/// <summary>
/// used to add a marker to the map display
/// </summary>
/// <param name="tag"></param>
/// <param name="lng"></param>
/// <param name="lat"></param>
/// <param name="alt"></param>
/// <param name="color"></param>
private void addpolygonmarker(string tag, double lng, double lat, double?alt, Color?color, double wpradius, MAVLink.MAV_MISSION_TYPE type = MAVLink.MAV_MISSION_TYPE.MISSION, Color?fillcolor = null)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarker m = null;
if (type == MAVLink.MAV_MISSION_TYPE.MISSION)
{
m = new GMapMarkerWP(point, tag);
if (alt.HasValue)
{
m.ToolTipMode = MarkerTooltipMode.OnMouseOver;
m.ToolTipText = "Alt: " + alt.Value.ToString("0");
}
m.Tag = tag;
}
else if (type == MAVLink.MAV_MISSION_TYPE.FENCE)
{
m = new GMarkerGoogle(point, GMarkerGoogleType.blue_dot);
m.Tag = tag;
}
else if (type == MAVLink.MAV_MISSION_TYPE.RALLY)
{
m = new GMapMarkerRallyPt(point);
if (alt.HasValue)
{
m.ToolTipMode = MarkerTooltipMode.OnMouseOver;
m.ToolTipText = "Alt: " + alt.Value.ToString("0");
}
m.Tag = tag;
}
//MissionPlanner.GMapMarkerRectWPRad mBorders = new MissionPlanner.GMapMarkerRectWPRad(point, (int)float.Parse(TXT_WPRad.Text), MainMap);
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
mBorders.Tag = tag;
mBorders.wprad = (int)wpradius;
if (color.HasValue)
{
mBorders.Color = color.Value;
}
if (fillcolor.HasValue)
{
mBorders.FillColor = fillcolor.Value;
}
}
overlay.Markers.Add(m);
overlay.Markers.Add(mBorders);
}
catch (Exception)
{
}
}
public void addpolygonmarker_dis(double lat, double lng, Color?color) //测距添加的航点
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarkerWP m = new GMapMarkerWP(point, "");
m.ToolTipMode = MarkerTooltipMode.OnMouseOver;
markersOverlay_sec.Markers.Add(m);//添加标志
}
catch (Exception) { }
}
/// <summary>
/// 在地图上添加一个航点标志
/// </summary>
/// <param name="tag"></param>
/// <param name="lng"></param>
/// <param name="lat"></param>
/// <param name="alt"></param>
public void addpolygonmarker_sec(string tag, double lat, double lng, double alt, Color?color)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarkerWP m = new GMapMarkerWP(point, tag);
//GMapMarkerRect m = new GMapMarkerRect(point,tag);
m.ToolTipMode = MarkerTooltipMode.OnMouseOver;
m.ToolTipText = "Alt: " + alt.ToString("0");
m.Tag = tag;
markersOverlay_sec.Markers.Add(m);//添加标志
}
catch (Exception) { }
}
/// <summary>
/// used to add a marker to the map display
/// </summary>
/// <param name="tag"></param>
/// <param name="lng"></param>
/// <param name="lat"></param>
/// <param name="alt"></param>
/// <param name="color"></param>
private void addpolygonmarker(string tag, double lng, double lat, double alt, Color?color, double wpradius)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarkerWP m = new GMapMarkerWP(point, tag);
m.ToolTipMode = MarkerTooltipMode.OnMouseOver;
m.ToolTipText = "Alt: " + alt.ToString("0");
m.Tag = tag;
int wpno = -1;
if (int.TryParse(tag, out wpno))
{
// preselect groupmarker
//if (groupmarkers.Contains(wpno))
//m.selected = true;
}
//MissionPlanner.GMapMarkerRectWPRad mBorders = new MissionPlanner.GMapMarkerRectWPRad(point, (int)float.Parse(TXT_WPRad.Text), MainMap);
