Esempio n. 1
0
        public static DialogResult MessageShowAgain(string title, string promptText)
        {
            Form form = new Form();

            System.Windows.Forms.Label label = new System.Windows.Forms.Label();
            CheckBox chk      = new CheckBox();
            MyButton buttonOk = new MyButton();

            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainV2));
            form.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));

            form.Text  = title;
            label.Text = promptText;

            chk.Tag      = ("SHOWAGAIN_" + title.Replace(" ", "_"));
            chk.AutoSize = true;
            chk.Text     = "Show me again?";
            chk.Checked  = true;
            chk.Location = new Point(9, 80);

            if (MainV2.config[(string)chk.Tag] != null && (string)MainV2.config[(string)chk.Tag] == "False") // skip it
            {
                form.Dispose();
                chk.Dispose();
                buttonOk.Dispose();
                label.Dispose();
                return(DialogResult.OK);
            }

            chk.CheckStateChanged += new EventHandler(chk_CheckStateChanged);

            buttonOk.Text         = "OK";
            buttonOk.DialogResult = DialogResult.OK;
            buttonOk.Location     = new Point(form.Right - 100, 80);

            label.SetBounds(9, 40, 372, 13);

            label.AutoSize = true;

            form.ClientSize = new Size(396, 107);
            form.Controls.AddRange(new Control[] { label, chk, buttonOk });
            form.ClientSize      = new Size(Math.Max(300, label.Right + 10), form.ClientSize.Height);
            form.FormBorderStyle = FormBorderStyle.FixedDialog;
            form.StartPosition   = FormStartPosition.CenterScreen;
            form.MinimizeBox     = false;
            form.MaximizeBox     = false;

            MainV2.fixtheme(form);

            return(form.ShowDialog());
        }
Esempio n. 2
0
        //from http://www.csharp-examples.net/inputbox/
        public static DialogResult InputBox(string title, string promptText, ref string value)
        {
            Form form = new Form();

            System.Windows.Forms.Label label = new System.Windows.Forms.Label();
            TextBox  textBox      = new TextBox();
            MyButton buttonOk     = new MyButton();
            MyButton buttonCancel = new MyButton();

            form.TopMost = true;

            form.Text    = title;
            label.Text   = promptText;
            textBox.Text = value;

            buttonOk.Text             = "OK";
            buttonCancel.Text         = "Cancel";
            buttonOk.DialogResult     = DialogResult.OK;
            buttonCancel.DialogResult = DialogResult.Cancel;

            label.SetBounds(9, 20, 372, 13);
            textBox.SetBounds(12, 36, 372, 20);
            buttonOk.SetBounds(228, 72, 75, 23);
            buttonCancel.SetBounds(309, 72, 75, 23);

            label.AutoSize      = true;
            textBox.Anchor      = textBox.Anchor | AnchorStyles.Right;
            buttonOk.Anchor     = AnchorStyles.Bottom | AnchorStyles.Right;
            buttonCancel.Anchor = AnchorStyles.Bottom | AnchorStyles.Right;

            form.ClientSize = new Size(396, 107);
            form.Controls.AddRange(new Control[] { label, textBox, buttonOk, buttonCancel });
            form.ClientSize      = new Size(Math.Max(300, label.Right + 10), form.ClientSize.Height);
            form.FormBorderStyle = FormBorderStyle.FixedDialog;
            form.StartPosition   = FormStartPosition.CenterScreen;
            form.MinimizeBox     = false;
            form.MaximizeBox     = false;
            form.AcceptButton    = buttonOk;
            form.CancelButton    = buttonCancel;

            MainV2.fixtheme(form);

            DialogResult dialogResult = form.ShowDialog();

            if (dialogResult == DialogResult.OK)
            {
                value = textBox.Text;
            }
            return(dialogResult);
        }
Esempio n. 3
0
        public MainV2()
        {
            log.Info("Mainv2 ctor");

            Form splash = Program.Splash;

            string strVersion = System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString();

            strVersion = "mav " + MAVLink.MAVLINK_WIRE_PROTOCOL_VERSION;

            splash.Text = "Mission Planner " + Application.ProductVersion + " " + strVersion;

            splash.Refresh();

            Application.DoEvents();

            instance = this;

            InitializeComponent();

            MenuFlightPlanner.Image = new Bitmap(MissionPlanner.Properties.Resources.flightplanner);

            MyView = new MainSwitcher(this);

            View = MyView;

            _connectionControl = toolStripConnectionControl.ConnectionControl;
            _connectionControl.CMB_baudrate.TextChanged += this.CMB_baudrate_TextChanged;
            _connectionControl.CMB_baudrate.SelectedIndexChanged += this.CMB_baudrate_SelectedIndexChanged;
            _connectionControl.CMB_serialport.SelectedIndexChanged += this.CMB_serialport_SelectedIndexChanged;
            _connectionControl.CMB_serialport.Enter += this.CMB_serialport_Enter;
            _connectionControl.CMB_serialport.Click += this.CMB_serialport_Click;
            _connectionControl.TOOL_APMFirmware.SelectedIndexChanged += this.TOOL_APMFirmware_SelectedIndexChanged;

