private void UpdateValues(DroneSettings settings)
{
try
{
this.settings = settings;
SuspendLayout();
rollPValue.Text = Formatting.FormatDecimal(settings.RollPid.Kp, 3);
rollIValue.Text = Formatting.FormatDecimal(settings.RollPid.Ki, 3);
rollDValue.Text = Formatting.FormatDecimal(settings.RollPid.Kd, 3);
pitchPValue.Text = Formatting.FormatDecimal(settings.PitchPid.Kp, 3);
pitchIValue.Text = Formatting.FormatDecimal(settings.PitchPid.Ki, 3);
pitchDValue.Text = Formatting.FormatDecimal(settings.PitchPid.Kd, 3);
yawPValue.Text = Formatting.FormatDecimal(settings.YawPid.Kp, 3);
yawIValue.Text = Formatting.FormatDecimal(settings.YawPid.Ki, 3);
yawDValue.Text = Formatting.FormatDecimal(settings.YawPid.Kd, 3);
ResumeLayout();
}
catch (Exception e)
{
ErrorHandler.HandleException(drone, e);
}
}
private void UpdateValueBounds(DroneSettings settings)
{
changingValues = true;
valueTrackBar.Minimum = settings.ServoMin;
valueTrackBar.Maximum = settings.ServoMax;
valueTrackBar.Value = settings.ServoMin;
servoValueNumericUpDown.Value = settings.ServoMin;
SetServoValueToAll();
changingValues = false;
}
public SettingsForm(Drone drone)
{
InitializeComponent();
this.drone = drone;
this.info = drone.Info;
this.data = drone.Settings;
Bind(nameTextBox, "data.DroneName");
Bind(saveConfigCheckBox, "data.SaveConfig");
Bind(firmwareVersionTextBox, "info.BuildVersion");
Bind(buildDateTextBox, "info.BuildName");
Bind(modelTextBox, "info.ModelName");
Bind(idTextBox, "info.SerialCode");
Bind(gyroSensorTextBox, "info.GyroSensor");
Bind(magnetometerTextBox, "info.Magnetometer");
Bind(minValueTextBox, "data.ServoMin");
Bind(idleValueTextBox, "data.ServoIdle");
Bind(hoverValueTextBox, "data.ServoHover");
Bind(maxValueTextBox, "data.ServoMax");
Bind(safeMotorValueTextBox, "data.SafeServoValue");
Bind(safeTemperatureTextBox, "data.MaxTemperature");
Bind(safePitchTextBox, "data.SafePitch");
Bind(safeRollTextBox, "data.SafeRoll");
Bind(pitchKpTextBox, "data.PitchPid.Kp");
Bind(pitchKiTextBox, "data.PitchPid.Ki");
Bind(pitchKdTextBox, "data.PitchPid.Kd");
Bind(rollKpTextBox, "data.RollPid.Kp");
Bind(rollKiTextBox, "data.RollPid.Ki");
Bind(rollKdTextBox, "data.RollPid.Kd");
Bind(yawKpTextBox, "data.YawPid.Kp");
Bind(yawKiTextBox, "data.YawPid.Ki");
Bind(yawKdTextBox, "data.YawPid.Kd");
Bind(enableStabilizationCheckBox, "data.EnableStabilization");
Bind(negativeMixingCheckBox, "data.NegativeMixing");
Bind(keepMotorsOnCheckBox, "data.KeepMotorsOn");
Bind(maxThrustForFlyingTextBox, "data.MaxThrustForFlying");
Bind(onlyArmWhenStillCheckBox, "data.OnlyArmWhenStill");
Bind(gyroUseDmpCheckBox, "data.GyroUseDMP");
Bind(gyroUseRawCheckBox, "data.GyroUseRaw");
Bind(engineUseGyroCheckBox, "data.EngineUseGyro");
drone.OnSettingsChange += Drone_OnSettingsChange;
drone.OnInfoChange += Drone_OnInfoChange;
}
/// <summary>
/// Applys the settings to the connected drone.