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
mBorders.Tag = tag;
mBorders.wprad = (int)wpradius;
if (color.HasValue)
{
mBorders.Color = color.Value;
}
}
overlay.Markers.Add(m);
overlay.Markers.Add(mBorders);
}
catch (Exception)
{
}
}
// Do Work
private void domainUpDown1_ValueChanged(object sender, EventArgs e)
{
// if (CMB_camera.Text != "")
doCalc();
// new grid system test
grid = Grid1.CreateGrid(list, CurrentState.fromDistDisplayUnit((double)TBAR_zoom.Value), (double)Distance, (double)Spacing, (double)Angle, double.Parse(TXT_turn_radius.Text), (Grid1.StartPosition)Enum.Parse(typeof(Grid1.StartPosition), "Home"), false);
List<PointLatLng> list2 = new List<PointLatLng>();
grid.ForEach(x => { list2.Add(x); });
MainMap.HoldInvalidation = true;
routesOverlay.Routes.Clear();
routesOverlay.Polygons.Clear();
routesOverlay.Markers.Clear();
if (grid.Count == 0)
{
return;
}
if (CHK_boundary.Checked)
{
blue.redrawPolygonSurvey(new List<PointLatLng>(list));
}
else
{
blue.overlay.Clear();
}
int strips = 0;
int images = 0;
int a = 1;
PointLatLngAlt prevpoint = grid[0];
float routetotal = 0;
List<PointLatLng> segment = new List<PointLatLng>();
foreach (var item in grid)
{
if (item.Tag == "M")
{
images++;
if (CHK_internals.Checked)
{
routesOverlay.Markers.Add(new GMarkerGoogle(item, GMarkerGoogleType.yellow) { ToolTipText = a.ToString(), ToolTipMode = MarkerTooltipMode.OnMouseOver });
a++;
segment.Add(prevpoint);
segment.Add(item);
prevpoint = item;
}
try
{
if (fovH != "")
{
double fovh = double.Parse(fovH);
double fovv = double.Parse(fovV);
double startangle = 0;
if (RadioLandspace.Checked)
{
startangle = 90;
}
float sensorwidth = float.Parse(TXT_senswidth.Text);
float sensorheight = float.Parse(TXT_sensheight.Text);
double angle1 = startangle - (Math.Atan(sensorwidth / sensorheight) * rad2deg);
double dist1 = Math.Sqrt(Math.Pow(fovh / 2.0, 2) + Math.Pow(fovv / 2.0, 2));
double bearing = (double)Angle;// (prevpoint.GetBearing(item) + 360.0) % 360;
List<PointLatLng> footprint = new List<PointLatLng>();
footprint.Add(item.newpos(bearing + angle1, dist1));
footprint.Add(item.newpos(bearing + 180 - angle1, dist1));
footprint.Add(item.newpos(bearing + 180 + angle1, dist1));
footprint.Add(item.newpos(bearing - angle1, dist1));
GMapPolygon poly = new GMapPolygon(footprint, a.ToString());
poly.Stroke = new Pen(Color.FromArgb(250 - ((a * 5) % 240), 250 - ((a * 3) % 240), 250 - ((a * 9) % 240)), 1);
poly.Fill = new SolidBrush(Color.FromArgb(40, Color.Purple));
if (CHK_footprints.Checked)
routesOverlay.Polygons.Add(poly);
}
}
catch { }
}
else
{
strips++;
if (CHK_markers.Checked)
{
var marker = new GMapMarkerWP(item, a.ToString()) { ToolTipText = a.ToString(), ToolTipMode = MarkerTooltipMode.OnMouseOver };
routesOverlay.Markers.Add(marker);
}
segment.Add(prevpoint);
segment.Add(item);
prevpoint = item;
a++;
}
GMapRoute seg = new GMapRoute(segment, "segment" + a.ToString());
seg.Stroke = new Pen(Color.Yellow, 4);
seg.Stroke.DashStyle = System.Drawing.Drawing2D.DashStyle.Custom;
//seg.IsVisible = false;