            _connectionControl.ShowLinkStats += (sender, e) => ShowConnectionStatsForm();
            srtm.datadirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "srtm";

            var t = Type.GetType("Mono.Runtime");
            MONO = (t != null);

            speechEngine = new Speech();

            // proxy loader - dll load now instead of on config form load
            new Transition(new TransitionType_EaseInEaseOut(2000));

            //MyRenderer.currentpressed = MenuFlightData;

            //MainMenu.Renderer = new MyRenderer();

            foreach (object obj in Enum.GetValues(typeof(Firmwares)))
            {
                _connectionControl.TOOL_APMFirmware.Items.Add(obj);
            }

            if (_connectionControl.TOOL_APMFirmware.Items.Count > 0)
                _connectionControl.TOOL_APMFirmware.SelectedIndex = 0;

            this.Text = splash.Text;

            comPort.BaseStream.BaudRate = 115200;

            // ** Old
            //            CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
            //            CMB_serialport.Items.Add("TCP");
            //            CMB_serialport.Items.Add("UDP");
            //            if (CMB_serialport.Items.Count > 0)
            //            {
            //                CMB_baudrate.SelectedIndex = 7;
            //                CMB_serialport.SelectedIndex = 0;
            //            }
            // ** new
            _connectionControl.CMB_serialport.Items.Add("AUTO");
            _connectionControl.CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
            _connectionControl.CMB_serialport.Items.Add("TCP");
            _connectionControl.CMB_serialport.Items.Add("UDP");
            if (_connectionControl.CMB_serialport.Items.Count > 0)
            {
                _connectionControl.CMB_baudrate.SelectedIndex = 7;
                _connectionControl.CMB_serialport.SelectedIndex = 0;
            }
            // ** Done

            splash.Refresh();
            Application.DoEvents();

            // set this before we reset it
            MainV2.config["NUM_tracklength"] = "200";

            // load config
            xmlconfig(false);

            if (config.ContainsKey("language") && !string.IsNullOrEmpty((string)config["language"]))
                changelanguage(CultureInfoEx.GetCultureInfo((string)config["language"]));

            if (!MONO) // windows only
            {
                if (MainV2.config["showconsole"] != null && MainV2.config["showconsole"].ToString() == "True")
                {
                }
                else
                {
                    int win = NativeMethods.FindWindow("ConsoleWindowClass", null);
                    NativeMethods.ShowWindow(win, NativeMethods.SW_HIDE); // hide window
                }
            }

            ChangeUnits();

            if (config["theme"] != null)
            {
                ThemeManager.SetTheme((ThemeManager.Themes)Enum.Parse(typeof(ThemeManager.Themes), MainV2.config["theme"].ToString()));

                if (ThemeManager.CurrentTheme == ThemeManager.Themes.Custom)
                {
                    try
                    {
                        ThemeManager.BGColor = Color.FromArgb(int.Parse(MainV2.config["theme_bg"].ToString()));
                        ThemeManager.ControlBGColor = Color.FromArgb(int.Parse(MainV2.config["theme_ctlbg"].ToString()));
                        ThemeManager.TextColor = Color.FromArgb(int.Parse(MainV2.config["theme_text"].ToString()));
                        ThemeManager.ButBG = Color.FromArgb(int.Parse(MainV2.config["theme_butbg"].ToString()));
                        ThemeManager.ButBorder = Color.FromArgb(int.Parse(MainV2.config["theme_butbord"].ToString()));
                    }
                    catch { log.Error("Bad Custom theme - reset to standard"); ThemeManager.SetTheme(ThemeManager.Themes.BurntKermit); }
                }
            }

            try
            {
                log.Info("Create FD");
                FlightData = new GCSViews.FlightData();
                log.Info("Create FP");
                FlightPlanner = new GCSViews.FlightPlanner();
                //Configuration = new GCSViews.ConfigurationView.Setup();
                log.Info("Create SIM");
                Simulation = new GCSViews.Simulation();
                //Firmware = new GCSViews.Firmware();
                //Terminal = new GCSViews.Terminal();

                // preload
                log.Info("Create Python");
                Python.CreateEngine();
            }
            catch (ArgumentException e)
            {
                //http://www.microsoft.com/en-us/download/details.aspx?id=16083
                //System.ArgumentException: Font 'Arial' does not support style 'Regular'.

                log.Fatal(e);
                CustomMessageBox.Show(e.ToString() + "\n\n Font Issues? Please install this http://www.microsoft.com/en-us/download/details.aspx?id=16083");
                //splash.Close();
                //this.Close();
                Application.Exit();
            }
            catch (Exception e) { log.Fatal(e); CustomMessageBox.Show("A Major error has occured : " + e.ToString()); Application.Exit(); }

            if (MainV2.config["CHK_GDIPlus"] != null)
                GCSViews.FlightData.myhud.UseOpenGL = !bool.Parse(MainV2.config["CHK_GDIPlus"].ToString());

            try
            {
                if (config["MainLocX"] != null && config["MainLocY"] != null)
                {
                    this.StartPosition = FormStartPosition.Manual;
                    Point startpos = new Point(int.Parse(config["MainLocX"].ToString()), int.Parse(config["MainLocY"].ToString()));
                    this.Location = startpos;
                }

