2.DisplayConfiguration.displayBasicTuning)
{
AddBackstageViewPage(typeof(ConfigFriendlyParams), Strings.StandardParams);
}
if (MainV2.DisplayConfiguration.displayAdvancedParams)
{
AddBackstageViewPage(typeof(ConfigFriendlyParamsAdv), Strings.AdvancedParams, null, true);
}
if (!Program.MONO && ConfigOSD.IsApplicable())
{
AddBackstageViewPage(typeof(ConfigOSD), Strings.OnboardOSD);
}
if ((MainV2.comPort.MAV.cs.capabilities & (int)MAVLink.MAV_PROTOCOL_CAPABILITY.FTP) > 0)
{
AddBackstageViewPage(typeof(MavFTPUI), Strings.MAVFtp);
}
if (true)
{
AddBackstageViewPage(typeof(ConfigUserDefined), Strings.User_Params);
}
}
}
if (MainV2.DisplayConfiguration.displayFullParamList)
{
if (!MainV2.comPort.BaseStream.IsOpen || gotAllParams)
{
AddBackstageViewPage(typeof(ConfigRawParams), Strings.FullParameterList, null, true);
}
}
if (MainV2.DisplayConfiguration.displayFullParamTree && !Program.MONO)
{
if (!MainV2.comPort.BaseStream.IsOpen || gotAllParams)
{
AddBackstageViewPage(typeof(ConfigRawParamsTree), Strings.FullParameterTree, null, true);
}
}
if (MainV2.comPort.BaseStream.IsOpen)
{
if (MainV2.comPort.MAV.cs.firmware == Firmwares.Ateryx)
{
start = AddBackstageViewPage(typeof(ConfigFlightModes), Strings.FlightModes);
AddBackstageViewPage(typeof(ConfigAteryxSensors), "Ateryx Zero Sensors");
AddBackstageViewPage(typeof(ConfigAteryx), "Ateryx Pids");
}
if (!gotAllParams)
{
if (start == null)
{
start = AddBackstageViewPage(typeof(ConfigParamLoading), Strings.Loading);
}
else
{
AddBackstageViewPage(typeof(ConfigParamLoading), Strings.Loading);
}
}
AddBackstageViewPage(typeof(ConfigPlanner), Strings.Planner);
}
else
{
start = AddBackstageViewPage(typeof(ConfigPlanner), Strings.Planner);
}
// apply theme before trying to display it
ThemeManager.ApplyThemeTo(this);
// remeber last page accessed
foreach (BackstageViewPage page in backstageView.Pages)
{
if (page.LinkText == lastpagename)
{
backstageView.ActivatePage(page);
break;
}
}
if (backstageView.SelectedPage == null && start != null)
{
this.BeginInvoke((Action) delegate
{
try
{
backstageView.ActivatePage(start);
}
catch (Exception ex)
{
log.Error(ex);
}
});
}
}
catch (Exception ex)
{
log.Error(ex);
}
}
public ConfigRawParams()
{
InitializeComponent();
ThemeManager.ApplyThemeTo(this);
Activate();
}
private void timer1_Tick(object sender, EventArgs e)
{
try
{
if (MainV2.joystick == null || MainV2.joystick.enabled == false)
{
//Console.WriteLine(DateTime.Now.Millisecond + " start ");
Joystick joy = MainV2.joystick;
if (joy == null)
{
joy = new Joystick();
if (CMB_CH1.Text != "")
{
joy.setChannel(1,
(Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH1.Text),
revCH1.Checked, int.Parse(expo_ch1.Text));
}
if (CMB_CH2.Text != "")
{
joy.setChannel(2,
(Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH2.Text),
revCH2.Checked, int.Parse(expo_ch2.Text));
}
if (CMB_CH3.Text != "")
{
joy.setChannel(3,
(Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH3.Text),
revCH3.Checked, int.Parse(expo_ch3.Text));
}
if (CMB_CH4.Text != "")
{
joy.setChannel(4,
(Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH4.Text),
revCH4.Checked, int.Parse(expo_ch4.Text));
}
if (CMB_CH5.Text != "")
{
joy.setChannel(5,
(Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH5.Text),
revCH5.Checked, int.Parse(expo_ch5.Text));
}
if (CMB_CH6.Text != "")
{
joy.setChannel(6,
(Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH6.Text),
revCH6.Checked, int.Parse(expo_ch6.Text));
}
if (CMB_CH7.Text != "")
{
joy.setChannel(7,
(Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH7.Text),
revCH7.Checked, int.Parse(expo_ch7.Text));
}
if (CMB_CH8.Text != "")
{
joy.setChannel(8,
(Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH8.Text),
revCH8.Checked, int.Parse(expo_ch8.Text));
}
joy.elevons = CHK_elevons.Checked;
joy.AcquireJoystick(CMB_joysticks.Text);
joy.name = CMB_joysticks.Text;
noButtons = joy.getNumButtons();
noButtons = Math.Min(15, noButtons);
SuspendLayout();
MainV2.joystick = joy;
for (int f = 0; f < noButtons; f++)
{
string name = (f).ToString();
doButtontoUI(name, 10, CMB_CH8.Bottom + 20 + f * 25);
var config = joy.getButton(f);
