public void Activate()
{
if (!MainV2.comPort.BaseStream.IsOpen)
{
Enabled = false;
return;
}
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
Enabled = true;
}
else
{
Enabled = false;
return;
}
startup = true;
changes.Clear();
// ensure the fields are populated before setting them
TUNE.setup(
ParameterMetaDataRepository.GetParameterOptionsInt("TUNE", MainV2.comPort.MAV.cs.firmware.ToString())
.ToList(), "TUNE", MainV2.comPort.MAV.param);
CH7_OPT.setup(
ParameterMetaDataRepository.GetParameterOptionsInt("CH7_OPT", MainV2.comPort.MAV.cs.firmware.ToString())
.ToList(), "CH7_OPT", MainV2.comPort.MAV.param);
CH8_OPT.setup(
ParameterMetaDataRepository.GetParameterOptionsInt("CH8_OPT", MainV2.comPort.MAV.cs.firmware.ToString())
.ToList(), "CH8_OPT", MainV2.comPort.MAV.param);
TUNE_LOW.setup(0, 10000, 1000, 0.01f, "TUNE_LOW", MainV2.comPort.MAV.param);
TUNE_HIGH.setup(0, 10000, 1000, 0.01f, "TUNE_HIGH", MainV2.comPort.MAV.param);
HLD_LAT_P.setup(0, 0, 1, 0.001f, new[] { "HLD_LAT_P", "POS_XY_P" }, MainV2.comPort.MAV.param);
LOITER_LAT_D.setup(0, 0, 1, 0.001f, "LOITER_LAT_D", MainV2.comPort.MAV.param);
LOITER_LAT_I.setup(0, 0, 1, 0.001f, new[] { "LOITER_LAT_I", "VEL_XY_I" }, MainV2.comPort.MAV.param);
LOITER_LAT_IMAX.setup(0, 0, 10, 1f, new[] { "LOITER_LAT_IMAX", "VEL_XY_IMAX" }, MainV2.comPort.MAV.param);
LOITER_LAT_P.setup(0, 0, 1, 0.001f, new[] { "LOITER_LAT_P", "VEL_XY_P" }, MainV2.comPort.MAV.param);
RATE_PIT_D.setup(0, 0, 1, 0.001f, new[] { "RATE_PIT_D", "ATC_RAT_PIT_D" }, MainV2.comPort.MAV.param);
RATE_PIT_I.setup(0, 0, 1, 0.001f, new[] { "RATE_PIT_I", "ATC_RAT_PIT_I" }, MainV2.comPort.MAV.param);
if (MainV2.comPort.MAV.param.ContainsKey("ATC_RAT_PIT_IMAX")) // 3.4 changes scaling
{
RATE_PIT_IMAX.setup(0, 0, 1, 1f, new[] { "ATC_RAT_PIT_IMAX" }, MainV2.comPort.MAV.param);
}
else
{
RATE_PIT_IMAX.setup(0, 0, 10, 1f, new[] { "RATE_PIT_IMAX" }, MainV2.comPort.MAV.param);
}
RATE_PIT_P.setup(0, 0, 1, 0.001f, new[] { "RATE_PIT_P", "ATC_RAT_PIT_P" }, MainV2.comPort.MAV.param);
RATE_PIT_FILT.setup(0, 0, 1, 0.001f, new[] { "RATE_PIT_FILT", "ATC_RAT_PIT_FILT" }, MainV2.comPort.MAV.param);
RATE_RLL_D.setup(0, 0, 1, 0.001f, new[] { "RATE_RLL_D", "ATC_RAT_RLL_D" }, MainV2.comPort.MAV.param);
RATE_RLL_I.setup(0, 0, 1, 0.001f, new[] { "RATE_RLL_I", "ATC_RAT_RLL_I" }, MainV2.comPort.MAV.param);