                if (config["MainMaximised"] != null)
                {
                    this.WindowState = (FormWindowState)Enum.Parse(typeof(FormWindowState), config["MainMaximised"].ToString());
                    // dont allow minimised start state
                    if (this.WindowState == FormWindowState.Minimized)
                    {
                        this.WindowState = FormWindowState.Normal;
                        this.Location = new Point(100, 100);
                    }
                }

                if (config["MainHeight"] != null)
                    this.Height = int.Parse(config["MainHeight"].ToString());
                if (config["MainWidth"] != null)
                    this.Width = int.Parse(config["MainWidth"].ToString());

                if (config["CMB_rateattitude"] != null)
                    MainV2.comPort.MAV.cs.rateattitude = byte.Parse(config["CMB_rateattitude"].ToString());
                if (config["CMB_rateposition"] != null)
                    MainV2.comPort.MAV.cs.rateposition = byte.Parse(config["CMB_rateposition"].ToString());
                if (config["CMB_ratestatus"] != null)
                    MainV2.comPort.MAV.cs.ratestatus = byte.Parse(config["CMB_ratestatus"].ToString());
                if (config["CMB_raterc"] != null)
                    MainV2.comPort.MAV.cs.raterc = byte.Parse(config["CMB_raterc"].ToString());
                if (config["CMB_ratesensors"] != null)
                    MainV2.comPort.MAV.cs.ratesensors = byte.Parse(config["CMB_ratesensors"].ToString());

                if (config["speechenable"] != null)
                    MainV2.speechEnable = bool.Parse(config["speechenable"].ToString());

                //int fixme;
                /*
                MainV2.comPort.MAV.cs.rateattitude = 50;
                MainV2.comPort.MAV.cs.rateposition = 50;
                MainV2.comPort.MAV.cs.ratestatus = 50;
                MainV2.comPort.MAV.cs.raterc = 50;
                MainV2.comPort.MAV.cs.ratesensors = 50;
                */
                try
                {
                    if (config["TXT_homelat"] != null)
                        MainV2.comPort.MAV.cs.HomeLocation.Lat = double.Parse(config["TXT_homelat"].ToString());

                    if (config["TXT_homelng"] != null)
                        MainV2.comPort.MAV.cs.HomeLocation.Lng = double.Parse(config["TXT_homelng"].ToString());

                    if (config["TXT_homealt"] != null)
                        MainV2.comPort.MAV.cs.HomeLocation.Alt = double.Parse(config["TXT_homealt"].ToString());
                }
                catch { }
            }
            catch { }

            if (MainV2.comPort.MAV.cs.rateattitude == 0) // initilised to 10, configured above from save
            {
                CustomMessageBox.Show("NOTE: your attitude rate is 0, the hud will not work\nChange in Configuration > Planner > Telemetry Rates");
            }

            // log dir

            if (config["logdirectory"] != null)
                MainV2.LogDir = config["logdirectory"].ToString();

            //System.Threading.Thread.Sleep(2000);

            // make sure new enough .net framework is installed
            if (!MONO)
            {
                Microsoft.Win32.RegistryKey installed_versions = Microsoft.Win32.Registry.LocalMachine.OpenSubKey(@"SOFTWARE\Microsoft\NET Framework Setup\NDP");
                string[] version_names = installed_versions.GetSubKeyNames();
                //version names start with 'v', eg, 'v3.5' which needs to be trimmed off before conversion
                double Framework = Convert.ToDouble(version_names[version_names.Length - 1].Remove(0, 1), CultureInfo.InvariantCulture);
                int SP = Convert.ToInt32(installed_versions.OpenSubKey(version_names[version_names.Length - 1]).GetValue("SP", 0));

                if (Framework < 3.5)
                {
                    CustomMessageBox.Show("This program requires .NET Framework 3.5. You currently have " + Framework);
                }
            }

            Application.DoEvents();

            Comports.Add(comPort);

            //int fixmenextrelease;
               // if (MainV2.getConfig("fixparams") == "")
            {
            //    Utilities.ParameterMetaDataParser.GetParameterInformation();
            //    MainV2.config["fixparams"] = 1;
            }

            splash.Close();
        }
Esempio n. 4
0
        /*
         * 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"); }
            }
        }
Esempio n. 5
0
        /*
         * 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"); }
            }
        }
Esempio n. 6
0
        public MainV2()
        {
            Form splash = new Splash();
            splash.Show();

            string strVersion = System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString();

            strVersion = "mav " + MAVLink.MAVLINK_WIRE_PROTOCOL_VERSION;

            splash.Text = "APM Planner " + Application.ProductVersion + " " + strVersion + " By Michael Oborne";

            splash.Refresh();

            Application.DoEvents();

            instance = this;

            InitializeComponent();

            _connectionControl = toolStripConnectionControl.ConnectionControl;
            _connectionControl.CMB_baudrate.TextChanged += this.CMB_baudrate_TextChanged;
            _connectionControl.CMB_baudrate.SelectedIndexChanged += this.CMB_baudrate_SelectedIndexChanged;
            _connectionControl.CMB_serialport.SelectedIndexChanged += this.CMB_serialport_SelectedIndexChanged;
            _connectionControl.CMB_serialport.Enter += this.CMB_serialport_Enter;
            _connectionControl.CMB_serialport.Click += this.CMB_serialport_Click;
            _connectionControl.TOOL_APMFirmware.SelectedIndexChanged += this.TOOL_APMFirmware_SelectedIndexChanged;

            srtm.datadirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "srtm";

            var t = Type.GetType("Mono.Runtime");
            MONO = (t != null);

            speechEngine = new Speech();