joy.setButton(f, config);
}
ResumeLayout();
ThemeManager.ApplyThemeTo(this);
CMB_joysticks.SelectedIndex = CMB_joysticks.Items.IndexOf(joy.name);
}
MainV2.joystick.elevons = CHK_elevons.Checked;
MainV2.comPort.MAV.cs.rcoverridech1 = joy.getValueForChannel(1, CMB_joysticks.Text);
MainV2.comPort.MAV.cs.rcoverridech2 = joy.getValueForChannel(2, CMB_joysticks.Text);
MainV2.comPort.MAV.cs.rcoverridech3 = joy.getValueForChannel(3, CMB_joysticks.Text);
MainV2.comPort.MAV.cs.rcoverridech4 = joy.getValueForChannel(4, CMB_joysticks.Text);
MainV2.comPort.MAV.cs.rcoverridech5 = joy.getValueForChannel(5, CMB_joysticks.Text);
MainV2.comPort.MAV.cs.rcoverridech6 = joy.getValueForChannel(6, CMB_joysticks.Text);
MainV2.comPort.MAV.cs.rcoverridech7 = joy.getValueForChannel(7, CMB_joysticks.Text);
MainV2.comPort.MAV.cs.rcoverridech8 = joy.getValueForChannel(8, CMB_joysticks.Text);
//Console.WriteLine(DateTime.Now.Millisecond + " end ");
}
}
catch (SharpDX.SharpDXException ex)
{
ex.ToString();
if (MainV2.joystick != null && MainV2.joystick.enabled == true)
{
BUT_enable_Click(null, null);
}
if (ex.Message.Contains("DIERR_NOTACQUIRED"))
{
MainV2.joystick = null;
}
}
catch
{
}
progressBarRoll.Value = MainV2.comPort.MAV.cs.rcoverridech1;
progressBarPith.Value = MainV2.comPort.MAV.cs.rcoverridech2;
progressBarThrottle.Value = MainV2.comPort.MAV.cs.rcoverridech3;
progressBarRudder.Value = MainV2.comPort.MAV.cs.rcoverridech4;
ProgressBarCH5.Value = MainV2.comPort.MAV.cs.rcoverridech5;
ProgressBarCH6.Value = MainV2.comPort.MAV.cs.rcoverridech6;
ProgressBarCH7.Value = MainV2.comPort.MAV.cs.rcoverridech7;
ProgressBarCH8.Value = MainV2.comPort.MAV.cs.rcoverridech8;
try
{
if (MainV2.joystick != null)
{
progressBarRoll.maxline = MainV2.joystick.getRawValueForChannel(1);
progressBarPith.maxline = MainV2.joystick.getRawValueForChannel(2);
progressBarThrottle.maxline = MainV2.joystick.getRawValueForChannel(3);
progressBarRudder.maxline = MainV2.joystick.getRawValueForChannel(4);
ProgressBarCH5.maxline = MainV2.joystick.getRawValueForChannel(5);
ProgressBarCH6.maxline = MainV2.joystick.getRawValueForChannel(6);
ProgressBarCH7.maxline = MainV2.joystick.getRawValueForChannel(7);
ProgressBarCH8.maxline = MainV2.joystick.getRawValueForChannel(8);
}
}
catch
{
//Exception Error in the application. -2147024866 (DIERR_INPUTLOST)
}
try
{
for (int f = 0; f < noButtons; f++)
{
string name = (f).ToString();
var items = this.Controls.Find("hbar" + name, false);
if (items.Length > 0)
{
((HorizontalProgressBar)items[0]).Value =
MainV2.joystick.isButtonPressed(f) ? 100 : 0;
}
}
}
catch
{
} // this is for buttons - silent fail
}
private void SoftwareConfig_Load(object sender, EventArgs e)
{
try
{
BackstageView.BackstageViewPage start = null;
if (MainV2.comPort.BaseStream.IsOpen)
{
AddBackstageViewPage(new ConfigFlightModes(), "Flight Modes");
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
AddBackstageViewPage(new ConfigAC_Fence(), "GeoFence");
}
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
start = AddBackstageViewPage(new ConfigSimplePids(), "Basic Pids");
// AddBackstageViewPage(new ConfigSimplePidsV2(), "Basic Pids V2");
}
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
{
start = AddBackstageViewPage(new ConfigArduplane(), "APM:Plane Pids");
}
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover)
{
start = AddBackstageViewPage(new ConfigArdurover(), "APM:Rover Pids");
}
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
// var configpanel = new Controls.ConfigPanel(Application.StartupPath + System.IO.Path.DirectorySeparatorChar + "ArduCopterConfig.xml");
// AddBackstageViewPage(configpanel, "ArduCopter Pids");
AddBackstageViewPage(new ConfigArducopter(), "APM:Copter Pids");
}
if (MainV2.comPort.MAV.param["H_SWASH_TYPE"] != null)
{
AddBackstageViewPage(new ConfigTradHeli(), "Heli Setup");
}
AddBackstageViewPage(new ConfigFriendlyParams {
ParameterMode = ParameterMetaDataConstants.Standard
}, "Standard Params");
AddBackstageViewPage(new ConfigFriendlyParams {
ParameterMode = ParameterMetaDataConstants.Advanced
}, "Advanced Params");
AddBackstageViewPage(new ConfigRawParams(), "Full Parameter List");