seg.IsHitTestVisible = true;
if (CHK_grid1.Checked)
routesOverlay.Routes.Add(seg);
routetotal = routetotal + (float)seg.Distance;
segment.Clear();
}
/* Old way of drawing route, incase something breaks using segments
GMapRoute wproute = new GMapRoute(list2, "GridRoute");
wproute.Stroke = new Pen(Color.Yellow, 4);
if (chk_grid.Checked)
routesOverlay.Routes.Add(wproute);
*/
// Update Stats
if (DistUnits == "Feet")
{
// Area
float area = (float)calcpolygonarea(list) * 10.7639f; // Calculate the area in square feet
lbl_area.Text = area.ToString("#") + " ft^2";
if (area < 21780f)
{
lbl_area.Text = area.ToString("#") + " ft^2";
}
else
{
area = area / 43560f;
if (area < 640f)
{
lbl_area.Text = area.ToString("0.##") + " acres";
}
else
{
area = area / 640f;
lbl_area.Text = area.ToString("0.##") + " miles^2";
}
}
// Distance
float distance = routetotal * 3280.84f; // Calculate the distance in feet
if (distance < 5280f)
{
lbl_distance.Text = distance.ToString("#") + " ft";
}
else
{
distance = distance / 5280f;
lbl_distance.Text = distance.ToString("0.##") + " miles";
}
lbl_spacing.Text = (Spacing * 3.2808399m).ToString("#") + " ft";
lbl_altitude.Text = (TBAR_zoom.Value * 3.2808399m).ToString("#") + " ft";
lbl_distbetweenlines.Text = (Distance * 3.2808399m).ToString("0.##") + " ft";
lbl_footprint.Text = feet_fovH + " x " + feet_fovV + " ft";
}
else
{
// Meters
lbl_area.Text = calcpolygonarea(list).ToString("#") + " m^2";
lbl_distance.Text = routetotal.ToString("0.##") + " km";
lbl_spacing.Text = Spacing.ToString("#") + " m";
lbl_altitude.Text = TBAR_zoom.Value.ToString();
lbl_distbetweenlines.Text = Distance.ToString("0.##") + " m";
lbl_footprint.Text = fovH + " x " + fovV + " m";
}
double flyspeedms = CurrentState.fromSpeedDisplayUnit((double)NUM_UpDownFlySpeed.Value);
lbl_pictures.Text = images.ToString();
lbl_strips.Text = ((int)(strips / 2)).ToString();
double seconds = ((routetotal * 1000.0) / ((flyspeedms) * 0.8));
// reduce flying speed by 20 %
lbl_flighttime.Text = secondsToNice(seconds);
seconds = ((routetotal * 1000.0) / (flyspeedms));
lbl_photoevery.Text = secondsToNice(((double)Spacing / flyspeedms));
MainMap.HoldInvalidation = false;
if (!isMouseDown)
MainMap.ZoomAndCenterMarkers("routes");
CalcHeadingHold();
}
private void domainUpDown1_ValueChanged(object sender, EventArgs e)
{
if (loading)
{
return;
}
if (CMB_camera.Text != "")
{
doCalc();
}
// new grid system test
grid = Grid.CreateGrid(list, CurrentState.fromDistDisplayUnit((double)NUM_altitude.Value),
(double)NUM_Distance, (double)NUM_spacing, (double)NUM_angle.Value,
(double)NUM_overshoot, (double)NUM_overshoot2,
(Grid.StartPosition)Enum.Parse(typeof(Grid.StartPosition), CMB_startfrom.Text), false,
(float)NUM_Lane_Dist, (float)NUM_leadin);
map.HoldInvalidation = true;
routesOverlay.Routes.Clear();
routesOverlay.Polygons.Clear();
routesOverlay.Markers.Clear();
GMapMarkerOverlap.Clear();
if (grid.Count == 0)
{
return;
}
if (chk_crossgrid.Checked)
{
// add crossover
Grid.StartPointLatLngAlt = grid[grid.Count - 1];
grid.AddRange(Grid.CreateGrid(list, CurrentState.fromDistDisplayUnit((double)NUM_altitude.Value),