            MyRenderer.currentpressed = MenuFlightData;

            MainMenu.Renderer = new MyRenderer();

            List<object> list = new List<object>();
            foreach (object obj in Enum.GetValues(typeof(Firmwares)))
            {
                _connectionControl.TOOL_APMFirmware.Items.Add(obj);
            }

            if (_connectionControl.TOOL_APMFirmware.Items.Count > 0)
                _connectionControl.TOOL_APMFirmware.SelectedIndex = 0;

            this.Text = splash.Text;

            comPort.BaseStream.BaudRate = 115200;

            // ** Old
            //            CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
            //            CMB_serialport.Items.Add("TCP");
            //            CMB_serialport.Items.Add("UDP");
            //            if (CMB_serialport.Items.Count > 0)
            //            {
            //                CMB_baudrate.SelectedIndex = 7;
            //                CMB_serialport.SelectedIndex = 0;
            //            }
            // ** new
            _connectionControl.CMB_serialport.Items.AddRange(ArdupilotMega.Comms.SerialPort.GetPortNames());
            _connectionControl.CMB_serialport.Items.Add("TCP");
            _connectionControl.CMB_serialport.Items.Add("UDP");
            if (_connectionControl.CMB_serialport.Items.Count > 0)
            {
                _connectionControl.CMB_baudrate.SelectedIndex = 7;
                _connectionControl.CMB_serialport.SelectedIndex = 0;
            }
            // ** Done

            splash.Refresh();
            Application.DoEvents();

            // set this before we reset it
            MainV2.config["NUM_tracklength"] = "200";

            xmlconfig(false);

            if (config.ContainsKey("language") && !string.IsNullOrEmpty((string)config["language"]))
                changelanguage(CultureInfoEx.GetCultureInfo((string)config["language"]));

            if (!MONO) // windows only
            {
                if (MainV2.config["showconsole"] != null && MainV2.config["showconsole"].ToString() == "True")
                {
                }
                else
                {
                    int win = FindWindow("ConsoleWindowClass", null);
                    ShowWindow(win, SW_HIDE); // hide window
                }
            }

            try
            {
                FlightData = new GCSViews.FlightData();
                FlightPlanner = new GCSViews.FlightPlanner();
                //Configuration = new GCSViews.Configuration();
                Simulation = new GCSViews.Simulation();
                Firmware = new GCSViews.Firmware();
                //Terminal = new GCSViews.Terminal();

                // preload
                Python.CreateEngine();
            }
            catch (Exception e) { CustomMessageBox.Show("A Major error has occured : " + e.ToString()); this.Close(); }

            if (MainV2.config["CHK_GDIPlus"] != null)
                GCSViews.FlightData.myhud.UseOpenGL = !bool.Parse(MainV2.config["CHK_GDIPlus"].ToString());

            ChangeUnits();

            try
            {
                if (config["MainLocX"] != null && config["MainLocY"] != null)
                {
                    this.StartPosition = FormStartPosition.Manual;
                    Point startpos = new Point(int.Parse(config["MainLocX"].ToString()), int.Parse(config["MainLocY"].ToString()));
                    this.Location = startpos;
                }

                if (config["MainMaximised"] != null)
                {
                    this.WindowState = (FormWindowState)Enum.Parse(typeof(FormWindowState), config["MainMaximised"].ToString());
                    // dont allow minimised start state
                    if (this.WindowState == FormWindowState.Minimized)
                    {
                        this.WindowState = FormWindowState.Normal;
                        this.Location = new Point(100, 100);
                    }
                }

                if (config["MainHeight"] != null)
                    this.Height = int.Parse(config["MainHeight"].ToString());
                if (config["MainWidth"] != null)
                    this.Width = int.Parse(config["MainWidth"].ToString());

                if (config["CMB_rateattitude"] != null)
                    MainV2.cs.rateattitude = byte.Parse(config["CMB_rateattitude"].ToString());
                if (config["rateposition"] != null)
                    MainV2.cs.rateposition = byte.Parse(config["CMB_rateposition"].ToString());
                if (config["CMB_ratestatus"] != null)
                    MainV2.cs.ratestatus = byte.Parse(config["CMB_ratestatus"].ToString());
                if (config["CMB_raterc"] != null)
                    MainV2.cs.raterc = byte.Parse(config["CMB_raterc"].ToString());
                if (config["CMB_ratesensors"] != null)
                    MainV2.cs.ratesensors = byte.Parse(config["CMB_ratesensors"].ToString());

                if (config["speechenable"] != null)
                    MainV2.speechEnable = bool.Parse(config["speechenable"].ToString());