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.Ateryx)
{
start = AddBackstageViewPage(new ConfigFlightModes(), "Flight Modes");
AddBackstageViewPage(new ConfigAteryxSensors(), "Ateryx Zero Sensors");
AddBackstageViewPage(new ConfigAteryx(), "Ateryx Pids");
}
AddBackstageViewPage(new ConfigPlanner(), "Planner");
}
else
{
start = AddBackstageViewPage(new ConfigPlanner(), "Planner");
}
AddBackstageViewPage(new ConfigHelp(), "Help");
// remeber last page accessed
foreach (BackstageView.BackstageViewPage page in backstageView.Pages)
{
if (page.LinkText == lastpagename)
{
this.backstageView.ActivatePage(page);
break;
}
}
if (this.backstageView.SelectedPage == null)
{
backstageView.ActivatePage(start);
}
ThemeManager.ApplyThemeTo(this);
}
catch (Exception ex) { log.Error(ex); }
}
public Setup()
{
InitializeComponent();
ThemeManager.ApplyThemeTo(this);
this.Controls.Add(flashMessage);
}
private void SoftwareConfig_Load(object sender, EventArgs e)
{
try
{
ConfigArducopter conf_PID = new ConfigArducopter();
conf_PID.Dock = DockStyle.Fill;
TabPage pid_tp = new TabPage();//Create new tabpage
pid_tp.Controls.Add(conf_PID);
pid_tp.Text = "参数调试";
tabControl_debug.TabPages.Add(pid_tp);
tabControl_debug.SelectedIndexChanged += new EventHandler(conf_PID.OnFocus);
ConfigRawParams conf_rawParams = new ConfigRawParams();
conf_rawParams.Dock = DockStyle.Fill;
TabPage rp_tp = new TabPage();//Create new tabpage
rp_tp.Controls.Add(conf_rawParams);
rp_tp.Text = "参数列表";
tabControl_debug.TabPages.Add(rp_tp);
tabControl_debug.SelectedIndexChanged += new EventHandler(conf_rawParams.OnFocus);
return;
BackstageViewPage start = null;
if (MainV2.comPort.BaseStream.IsOpen)
{
start = AddBackstageViewPage(typeof(ConfigFlightModes), Strings.FlightModes);
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
AddBackstageViewPage(typeof(ConfigAC_Fence), Strings.GeoFence);
}
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
start = AddBackstageViewPage(typeof(ConfigSimplePids), Strings.BasicTuning);
AddBackstageViewPage(typeof(ConfigArducopter), Strings.ExtendedTuning);
}
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
{
start = AddBackstageViewPage(typeof(ConfigArduplane), Strings.BasicTuning);
}
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover)
{
start = AddBackstageViewPage(typeof(ConfigArdurover), Strings.BasicTuning);
}
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduTracker)
{
start = AddBackstageViewPage(typeof(ConfigAntennaTracker), Strings.ExtendedTuning);
}
AddBackstageViewPage(typeof(ConfigFriendlyParams), Strings.StandardParams);
if (MainV2.DisplayConfiguration.displayAdvancedParams)
{
AddBackstageViewPage(typeof(ConfigFriendlyParamsAdv), Strings.AdvancedParams, null, true);
}
if (MainV2.DisplayConfiguration.displayFullParamList)
{
AddBackstageViewPage(typeof(ConfigRawParams), Strings.FullParameterList, null, true);
}
if (MainV2.DisplayConfiguration.displayFullParamTree)
{
AddBackstageViewPage(typeof(ConfigRawParamsTree), Strings.FullParameterTree, null, true);
}
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.Ateryx)
{
start = AddBackstageViewPage(typeof(ConfigFlightModes), Strings.FlightModes);
AddBackstageViewPage(typeof(ConfigAteryxSensors), "Ateryx Zero Sensors");
AddBackstageViewPage(typeof(ConfigAteryx), "Ateryx Pids");
}
AddBackstageViewPage(typeof(ConfigPlanner), "Planner");
}
else
{
start = AddBackstageViewPage(typeof(ConfigPlanner), "Planner");
}
// apply theme before trying to display it
ThemeManager.ApplyThemeTo(this);
// remeber last page accessed
foreach (BackstageViewPage page in backstageView.Pages)
{
if (page.LinkText == lastpagename)
{
backstageView.ActivatePage(page);
break;
}
}
if (backstageView.SelectedPage == null && start != null)
{
backstageView.ActivatePage(start);
}
}
catch (Exception ex)
{
log.Error(ex);
}
}
public static DialogResult Show(string text, string caption, MessageBoxButtons buttons, MessageBoxIcon icon)
{
if (text == null)
{
text = "";
}
if (caption == null)
{
caption = "";
}
// ensure we are always in a known state
_state = DialogResult.None;
// convert to nice wrapped lines.