(double)NUM_Distance, (double)NUM_spacing, (double)NUM_angle.Value + 90.0,
(double)NUM_overshoot, (double)NUM_overshoot2,
Grid.StartPosition.Point, false,
(float)NUM_Lane_Dist, (float)NUM_leadin));
}
//if (CHK_boundary.Checked)
AddDrawPolygon();
int strips = 0;
int images = 0;
int a = 1;
PointLatLngAlt prevpoint = grid[0];
float routetotal = 0;
List <PointLatLng> segment = new List <PointLatLng>();
double maxgroundelevation = double.MinValue;
double mingroundelevation = double.MaxValue;
double startalt = plugin.Host.cs.HomeAlt;
foreach (var item in grid)
{
double currentalt = srtm.getAltitude(item.Lat, item.Lng).alt;
mingroundelevation = Math.Min(mingroundelevation, currentalt);
maxgroundelevation = Math.Max(maxgroundelevation, currentalt);
if (item.Tag == "M")
{
images++;
//if (CHK_internals.Checked) MP中未直接打勾的就先暂时认为是不用选中
//{
// routesOverlay.Markers.Add(new GMarkerGoogle(item, GMarkerGoogleType.green) { ToolTipText = a.ToString(), ToolTipMode = MarkerTooltipMode.OnMouseOver });
// a++;
// segment.Add(prevpoint);
// segment.Add(item);
// prevpoint = item;
//}
try
{
if (TXT_fovH != "")
{
if (CHK_footprints.Checked)
{
double fovh = double.Parse(TXT_fovH);
double fovv = double.Parse(TXT_fovV);
getFOV(item.Alt + startalt - currentalt, ref fovh, ref fovv);
double startangle = 0;
//if (!CHK_camdirection.Checked) MP中直接打勾的视为必选项
//{
startangle = 90;
//}
double angle1 = startangle - (Math.Sin((fovh / 2.0) / (fovv / 2.0)) * rad2deg);
double dist1 = Math.Sqrt(Math.Pow(fovh / 2.0, 2) + Math.Pow(fovv / 2.0, 2));
double bearing = (double)NUM_angle.Value;
//if (CHK_copter_headinghold.Checked)
//{
// bearing = Convert.ToInt32(TXT_headinghold);
//}
double fovha = 0;
double fovva = 0;
getFOVangle(ref fovha, ref fovva);
var itemcopy = new PointLatLngAlt(item);
itemcopy.Alt += startalt;
var temp = ImageProjection.calc(itemcopy, 0, 0, bearing + startangle, fovha, fovva);
List <PointLatLng> footprint = new List <PointLatLng>();
footprint.Add(temp[0]);
footprint.Add(temp[1]);
footprint.Add(temp[2]);
footprint.Add(temp[3]);
GMapPolygon poly = new GMapPolygon(footprint, a.ToString());
poly.Stroke =
new Pen(Color.FromArgb(250 - ((a * 5) % 240), 250 - ((a * 3) % 240), 250 - ((a * 9) % 240)), 1);
poly.Fill = new SolidBrush(Color.Transparent);
GMapMarkerOverlap.Add(poly);
routesOverlay.Polygons.Add(poly);
a++;
}
}
}
catch { }
}
else
{
if (item.Tag != "SM" && item.Tag != "ME")
{
strips++;
}
if (CHK_markers.Checked)
{
var marker = new GMapMarkerWP(item, a.ToString())
{
ToolTipText = a.ToString(), ToolTipMode = MarkerTooltipMode.OnMouseOver
};
routesOverlay.Markers.Add(marker);
}
segment.Add(prevpoint);
segment.Add(item);
prevpoint = item;
a++;
}
GMapRoute seg = new GMapRoute(segment, "segment" + a.ToString());
seg.Stroke = new Pen(Color.Yellow, 4);
seg.Stroke.DashStyle = System.Drawing.Drawing2D.DashStyle.Custom;
seg.IsHitTestVisible = true;
routetotal = routetotal + (float)seg.Distance;
//if (CHK_grid)
//{
routesOverlay.Routes.Add(seg);
//}
//else
//{
// seg.Dispose();
//}
segment.Clear();
}
if (CHK_footprints.Checked)
{
routesOverlay.Markers.Add(GMapMarkerOverlap);
}