                //int fixme;
                /*
                MainV2.cs.rateattitude = 50;
                MainV2.cs.rateposition = 50;
                MainV2.cs.ratestatus = 50;
                MainV2.cs.raterc = 50;
                MainV2.cs.ratesensors = 50;
                */
                try
                {
                    if (config["TXT_homelat"] != null)
                        cs.HomeLocation.Lat = double.Parse(config["TXT_homelat"].ToString());

                    if (config["TXT_homelng"] != null)
                        cs.HomeLocation.Lng = double.Parse(config["TXT_homelng"].ToString());

                    if (config["TXT_homealt"] != null)
                        cs.HomeLocation.Alt = double.Parse(config["TXT_homealt"].ToString());
                }
                catch { }

            }
            catch { }

            if (cs.rateattitude == 0) // initilised to 10, configured above from save
            {
                CustomMessageBox.Show("NOTE: your attitude rate is 0, the hud will not work\nChange in Configuration > Planner > Telemetry Rates");
            }

            //System.Threading.Thread.Sleep(2000);

            // make sure new enough .net framework is installed
            if (!MONO)
            {
                Microsoft.Win32.RegistryKey installed_versions = Microsoft.Win32.Registry.LocalMachine.OpenSubKey(@"SOFTWARE\Microsoft\NET Framework Setup\NDP");
                string[] version_names = installed_versions.GetSubKeyNames();
                //version names start with 'v', eg, 'v3.5' which needs to be trimmed off before conversion
                double Framework = Convert.ToDouble(version_names[version_names.Length - 1].Remove(0, 1), CultureInfo.InvariantCulture);
                int SP = Convert.ToInt32(installed_versions.OpenSubKey(version_names[version_names.Length - 1]).GetValue("SP", 0));

                if (Framework < 3.5)
                {
                    CustomMessageBox.Show("This program requires .NET Framework 3.5. You currently have " + Framework);
                }
            }

            Application.DoEvents();

            splash.Close();
        }
        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();
                        joy.setChannel(1, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH1.Text), revCH1.Checked, int.Parse(expo_ch1.Text));
                        joy.setChannel(2, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH2.Text), revCH2.Checked, int.Parse(expo_ch2.Text));
                        joy.setChannel(3, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH3.Text), revCH3.Checked, int.Parse(expo_ch3.Text));
                        joy.setChannel(4, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH4.Text), revCH4.Checked, int.Parse(expo_ch4.Text));
                        joy.setChannel(5, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH5.Text), revCH5.Checked, int.Parse(expo_ch5.Text));
                        joy.setChannel(6, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH6.Text), revCH6.Checked, int.Parse(expo_ch6.Text));
                        joy.setChannel(7, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH7.Text), revCH7.Checked, int.Parse(expo_ch7.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();

                        for (int f = 0; f < noButtons; f++)
                        {
                            string name = (f + 1).ToString();

                            doButtontoUI(name, 10, 290 + f * 25);

                            joy.setButton(f, int.Parse(this.Controls.Find("cmbbutton" + name, false)[0].Text), this.Controls.Find("cmbaction" + name, false)[0].Text);
                        }

                        MainV2.joystick = joy;

                        MainV2.fixtheme(this);

                        CMB_joysticks.SelectedIndex = CMB_joysticks.Items.IndexOf(joy.name);
                    }

                    MainV2.joystick.elevons = CHK_elevons.Checked;

                    MainV2.cs.rcoverridech1 = joy.getValueForChannel(1, CMB_joysticks.Text);
                    MainV2.cs.rcoverridech2 = joy.getValueForChannel(2, CMB_joysticks.Text);
                    MainV2.cs.rcoverridech3 = joy.getValueForChannel(3, CMB_joysticks.Text);
                    MainV2.cs.rcoverridech4 = joy.getValueForChannel(4, CMB_joysticks.Text);
                    MainV2.cs.rcoverridech5 = joy.getValueForChannel(5, CMB_joysticks.Text);
                    MainV2.cs.rcoverridech6 = joy.getValueForChannel(6, CMB_joysticks.Text);
                    MainV2.cs.rcoverridech7 = joy.getValueForChannel(7, CMB_joysticks.Text);
                    MainV2.cs.rcoverridech8 = joy.getValueForChannel(8, CMB_joysticks.Text);

                    //Console.WriteLine(DateTime.Now.Millisecond + " end ");
                }
            }
            catch { }

            progressBar1.Value           = MainV2.cs.rcoverridech1;
            progressBar2.Value           = MainV2.cs.rcoverridech2;
            progressBar3.Value           = MainV2.cs.rcoverridech3;
            progressBar4.Value           = MainV2.cs.rcoverridech4;
            horizontalProgressBar1.Value = MainV2.cs.rcoverridech5;
            horizontalProgressBar2.Value = MainV2.cs.rcoverridech6;
            horizontalProgressBar3.Value = MainV2.cs.rcoverridech7;
            horizontalProgressBar4.Value = MainV2.cs.rcoverridech8;

            try
            {
                for (int f = 0; f < noButtons; f++)
                {
                    string name = (f + 1).ToString();