text = AddNewLinesToText(text);
// get pixel width and height
Size textSize = TextRenderer.MeasureText(text, SystemFonts.DefaultFont);
// allow for icon
if (icon != MessageBoxIcon.None)
{
textSize.Width += SystemIcons.Question.Width;
}
var msgBoxFrm = new Form
{
FormBorderStyle = FormBorderStyle.FixedDialog,
ShowInTaskbar = false,
StartPosition = FormStartPosition.CenterScreen,
Text = caption,
MaximizeBox = false,
MinimizeBox = false,
Width = textSize.Width + 50,
Height = textSize.Height + 100,
TopMost = true,
};
Rectangle screenRectangle = msgBoxFrm.RectangleToScreen(msgBoxFrm.ClientRectangle);
int titleHeight = screenRectangle.Top - msgBoxFrm.Top;
var lblMessage = new Label
{
Left = 58,
Top = 15,
Width = textSize.Width + 10,
Height = textSize.Height + 10,
Text = text
};
msgBoxFrm.Controls.Add(lblMessage);
var actualIcon = getMessageBoxIcon(icon);
if (actualIcon == null)
{
lblMessage.Location = new Point(FORM_X_MARGIN, FORM_Y_MARGIN);
}
else
{
var iconPbox = new PictureBox
{
Image = actualIcon.ToBitmap(),
Location = new Point(FORM_X_MARGIN, FORM_Y_MARGIN)
};
msgBoxFrm.Controls.Add(iconPbox);
}
AddButtonsToForm(msgBoxFrm, buttons);
// display even if theme fails
try
{
ThemeManager.ApplyThemeTo(msgBoxFrm);
}
catch { }
if (System.Windows.Forms.Application.OpenForms.Count > 0)
{
msgBoxFrm.StartPosition = FormStartPosition.Manual;
Form parentForm = System.Windows.Forms.Application.OpenForms[0];
// center of first form
msgBoxFrm.Location = new Point(parentForm.Location.X + parentForm.Width / 2 - msgBoxFrm.Width / 2,
parentForm.Location.Y + parentForm.Height / 2 - msgBoxFrm.Height / 2);
DialogResult test = msgBoxFrm.ShowDialog();
}
else
{
DialogResult test = msgBoxFrm.ShowDialog();
}
DialogResult answer = _state;
return(answer);
}
private void HardwareConfig_Load(object sender, EventArgs e)
{
ResourceManager rm = new ResourceManager(this.GetType());
if (!gotAllParams)
{
if (MainV2.comPort.BaseStream.IsOpen)
{
AddBackstageViewPage(typeof(ConfigParamLoading), Strings.Loading);
}
}
if (MainV2.DisplayConfiguration.displayInstallFirmware)
{
// if (!Program.WindowsStoreApp)
{
AddBackstageViewPage(typeof(ConfigFirmwareDisabled), rm.GetString("backstageViewPagefw.Text"),
isConnected);
AddBackstageViewPage(typeof(ConfigFirmwareManifest), rm.GetString("backstageViewPagefw.Text"),
isDisConnected);
AddBackstageViewPage(typeof(ConfigFirmware), rm.GetString("backstageViewPagefw.Text") + " Legacy",
isDisConnected);
}
}
var mand = AddBackstageViewPage(typeof(ConfigMandatory), rm.GetString("backstageViewPagemand.Text"), isConnected && gotAllParams);
if (MainV2.DisplayConfiguration.displayFrameType)
{
//AddBackstageViewPage(typeof(ConfigTradHeli), rm.GetString("backstageViewPagetradheli.Text"), isHeli && gotAllParams, mand);
AddBackstageViewPage(typeof(ConfigTradHeli4), rm.GetString("backstageViewPagetradheli.Text"), isHeli && gotAllParams, mand);
AddBackstageViewPage(typeof(ConfigFrameType), rm.GetString("backstageViewPageframetype.Text"), isCopter && gotAllParams && !isCopter35plus, mand);
AddBackstageViewPage(typeof(ConfigFrameClassType), rm.GetString("backstageViewPageframetype.Text"),
MainV2.comPort.MAV.param.ContainsKey("FRAME_CLASS") || isCopter && gotAllParams && isCopter35plus,
mand);
}
if (MainV2.DisplayConfiguration.displayAccelCalibration)
{
AddBackstageViewPage(typeof(ConfigAccelerometerCalibration), rm.GetString("backstageViewPageaccel.Text"), isConnected && gotAllParams, mand);
}
if (MainV2.DisplayConfiguration.displayCompassConfiguration)
{
if (MainV2.comPort.MAV.param.ContainsKey("COMPASS_PRIO1_ID"))
{
AddBackstageViewPage(typeof(ConfigHWCompass2), rm.GetString("backstageViewPagecompass.Text"),
