/* 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 = "FBW B"; 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"); } }
/* * 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"); } }