/// </summary>
private void Apply(bool force)
{
// Only send config when settings were changed by user
if (force || IsAnyBindingChanged())
{
drone.SendConfig(data);
originalData = data;
}
ClearChangedByUser();
}
private void droneSettingsPropertyGrid_PropertyValueChanged(object s, PropertyValueChangedEventArgs e)
{
try
{
DroneSettings settings = (DroneSettings)droneSettingsPropertyGrid.SelectedObject;
drone.SendConfig(settings);
}
catch (Exception ex)
{
Log.Error(ex);
MessageBox.Show(ex.Message, "Error setting settings", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
private void UpdateValueBounds(DroneSettings settings)
{
changingValues = true;
int min = drone.Settings.ServoMin;
int max = Math.Min(drone.Settings.ServoMax, drone.Settings.SafeServoValue);
valueTrackBar.Minimum = min;
valueTrackBar.Maximum = max;
valueTrackBar.Value = Math.Min(max, min);
servoValueNumericUpDown.Value = min;
SetServoValueToAll();
changingValues = false;
}
public PacketSetConfig(DroneSettings settings)
{
this.Settings = settings;
}
private void UpdateSettings(DroneSettings settings)
{
servoGraph.BaseLine = settings.ServoIdle;
servoGraph.ValueMin = 0;
servoGraph.ValueMax = settings.ServoMax;
}
private void UpdateSettings(DroneSettings settings)
{
droneSettingsPropertyGrid.SelectedObject = settings;
}
private void Drone_OnSettingsChange(object sender, SettingsChangedEventArgs e)
{
data = e.Settings;
UpdateValues();
}
public PacketSetConfig(DroneSettings settings)
{
this.Settings = settings;
}
public SettingsForm(Drone drone)
{
InitializeComponent();
this.drone = drone;
this.info = drone.Info;
this.originalData = drone.Settings;
this.data = drone.Settings;
try
{
Bind(nameTextBox, "data.DroneName");
Bind(saveConfigCheckBox, "data.SaveConfig");
Bind(firmwareVersionTextBox, "info.BuildVersion");
Bind(buildDateTextBox, "info.BuildName");
Bind(modelTextBox, "info.ModelName");
Bind(idTextBox, "info.SerialCode");
Bind(gyroSensorTextBox, "info.GyroSensor");
Bind(magnetometerTextBox, "info.Magnetometer");
Bind(baroSensorTextBox, "info.BaroSensor");
Bind(minValueTextBox, "data.ServoMin");
Bind(idleValueTextBox, "data.ServoIdle");
Bind(maxValueTextBox, "data.ServoMax");
Bind(safeMotorValueTextBox, "data.SafeServoValue");
Bind(ignoreSafeOrientationCheckBox, "data.IgnoreSafeOrientationWhileFlying");
Bind(safeTemperatureTextBox, "data.MaxTemperature");
Bind(safeRollTextBox, "data.SafeRoll");
Bind(safePitchTextBox, "data.SafePitch");
Bind(rollKpTextBox, "data.RollPid.Kp");
Bind(rollKiTextBox, "data.RollPid.Ki");
Bind(rollKdTextBox, "data.RollPid.Kd");
Bind(pitchKpTextBox, "data.PitchPid.Kp");
Bind(pitchKiTextBox, "data.PitchPid.Ki");
Bind(pitchKdTextBox, "data.PitchPid.Kd");
Bind(yawKpTextBox, "data.YawPid.Kp");
Bind(yawKiTextBox, "data.YawPid.Ki");
Bind(yawKdTextBox, "data.YawPid.Kd");
Bind(enableStabilizationCheckBox, "data.EnableStabilization");
Bind(maxThrustForFlyingTextBox, "data.MaxThrustForFlying");
Bind(ignoreSafeOrientationCheckBox, "data.OnlyArmWhenStill");
Bind(angleRollKpTextBox, "data.AngleRoll.Kp");
Bind(angleRollKiTextBox, "data.AngleRoll.Ki");
Bind(angleRollKdTextBox, "data.AngleRoll.Kd");
Bind(anglePitchKpTextBox, "data.AnglePitch.Kp");
Bind(anglePitchKiTextBox, "data.AnglePitch.Ki");
Bind(anglePitchKdTextBox, "data.AnglePitch.Kd");
Bind(angleYawKpTextBox, "data.AngleYaw.Kp");
Bind(angleYawKiTextBox, "data.AngleYaw.Ki");
Bind(angleYawKdTextBox, "data.AngleYaw.Kd");
Bind(rollTrim, "data.RollTrim");
Bind(pitchTrim, "data.PitchTrim");
Bind(yawTrim, "data.YawTrim");
drone.OnSettingsChange += Drone_OnSettingsChange;
drone.OnInfoChange += Drone_OnInfoChange;
}
catch (Exception e)
{
bindingError = true;
Log.Error(e);
MessageBox.Show("Could not load the settings.", "Error while loading settings", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
/// <summary>
/// Reverts all settings to the original settings saved on the drone.
/// </summary>
private void Revert()
{
data = originalData;
ClearChangedByUser();
UpdateValues();
}