isConnected && gotAllParams, mand);
}
else
{
AddBackstageViewPage(typeof(ConfigHWCompass), rm.GetString("backstageViewPagecompass.Text"),
isConnected && gotAllParams, mand);
}
}
if (MainV2.DisplayConfiguration.displayRadioCalibration)
{
AddBackstageViewPage(typeof(ConfigRadioInput), rm.GetString("backstageViewPageradio.Text"), isConnected && gotAllParams, mand);
AddBackstageViewPage(typeof(ConfigRadioOutput), "Servo Output", isConnected && gotAllParams, mand);
}
if (MainV2.DisplayConfiguration.displayEscCalibration)
{
AddBackstageViewPage(typeof(ConfigESCCalibration), "ESC Calibration", isConnected && gotAllParams, mand);
}
if (MainV2.DisplayConfiguration.displayFlightModes)
{
AddBackstageViewPage(typeof(ConfigFlightModes), rm.GetString("backstageViewPageflmode.Text"), isConnected && gotAllParams, mand);
}
if (MainV2.DisplayConfiguration.displayFailSafe)
{
AddBackstageViewPage(typeof(ConfigFailSafe), rm.GetString("backstageViewPagefs.Text"), isConnected && gotAllParams, mand);
}
if (MainV2.DisplayConfiguration.displayHWIDs)
{
AddBackstageViewPage(typeof(ConfigHWIDs), "HW ID", isConnected && gotAllParams, mand);
}
var opt = AddBackstageViewPage(typeof(ConfigOptional), rm.GetString("backstageViewPageopt.Text"));
AddBackstageViewPage(typeof(ConfigSerialInjectGPS), "RTK/GPS Inject", true, opt);
if (MainV2.DisplayConfiguration.displaySikRadio)
{
AddBackstageViewPage(typeof(Sikradio), rm.GetString("backstageViewPageSikradio.Text"), true, opt);
}
if (MainV2.DisplayConfiguration.displayADSB)
{
AddBackstageViewPage(typeof(ConfigADSB), "ADSB", isConnected && gotAllParams, mand);
}
if (MainV2.DisplayConfiguration.displayGPSOrder)
{
AddBackstageViewPage(typeof(ConfigGPSOrder), "CAN GPS Order", isConnected && gotAllParams, opt);
}
if (MainV2.DisplayConfiguration.displayBattMonitor)
{
AddBackstageViewPage(typeof(ConfigBatteryMonitoring), rm.GetString("backstageViewPagebatmon.Text"), isConnected && gotAllParams, opt);
AddBackstageViewPage(typeof(ConfigBatteryMonitoring2), rm.GetString("backstageViewPageBatt2.Text"), isConnected && gotAllParams, opt);
}
if (MainV2.DisplayConfiguration.displayCAN)
{
//AddBackstageViewPage(typeof(ConfigHWCAN), "CAN", isConnected, opt);
AddBackstageViewPage(typeof(ConfigUAVCAN), "UAVCAN", true, opt);
}
AddBackstageViewPage(typeof(Joystick.JoystickSetup), "Joystick", true, opt);
if (MainV2.DisplayConfiguration.displayCompassMotorCalib)
{
AddBackstageViewPage(typeof(ConfigCompassMot), rm.GetString("backstageViewPagecompassmot.Text"), isConnected && gotAllParams, opt);
}
if (MainV2.DisplayConfiguration.displayRangeFinder)
{
AddBackstageViewPage(typeof(ConfigHWRangeFinder), rm.GetString("backstageViewPagesonar.Text"), isConnected && gotAllParams, opt);
}
if (MainV2.DisplayConfiguration.displayAirSpeed)
{
AddBackstageViewPage(typeof(ConfigHWAirspeed), rm.GetString("backstageViewPageairspeed.Text"), isConnected && gotAllParams, opt);
}
if (MainV2.DisplayConfiguration.displayPx4Flow)
{
AddBackstageViewPage(typeof(ConfigHWPX4Flow), rm.GetString("backstageViewPagePX4Flow.Text"), true, opt);
}
if (MainV2.DisplayConfiguration.displayOpticalFlow)
{
AddBackstageViewPage(typeof(ConfigHWOptFlow), rm.GetString("backstageViewPageoptflow.Text"), isConnected && gotAllParams, opt);
}
if (MainV2.DisplayConfiguration.displayOsd)
{
AddBackstageViewPage(typeof(ConfigHWOSD), rm.GetString("backstageViewPageosd.Text"), isConnected && gotAllParams, opt);
}
if (MainV2.DisplayConfiguration.displayCameraGimbal)
{
AddBackstageViewPage(typeof(ConfigMount), rm.GetString("backstageViewPagegimbal.Text"), isConnected && gotAllParams, opt);
}
if (MainV2.DisplayConfiguration.displayAntennaTracker)