                    ((HorizontalProgressBar)this.Controls.Find("hbar" + name, false)[0]).Value = MainV2.joystick.isButtonPressed(f) ? 100 : 0;
                }
            }
            catch {  } // this is for buttons - silent fail
        }
Esempio n. 8
0
        /*
         * 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)
        {
            if (DateTime.Now > lastupdate.AddMilliseconds(19) || updatenow) // 50 hz
            {
                lastupdate = DateTime.Now;

                if (DateTime.Now.Second != lastwindcalc.Second)
                {
                    lastwindcalc = DateTime.Now;
                    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);
                    }
                    if (messages.Count > 5)
                    {
                        messages.RemoveAt(0);
                    }
                    messages.Add(logdata + "\n");

                    mavinterface.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] = null;
                }

                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED] != null) // hil
                {
                    var hil = new ArdupilotMega.MAVLink.__mavlink_rc_channels_scaled_t();

                    object temp = hil;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED], ref temp, 6);

                    hil = (MAVLink.__mavlink_rc_channels_scaled_t)(temp);

                    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;
                }

                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT] != null)
                {
                    MAVLink.__mavlink_nav_controller_output_t nav = new MAVLink.__mavlink_nav_controller_output_t();

                    object temp = nav;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT], ref temp, 6);

                    nav = (MAVLink.__mavlink_nav_controller_output_t)(temp);

                    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;
                    xtrack_error   = nav.xtrack_error;

                    //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT] = null;
                }
#if MAVLINK10
                if (mavinterface.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_HEARTBEAT] != null)
                {
                    ArdupilotMega.MAVLink.__mavlink_heartbeat_t hb = new ArdupilotMega.MAVLink.__mavlink_heartbeat_t();

                    object temp = hb;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_HEARTBEAT], ref temp, 6);

                    hb = (ArdupilotMega.MAVLink.__mavlink_heartbeat_t)(temp);

                    string oldmode = mode;

                    mode = "Unknown";

                    if ((hb.base_mode & (byte)MAVLink.MAV_MODE_FLAG.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) != 0)
                    {
                        if (hb.type == (byte)MAVLink.MAV_TYPE.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;

                            default:
                                mode = "Unknown";
                                break;
                            }
                        }
                        else if (hb.type == (byte)MAVLink.MAV_TYPE.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;

                            default:
                                mode = "Unknown";
                                break;
                            }
                        }
                    }

                    if (oldmode != mode && MainV2.speechenable && MainV2.getConfig("speechmodeenabled") == "True")
                    {
                        MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
                    }
                }


                if (mavinterface.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] != null)
                {
                    ArdupilotMega.MAVLink.__mavlink_sys_status_t sysstatus = new ArdupilotMega.MAVLink.__mavlink_sys_status_t();

                    object temp = sysstatus;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS], ref temp, 6);

                    sysstatus = (ArdupilotMega.MAVLink.__mavlink_sys_status_t)(temp);

                    battery_voltage   = sysstatus.voltage_battery;
                    battery_remaining = sysstatus.battery_remaining;

                    packetdropremote = sysstatus.drop_rate_comm;

                    //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
                }
                                #else
                if (mavinterface.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] != null)
                {
                    ArdupilotMega.MAVLink.__mavlink_sys_status_t sysstatus = new ArdupilotMega.MAVLink.__mavlink_sys_status_t();

                    object temp = sysstatus;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS], ref temp, 6);

                    sysstatus = (ArdupilotMega.MAVLink.__mavlink_sys_status_t)(temp);

                    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 = "Stabilize";
                        break;

                    case (byte)(100 + Common.ac2modes.ACRO):
                        mode = "Acro";
                        break;

                    case (byte)(100 + Common.ac2modes.ALT_HOLD):
                        mode = "Alt Hold";
                        break;

                    case (byte)(100 + Common.ac2modes.AUTO):
                        mode = "Auto";
                        break;

                    case (byte)(100 + Common.ac2modes.GUIDED):
                        mode = "Guided";
                        break;

                    case (byte)(100 + Common.ac2modes.LOITER):
                        mode = "Loiter";
                        break;

                    case (byte)(100 + Common.ac2modes.RTL):
                        mode = "RTL";
                        break;

                    case (byte)(100 + Common.ac2modes.CIRCLE):
                        mode = "Circle";
                        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.getConfig("speechmodeenabled") == "True")
                    {
                        MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
                    }

                    //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
                }
#endif
                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE] != null)
                {
                    var att = new ArdupilotMega.MAVLink.__mavlink_attitude_t();

                    object temp = att;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE], ref temp, 6);

                    att = (MAVLink.__mavlink_attitude_t)(temp);

                    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;
                }
#if MAVLINK10
                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT] != null)
                {
                    var gps = new MAVLink.__mavlink_gps_raw_int_t();

                    object temp = gps;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT], ref temp, 6);

                    gps = (MAVLink.__mavlink_gps_raw_int_t)(temp);

                    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 = gps.eph;

                    groundspeed  = gps.vel * 1.0e-2f;
                    groundcourse = gps.cog * 1.0e-2f;

                    //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW] = null;
                }
                                #else
                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW] != null)
                {
                    var gps = new MAVLink.__mavlink_gps_raw_t();

                    object temp = gps;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW], ref temp, 6);

                    gps = (MAVLink.__mavlink_gps_raw_t)(temp);

                    lat = gps.lat;
                    lng = gps.lon;
                    //                alt = gps.alt; // using vfr as includes baro calc

                    gpsstatus = gps.fix_type;
                    //                    Console.WriteLine("gpsfix {0}",gpsstatus);

                    gpshdop = gps.eph;

                    groundspeed  = gps.v;
                    groundcourse = gps.hdg;