/* Old way of drawing route, incase something breaks using segments
* GMapRoute wproute = new GMapRoute(list2, "GridRoute");
* wproute.Stroke = new Pen(Color.Yellow, 4);
* if (chk_grid.Checked)
* routesOverlay.Routes.Add(wproute);
*/
// turn radrad = tas^2 / (tan(angle) * G)
// float v_sq = (float)(((float)NUM_UpDownFlySpeed.Value / CurrentState.multiplierspeed) * ((float)NUM_UpDownFlySpeed.Value / CurrentState.multiplierspeed));
// float turnrad = (float)(v_sq / (float)(9.808f * Math.Tan(35 * deg2rad)));
// Update Stats
if (DistUnits == "Feet")
{
// Area
float area = (float)calcpolygonarea(list) * 10.7639f; // Calculate the area in square feet
lbl_area.Text = area.ToString("#") + " ft^2";
if (area < 21780f)
{
lbl_area.Text = area.ToString("#") + " ft^2";
}
else
{
area = area / 43560f;
if (area < 640f)
{
lbl_area.Text = area.ToString("0.##") + " acres";
}
else
{
area = area / 640f;
lbl_area.Text = area.ToString("0.##") + " miles^2";
}
}
// Distance
float distance = routetotal * 3280.84f; // Calculate the distance in feet
if (distance < 5280f)
{
lbl_distance.Text = distance.ToString("#") + " ft";
}
else
{
distance = distance / 5280f;
lbl_distance.Text = distance.ToString("0.##") + " miles";
}
lbl_spacing.Text = (NUM_spacing * 3.2808399m).ToString("#") + " ft";
lbl_grndres.Text = inchpixel;
lbl_distbetweenlines.Text = (NUM_Distance * 3.2808399m).ToString("0.##") + " ft";
lbl_footprint.Text = feet_fovH + " x " + feet_fovV + " ft";
//lbl_turnrad.Text = (turnrad * 2 * 3.2808399).ToString("0") + " ft";
lbl_gndelev.Text = (mingroundelevation * 3.2808399).ToString("0") + "-" + (maxgroundelevation * 3.2808399).ToString("0") + " ft";
}
else
{
// Meters
lbl_area.Text = calcpolygonarea(list).ToString("#") + " m^2";
lbl_distance.Text = routetotal.ToString("0.##") + " km";
lbl_spacing.Text = NUM_spacing.ToString("#") + " m";
lbl_grndres.Text = TXT_cmpixel;
lbl_distbetweenlines.Text = NUM_Distance.ToString("0.##") + " m";
lbl_footprint.Text = TXT_fovH + " x " + TXT_fovV + " m";
//lbl_turnrad.Text = (turnrad * 2).ToString("0") + " m";
lbl_gndelev.Text = mingroundelevation.ToString("0") + "-" + maxgroundelevation.ToString("0") + " m";
}
try
{
// speed m/s
var speed = ((float)NUM_UpDownFlySpeed / CurrentState.multiplierspeed);
// cmpix cm/pixel
var cmpix = float.Parse(TXT_cmpixel.TrimEnd(new[] { 'c', 'm', ' ' }));
// m pix = m/pixel
var mpix = cmpix * 0.01;
// gsd / 2.0
var minmpix = mpix / 2.0;
// min sutter speed
var minshutter = speed / minmpix;
//lbl_minshutter.Text = "1/" + (minshutter - minshutter % 1).ToString();
}
catch { }
double flyspeedms = CurrentState.fromSpeedDisplayUnit((double)NUM_UpDownFlySpeed);
lbl_pictures.Text = images.ToString();
lbl_strips.Text = ((int)(strips / 2)).ToString();
double seconds = ((routetotal * 1000.0) / ((flyspeedms) * 0.8));
// reduce flying speed by 20 %
lbl_flighttime.Text = secondsToNice(seconds);
seconds = ((routetotal * 1000.0) / (flyspeedms));
lbl_photoevery.Text = secondsToNice(((double)NUM_spacing / flyspeedms));
map.HoldInvalidation = false;
if (!isMouseDown && sender != NUM_angle)
{
map.ZoomAndCenterMarkers("routes");
}
CalcHeadingHold();
map.Invalidate();
}