{
AddBackstageViewPage(typeof(ConfigAntennaTracker), rm.GetString("backstageViewPageAntTrack.Text"), isTracker, opt);
}
if (MainV2.DisplayConfiguration.displayMotorTest)
{
AddBackstageViewPage(typeof(ConfigMotorTest), rm.GetString("backstageViewPageMotorTest.Text"), isConnected && gotAllParams, opt);
}
if (MainV2.DisplayConfiguration.displayBluetooth)
{
AddBackstageViewPage(typeof(ConfigHWBT), rm.GetString("backstageViewPagehwbt.Text"), true, opt);
}
if (MainV2.DisplayConfiguration.displayParachute)
{
AddBackstageViewPage(typeof(ConfigHWParachute), rm.GetString("backstageViewPageParachute.Text"), isConnected && gotAllParams, opt);
}
if (MainV2.DisplayConfiguration.displayEsp)
{
AddBackstageViewPage(typeof(ConfigHWESP8266), rm.GetString("backstageViewPageESP.Text"), isConnected && gotAllParams, opt);
}
if (MainV2.DisplayConfiguration.displayAntennaTracker)
{
AddBackstageViewPage(typeof(Antenna.TrackerUI), "Antenna Tracker", true, opt);
}
AddBackstageViewPage(typeof(ConfigFFT), "FFT Setup", isConnected && gotAllParams, opt);
if (MainV2.DisplayConfiguration.isAdvancedMode)
{
var adv = AddBackstageViewPage(typeof(ConfigAdvanced), "Advanced");
AddBackstageViewPage(typeof(ConfigTerminal), "Terminal", true, adv);
AddBackstageViewPage(typeof(ConfigREPL), "Script REPL", isConnected, adv);
}
// remeber last page accessed
foreach (BackstageViewPage page in backstageView.Pages)
{
if (page.LinkText == lastpagename && page.Show)
{
backstageView.ActivatePage(page);
break;
}
}
ThemeManager.ApplyThemeTo(this);
}
void timer_Tick(object sender, EventArgs e)
{
try
{
MainV2.comPort.MAV.cs.UpdateCurrentSettings(currentStateBindingSource);
}
catch { }
float pwm = 0;
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane || MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover || MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.Ateryx) // APM
{
if (MainV2.comPort.MAV.param.ContainsKey("FLTMODE_CH") || MainV2.comPort.MAV.param.ContainsKey("MODE_CH"))
{
int sw = 0;
if (MainV2.comPort.MAV.param.ContainsKey("FLTMODE_CH"))
{
sw = (int)(float)MainV2.comPort.MAV.param["FLTMODE_CH"];
}
else
{
sw = (int)(float)MainV2.comPort.MAV.param["MODE_CH"];
}
switch (sw)
{
case 5:
pwm = MainV2.comPort.MAV.cs.ch5in;
break;
case 6:
pwm = MainV2.comPort.MAV.cs.ch6in;
break;
case 7:
pwm = MainV2.comPort.MAV.cs.ch7in;
break;
case 8:
pwm = MainV2.comPort.MAV.cs.ch8in;
break;
default:
break;
}
if (MainV2.comPort.MAV.param.ContainsKey("FLTMODE_CH"))
{
LBL_flightmodepwm.Text = MainV2.comPort.MAV.param["FLTMODE_CH"].ToString() + ": " + pwm.ToString();
}
else
{
LBL_flightmodepwm.Text = MainV2.comPort.MAV.param["MODE_CH"].ToString() + ": " + pwm.ToString();
}
}
}
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
{
pwm = MainV2.comPort.MAV.cs.ch5in;
LBL_flightmodepwm.Text = "5: " + MainV2.comPort.MAV.cs.ch5in.ToString();
}
Control[] fmodelist = new Control[] { CMB_fmode1, CMB_fmode2, CMB_fmode3, CMB_fmode4, CMB_fmode5, CMB_fmode6 };
foreach (Control ctl in fmodelist)
{
ThemeManager.ApplyThemeTo(ctl);
}
byte no = readSwitch(pwm);
fmodelist[no].BackColor = Color.Green;
}
private void BUT_writePIDS_Click(object sender, EventArgs e)
{
if (Common.MessageShowAgain("Write Raw Params", "Are you Sure?") != DialogResult.OK)
{
return;
}
// sort with enable at the bottom - this ensures params are set before the function is disabled
var temp = new List <string>();
foreach (var item in _changes.Keys)
{
temp.Add((string)item);
}
temp.SortENABLE();
int failed = 0;
foreach (string value in temp)
{
try
{
_can.SetParameter(_node, value, _changes[value]);
try
{
// set control as well
var textControls = Controls.Find(value, true);