                    //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW] = null;
                }
#endif
                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GPS_STATUS] != null)
                {
                    var gps = new MAVLink.__mavlink_gps_status_t();

                    object temp = gps;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GPS_STATUS], ref temp, 6);

                    gps = (MAVLink.__mavlink_gps_status_t)(temp);

                    satcount = gps.satellites_visible;
                }
                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GLOBAL_POSITION_INT] != null)
                {
                    var loc = new MAVLink.__mavlink_global_position_int_t();

                    object temp = loc;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GLOBAL_POSITION_INT], ref temp, 6);

                    loc = (MAVLink.__mavlink_global_position_int_t)(temp);

                    //alt = loc.alt / 1000.0f;
                    lat = loc.lat / 10000000.0f;
                    lng = loc.lon / 10000000.0f;
                }
#if MAVLINK10
                if (mavinterface.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_MISSION_CURRENT] != null)
                {
                    ArdupilotMega.MAVLink.__mavlink_mission_current_t wpcur = new ArdupilotMega.MAVLink.__mavlink_mission_current_t();

                    object temp = wpcur;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_MISSION_CURRENT], ref temp, 6);

                    wpcur = (ArdupilotMega.MAVLink.__mavlink_mission_current_t)(temp);

                    int oldwp = (int)wpno;

                    wpno = wpcur.seq;

                    if (oldwp != wpno && MainV2.speechenable && MainV2.getConfig("speechwaypointenabled") == "True")
                    {
                        MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
                    }

                    //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null;
                }
                                #else
                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GLOBAL_POSITION] != null)
                {
                    var loc = new MAVLink.__mavlink_global_position_t();

                    object temp = loc;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GLOBAL_POSITION], ref temp, 6);

                    loc = (MAVLink.__mavlink_global_position_t)(temp);

                    alt = loc.alt;
                    lat = loc.lat;
                    lng = loc.lon;
                }
                if (mavinterface.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] != null)
                {
                    ArdupilotMega.MAVLink.__mavlink_waypoint_current_t wpcur = new ArdupilotMega.MAVLink.__mavlink_waypoint_current_t();

                    object temp = wpcur;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT], ref temp, 6);

                    wpcur = (ArdupilotMega.MAVLink.__mavlink_waypoint_current_t)(temp);

                    int oldwp = (int)wpno;

                    wpno = wpcur.seq;

                    if (oldwp != wpno && MainV2.speechenable && MainV2.getConfig("speechwaypointenabled") == "True")
                    {
                        MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
                    }

                    //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null;
                }
#endif
                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW] != null)
                {
                    var rcin = new MAVLink.__mavlink_rc_channels_raw_t();

                    object temp = rcin;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW], ref temp, 6);

                    rcin = (MAVLink.__mavlink_rc_channels_raw_t)(temp);

                    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;

                    //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW] = null;
                }

                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW] != null)
                {
                    var servoout = new MAVLink.__mavlink_servo_output_raw_t();

                    object temp = servoout;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW], ref temp, 6);

                    servoout = (MAVLink.__mavlink_servo_output_raw_t)(temp);

                    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;
                }

                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU] != null)
                {
                    var imu = new MAVLink.__mavlink_raw_imu_t();

                    object temp = imu;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU], ref temp, 6);

                    imu = (MAVLink.__mavlink_raw_imu_t)(temp);

                    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;
                }

                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SCALED_IMU] != null)
                {
                    var imu = new MAVLink.__mavlink_scaled_imu_t();

                    object temp = imu;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SCALED_IMU], ref temp, 6);

                    imu = (MAVLink.__mavlink_scaled_imu_t)(temp);

                    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;
                }

                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD] != null)
                {
                    MAVLink.__mavlink_vfr_hud_t vfr = new MAVLink.__mavlink_vfr_hud_t();

                    object temp = vfr;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD], ref temp, 6);

                    vfr = (MAVLink.__mavlink_vfr_hud_t)(temp);

                    groundspeed = vfr.groundspeed;
                    airspeed    = vfr.airspeed;

                    alt = vfr.alt; // this might include baro

                    //climbrate = vfr.climb;

                    if ((DateTime.Now - lastalt).TotalSeconds >= 0.1 && 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;
                }

                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_MEMINFO] != null) // hil
                {
                    var mem = new ArdupilotMega.MAVLink.__mavlink_meminfo_t();

                    object temp = mem;

                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_MEMINFO], ref temp, 6);

                    mem = (MAVLink.__mavlink_meminfo_t)(temp);

                    freemem  = mem.freemem;
                    brklevel = mem.brkval;
                }
            }
            //Console.WriteLine(DateTime.Now.Millisecond + " start ");
            // update form
            try
            {
                if (bs != null)
                {
                    //Console.WriteLine(DateTime.Now.Millisecond);
                    bs.DataSource = this;
                    //Console.WriteLine(DateTime.Now.Millisecond + " 1 " + updatenow);
                    bs.ResetBindings(false);
                    //Console.WriteLine(DateTime.Now.Millisecond + " done ");
                }
            }
            catch { Console.WriteLine("CurrentState Binding error"); }
        }
Esempio n. 9
0
        public MainV2()
        {
            Form splash = new Splash();
            splash.Show();

            string strVersion = System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString();
            strVersion = "";
            splash.Text = "APM Planner " + Application.ProductVersion + " " + strVersion + " By Michael Oborne";

            splash.Refresh();