if (MainV2.comPort.MAV.param.ContainsKey("ATC_RAT_RLL_IMAX")) // 3.4 changes scaling
{
RATE_RLL_IMAX.setup(0, 0, 1, 1f, new[] { "ATC_RAT_RLL_IMAX" }, MainV2.comPort.MAV.param);
}
else
{
RATE_RLL_IMAX.setup(0, 0, 10, 1f, new[] { "RATE_RLL_IMAX" }, MainV2.comPort.MAV.param);
}
RATE_RLL_P.setup(0, 0, 1, 0.001f, new[] { "RATE_RLL_P", "ATC_RAT_RLL_P" }, MainV2.comPort.MAV.param);
RATE_RLL_FILT.setup(0, 0, 1, 0.001f, new[] { "RATE_RLL_FILT", "ATC_RAT_RLL_FILT" }, MainV2.comPort.MAV.param);
RATE_YAW_D.setup(0, 0, 1, 0.001f, new[] { "RATE_YAW_D", "ATC_RAT_YAW_D" }, MainV2.comPort.MAV.param);
RATE_YAW_I.setup(0, 0, 1, 0.001f, new[] { "RATE_YAW_I", "ATC_RAT_YAW_I" }, MainV2.comPort.MAV.param);
if (MainV2.comPort.MAV.param.ContainsKey("ATC_RAT_YAW_IMAX")) // 3.4 changes scaling
{
RATE_YAW_IMAX.setup(0, 0, 1, 1f, new[] { "ATC_RAT_YAW_IMAX" }, MainV2.comPort.MAV.param);
}
else
{
RATE_YAW_IMAX.setup(0, 0, 10, 1f, new[] { "RATE_YAW_IMAX" }, MainV2.comPort.MAV.param);
}
RATE_YAW_P.setup(0, 0, 1, 0.001f, new[] { "RATE_YAW_P", "ATC_RAT_YAW_P" }, MainV2.comPort.MAV.param);
RATE_YAW_FILT.setup(0, 0, 1, 0.001f, new[] { "RATE_YAW_FILT", "ATC_RAT_YAW_FILT" }, MainV2.comPort.MAV.param);
STB_PIT_P.setup(0, 0, 1, 0.001f, new[] { "STB_PIT_P", "ATC_ANG_PIT_P" }, MainV2.comPort.MAV.param);
STB_RLL_P.setup(0, 0, 1, 0.001f, new[] { "STB_RLL_P", "ATC_ANG_RLL_P" }, MainV2.comPort.MAV.param);
STB_YAW_P.setup(0, 0, 1, 0.001f, new[] { "STB_YAW_P", "ATC_ANG_YAW_P" }, MainV2.comPort.MAV.param);
THR_ACCEL_D.setup(0, 0, 1, 0.001f, new[] { "THR_ACCEL_D", "ACCEL_Z_D" }, MainV2.comPort.MAV.param);
THR_ACCEL_I.setup(0, 0, 1, 0.001f, new[] { "THR_ACCEL_I", "ACCEL_Z_I" }, MainV2.comPort.MAV.param);
THR_ACCEL_IMAX.setup(0, 0, 10, 1f, new[] { "THR_ACCEL_IMAX", "ACCEL_Z_IMAX" }, MainV2.comPort.MAV.param);
THR_ACCEL_P.setup(0, 0, 1, 0.001f, new[] { "THR_ACCEL_P", "ACCEL_Z_P" }, MainV2.comPort.MAV.param);
THR_ALT_P.setup(0, 0, 1, 0.001f, new[] { "THR_ALT_P", "POS_Z_P" }, MainV2.comPort.MAV.param);
THR_RATE_P.setup(0, 0, 1, 0.001f, new[] { "THR_RATE_P", "VEL_Z_P" }, MainV2.comPort.MAV.param);
WPNAV_LOIT_SPEED.setup(0, 0, 1, 0.001f, "WPNAV_LOIT_SPEED", MainV2.comPort.MAV.param);
WPNAV_RADIUS.setup(0, 0, 1, 0.001f, "WPNAV_RADIUS", MainV2.comPort.MAV.param);
WPNAV_SPEED.setup(0, 0, 1, 0.001f, "WPNAV_SPEED", MainV2.comPort.MAV.param);
WPNAV_SPEED_DN.setup(0, 0, 1, 0.001f, "WPNAV_SPEED_DN", MainV2.comPort.MAV.param);