if (textControls.Length > 0)
{
ThemeManager.ApplyThemeTo(textControls[0]);
}
}
catch
{
}
try
{
// set param table as well
foreach (DataGridViewRow row in Params.Rows)
{
if (row.Cells[0].Value.ToString() == value)
{
row.Cells[1].Style.BackColor = ThemeManager.ControlBGColor;
_changes.Remove(value);
break;
}
}
}
catch
{
}
}
catch (Exception ex)
{
log.Error(ex);
failed++;
CustomMessageBox.Show("Set " + value + " Failed " + ex.ToString());
}
}
_can.SaveConfig(_node);
if (failed > 0)
{
CustomMessageBox.Show("Some Parameters Failed to be saved.", "Saved");
}
else
{
CustomMessageBox.Show("Parameters successfully saved.", "Saved");
}
}
private void HardwareConfig_Load(object sender, EventArgs e)
{
ResourceManager rm = new ResourceManager(this.GetType());
if (MainV2.DisplayConfiguration.displayInstallFirmware)
{
if (!Program.WindowsStoreApp)
{
AddBackstageViewPage(typeof(ConfigFirmwareDisabled), rm.GetString("backstageViewPagefw.Text"),
isConnected);
AddBackstageViewPage(typeof(ConfigFirmware), rm.GetString("backstageViewPagefw.Text"),
isDisConnected);
}
}
if (MainV2.DisplayConfiguration.displayWizard)
{
AddBackstageViewPage(typeof(ConfigWizard), rm.GetString("backstageViewPagewizard.Text"));
}
var mand = AddBackstageViewPage(typeof(ConfigMandatory), rm.GetString("backstageViewPagemand.Text"), isConnected);
if (MainV2.DisplayConfiguration.displayFrameType)
{
AddBackstageViewPage(typeof(ConfigTradHeli), rm.GetString("backstageViewPagetradheli.Text"), isHeli, mand);
AddBackstageViewPage(typeof(ConfigFrameType), rm.GetString("backstageViewPageframetype.Text"), isCopter && !isCopter35plus, mand);
AddBackstageViewPage(typeof(ConfigFrameClassType), rm.GetString("backstageViewPageframetype.Text"), isCopter && isCopter35plus, mand);
}
if (MainV2.DisplayConfiguration.displayAccelCalibration)
{
AddBackstageViewPage(typeof(ConfigAccelerometerCalibration), rm.GetString("backstageViewPageaccel.Text"), isConnected, mand);
}
AddBackstageViewPage(typeof(ConfigHWCompass), rm.GetString("backstageViewPagecompass.Text"), isConnected, mand);
if (MainV2.DisplayConfiguration.displayRadioCalibration)
{
AddBackstageViewPage(typeof(ConfigRadioInput), rm.GetString("backstageViewPageradio.Text"), isConnected, mand);
AddBackstageViewPage(typeof(ConfigRadioOutput), "Servo Output", isConnected, mand);
}
if (MainV2.DisplayConfiguration.displayEscCalibration)
{
AddBackstageViewPage(typeof(ConfigESCCalibration), "ESC Calibration", isConnected, mand);
}
if (MainV2.DisplayConfiguration.displayFlightModes)
{
AddBackstageViewPage(typeof(ConfigFlightModes), rm.GetString("backstageViewPageflmode.Text"), isConnected, mand);
}
if (MainV2.DisplayConfiguration.displayFailSafe)
{
AddBackstageViewPage(typeof(ConfigFailSafe), rm.GetString("backstageViewPagefs.Text"), isConnected, mand);
}
var opt = AddBackstageViewPage(typeof(ConfigOptional), rm.GetString("backstageViewPageopt.Text"));
AddBackstageViewPage(typeof(ConfigGPSInject), "RTK/GPS Inject", true, opt);
if (MainV2.DisplayConfiguration.displaySikRadio)
{
AddBackstageViewPage(typeof(Sikradio), rm.GetString("backstageViewPageSikradio.Text"), true, opt);
}
if (MainV2.DisplayConfiguration.displayBattMonitor)
{
AddBackstageViewPage(typeof(ConfigBatteryMonitoring), rm.GetString("backstageViewPagebatmon.Text"), isConnected, opt);
AddBackstageViewPage(typeof(ConfigBatteryMonitoring2), rm.GetString("backstageViewPageBatt2.Text"), isConnected, opt);
}
if (MainV2.DisplayConfiguration.displayUAVCAN)
{
AddBackstageViewPage(typeof(ConfigHWUAVCAN), "UAVCAN", isConnected, opt);
}
if (MainV2.DisplayConfiguration.displayCompassMotorCalib)
{