            Application.DoEvents();

            //System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
            //System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");

            srtm.datadirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "srtm";

            georefimage temp = new georefimage();

            //temp.dowork(244 + 60*60*24 * -1 );

            //return;

            // preload
            Python.CreateEngine();

            var t = Type.GetType("Mono.Runtime");
            MONO = (t != null);

            //talk.SpeakAsync("Welcome to APM Planner");

            InitializeComponent();

            MyRenderer.currentpressed = MenuFlightData;

            MainMenu.Renderer = new MyRenderer();

            List<object> list = new List<object>();
            foreach (object obj in Enum.GetValues(typeof(Firmwares)))
            {
                TOOL_APMFirmware.Items.Add(obj);
            }

            if (TOOL_APMFirmware.Items.Count > 0)
                TOOL_APMFirmware.SelectedIndex = 0;

            this.Text = splash.Text;

            comPort.BaseStream.BaudRate = 115200;

            CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
            CMB_serialport.Items.Add("TCP");
            CMB_serialport.Items.Add("UDP");
            if (CMB_serialport.Items.Count > 0)
            {
                CMB_serialport.SelectedIndex = 0;
                CMB_baudrate.SelectedIndex = 7;
            }

            splash.Refresh();
            Application.DoEvents();

            // set this before we reset it
            MainV2.config["NUM_tracklength"] = "200";

            xmlconfig(false);

            if (config.ContainsKey("language") && !string.IsNullOrEmpty((string)config["language"]))
                changelanguage(getcultureinfo((string)config["language"]));

            if (!MONO) // windows only
            {
                if (MainV2.config["showconsole"] != null && MainV2.config["showconsole"].ToString() == "True")
                {
                }
                else
                {
                    int win = FindWindow("ConsoleWindowClass", null);
                    ShowWindow(win, SW_HIDE); // hide window
                }
            }

            try
            {
                FlightData = new GCSViews.FlightData();
                FlightPlanner = new GCSViews.FlightPlanner();
                //Configuration = new GCSViews.Configuration();
                Simulation = new GCSViews.Simulation();
                Firmware = new GCSViews.Firmware();
                //Terminal = new GCSViews.Terminal();
            }
            catch (Exception e) { MessageBox.Show("A Major error has occured : " + e.ToString()); this.Close(); }

            if (MainV2.config["CHK_GDIPlus"] != null)
                GCSViews.FlightData.myhud.UseOpenGL = !bool.Parse(MainV2.config["CHK_GDIPlus"].ToString());

            changeunits();

            try
            {
                if (config["MainHeight"] != null)
                    this.Height = int.Parse(config["MainHeight"].ToString());
                if (config["MainWidth"] != null)
                    this.Width = int.Parse(config["MainWidth"].ToString());
                if (config["MainMaximised"] != null)
                    this.WindowState = (FormWindowState)Enum.Parse(typeof(FormWindowState), config["MainMaximised"].ToString());

                if (config["CMB_rateattitude"] != null)
                    MainV2.cs.rateattitude = byte.Parse(config["CMB_rateattitude"].ToString());
                if (config["CMB_rateattitude"] != null)
                    MainV2.cs.rateposition = byte.Parse(config["CMB_rateposition"].ToString());
                if (config["CMB_rateattitude"] != null)
                    MainV2.cs.ratestatus = byte.Parse(config["CMB_ratestatus"].ToString());
                if (config["CMB_rateattitude"] != null)
                    MainV2.cs.raterc = byte.Parse(config["CMB_raterc"].ToString());

                if (config["speechenable"] != null)
                    MainV2.speechenable = bool.Parse(config["speechenable"].ToString());

            }
            catch { }

            if (cs.rateattitude == 0) // initilised to 10, configured above from save
            {
                MessageBox.Show("NOTE: your attitude rate is 0, the hud will not work\nChange in Configuration > Planner > Telemetry Rates");
            }

            //System.Threading.Thread.Sleep(2000);

            // make sure new enough .net framework is installed
            if (!MONO)
            {
                Microsoft.Win32.RegistryKey installed_versions = Microsoft.Win32.Registry.LocalMachine.OpenSubKey(@"SOFTWARE\Microsoft\NET Framework Setup\NDP");
                string[] version_names = installed_versions.GetSubKeyNames();
                //version names start with 'v', eg, 'v3.5' which needs to be trimmed off before conversion
                double Framework = Convert.ToDouble(version_names[version_names.Length - 1].Remove(0, 1), CultureInfo.InvariantCulture);
                int SP = Convert.ToInt32(installed_versions.OpenSubKey(version_names[version_names.Length - 1]).GetValue("SP", 0));

                if (Framework < 4.0)
                {
                    MessageBox.Show("This program requires .NET Framework 4.0 +. You currently have " + Framework);
                }
            }

            Application.DoEvents();

            instance = this;
            splash.Close();
        }