AddBackstageViewPage(typeof(ConfigCompassMot), rm.GetString("backstageViewPagecompassmot.Text"), isConnected, opt);
}
if (MainV2.DisplayConfiguration.displayRangeFinder)
{
AddBackstageViewPage(typeof(ConfigHWRangeFinder), rm.GetString("backstageViewPagesonar.Text"), isConnected, opt);
}
if (MainV2.DisplayConfiguration.displayAirSpeed)
{
AddBackstageViewPage(typeof(ConfigHWAirspeed), rm.GetString("backstageViewPageairspeed.Text"), isConnected, opt);
}
if (MainV2.DisplayConfiguration.displayPx4Flow)
{
AddBackstageViewPage(typeof(ConfigHWPX4Flow), rm.GetString("backstageViewPagePX4Flow.Text"), true, opt);
}
if (MainV2.DisplayConfiguration.displayOpticalFlow)
{
AddBackstageViewPage(typeof(ConfigHWOptFlow), rm.GetString("backstageViewPageoptflow.Text"), isConnected, opt);
}
if (MainV2.DisplayConfiguration.displayOsd)
{
AddBackstageViewPage(typeof(ConfigHWOSD), rm.GetString("backstageViewPageosd.Text"), isConnected, opt);
}
if (MainV2.DisplayConfiguration.displayCameraGimbal)
{
AddBackstageViewPage(typeof(ConfigMount), rm.GetString("backstageViewPagegimbal.Text"), isConnected, opt);
}
if (MainV2.DisplayConfiguration.displayAntennaTracker)
{
AddBackstageViewPage(typeof(ConfigAntennaTracker), rm.GetString("backstageViewPageAntTrack.Text"), isTracker, opt);
}
if (MainV2.DisplayConfiguration.displayMotorTest)
{
AddBackstageViewPage(typeof(ConfigMotorTest), rm.GetString("backstageViewPageMotorTest.Text"), isConnected, opt);
}
if (MainV2.DisplayConfiguration.displayBluetooth)
{
AddBackstageViewPage(typeof(ConfigHWBT), rm.GetString("backstageViewPagehwbt.Text"), true, opt);
}
if (MainV2.DisplayConfiguration.displayParachute)
{
AddBackstageViewPage(typeof(ConfigHWParachute), rm.GetString("backstageViewPageParachute.Text"), isConnected, opt);
}
if (MainV2.DisplayConfiguration.displayEsp)
{
AddBackstageViewPage(typeof(ConfigHWESP8266), rm.GetString("backstageViewPageESP.Text"), isConnected, opt);
}
if (MainV2.DisplayConfiguration.displayAntennaTracker)
{
AddBackstageViewPage(typeof(Antenna.Tracker), "Antenna Tracker", true, opt);
}
AddBackstageViewPage(typeof(ConfigFFT), "FFT Setup", isConnected, opt);
// remeber last page accessed
foreach (BackstageViewPage page in backstageView.Pages)
{
if (page.LinkText == lastpagename && page.Show)
{
backstageView.ActivatePage(page);
break;
}
}
ThemeManager.ApplyThemeTo(this);
}
public LogDownloadMavLink()
{
InitializeComponent();
ThemeManager.ApplyThemeTo(this);
}
public void Activate()
{
TrackerGeneric.Activate();
ThemeManager.ApplyThemeTo(this);
}
public int WizardValidate()
{
comport = CMB_port.Text;
if (comport == "")
{
CustomMessageBox.Show("Please select a comport", "error");
return(0);
}
if (!fwdone)
{
pdr = new ProgressReporterDialogue();
pdr.DoWork += pdr_DoWork;
ThemeManager.ApplyThemeTo(pdr);
pdr.RunBackgroundOperationAsync();
if (pdr.doWorkArgs.CancelRequested || !string.IsNullOrEmpty(pdr.doWorkArgs.ErrorMessage))
{
return(0);
}
}
if (MainV2.comPort.BaseStream.IsOpen)
{
MainV2.comPort.BaseStream.Close();
}
// setup for over usb
MainV2.comPort.BaseStream.BaudRate = 115200;
MainV2.comPort.BaseStream.PortName = comport;
MainV2.comPort.Open(true);
// try again
if (!MainV2.comPort.BaseStream.IsOpen)
{
CustomMessageBox.Show("Error connecting. Please unplug, plug back in, wait 10 seconds, and click OK", "Try Again");
MainV2.comPort.Open(true);
}
if (!MainV2.comPort.BaseStream.IsOpen)
{
return(0);
}
if (string.IsNullOrEmpty(pdr.doWorkArgs.ErrorMessage))
{
if (Wizard.config["fwtype"].ToString() == "copter")
{
// check if its a quad, and show the frame type screen
return(1);
}
else
{
// skip the frame type screen as its not valid for anythine else
return(2);
}
}
return(0);
}