WPNAV_SPEED_UP.setup(0, 0, 1, 0.001f, "WPNAV_SPEED_UP", MainV2.comPort.MAV.param);
// unlock entries if they differ
if (RATE_RLL_P.Value != RATE_PIT_P.Value || RATE_RLL_I.Value != RATE_PIT_I.Value ||
RATE_RLL_D.Value != RATE_PIT_D.Value || RATE_RLL_IMAX.Value != RATE_PIT_IMAX.Value)
{
CHK_lockrollpitch.Checked = false;
}
if (MainV2.comPort.MAV.param["H_SWASH_TYPE"] != null)
{
CHK_lockrollpitch.Checked = false;
}
// add tooltips to all controls
foreach (Control control1 in Controls)
{
foreach (Control control2 in control1.Controls)
{
if (control2 is MavlinkNumericUpDown)
{
var ParamName = ((MavlinkNumericUpDown)control2).ParamName;
toolTip1.SetToolTip(control2,
ParameterMetaDataRepository.GetParameterMetaData(ParamName,
ParameterMetaDataConstants.Description, MainV2.comPort.MAV.cs.firmware.ToString()));
}
if (control2 is MavlinkComboBox)
{
var ParamName = ((MavlinkComboBox)control2).ParamName;
toolTip1.SetToolTip(control2,
ParameterMetaDataRepository.GetParameterMetaData(ParamName,
ParameterMetaDataConstants.Description, MainV2.comPort.MAV.cs.firmware.ToString()));
}
}
}
startup = false;
}
public void Activate()
{
if (!MainV2.comPort.BaseStream.IsOpen)
{
Enabled = false;
return;
}
if (MainV2.comPort.MAV.cs.firmware == Firmwares.ArduCopter2 || MainV2.comPort.MAV.param.ContainsKey("Q_ENABLE") && MainV2.comPort.MAV.param["Q_ENABLE"].Value != 0)
{
Enabled = true;
}
else
{
Enabled = false;
return;
}
startup = true;
changes.Clear();
// ensure the fields are populated before setting them
TUNE.setup(
ParameterMetaDataRepository
.GetParameterOptionsInt("TUNE", MainV2.comPort.MAV.cs.firmware.ToString())
.ToList(), "TUNE", MainV2.comPort.MAV.param);
CH6_OPTION.setup(new[] { "CH6_OPT", "CH6_OPTION", "RC6_OPTION", "RC6_OPTION" }, MainV2.comPort.MAV.param);
CH7_OPTION.setup(new[] { "CH7_OPT", "CH7_OPTION", "RC7_OPTION", "RC7_OPTION" }, MainV2.comPort.MAV.param);
CH8_OPTION.setup(new[] { "CH8_OPT", "CH8_OPTION", "RC8_OPTION", "RC8_OPTION" }, MainV2.comPort.MAV.param);
CH9_OPTION.setup(new[] { "CH9_OPT", "CH9_OPTION", "RC9_OPTION", "RC9_OPTION" }, MainV2.comPort.MAV.param);
CH10_OPTION.setup(new[] { "CH10_OPT", "CH10_OPTION", "RC10_OPTION", "RC10_OPTION" }, MainV2.comPort.MAV.param);
TUNE_LOW.setup(0, 10000, 1, 0.01f, new[] { "TUNE_LOW", "TUNE_MIN" },
MainV2.comPort.MAV.param);
TUNE_HIGH.setup(0, 10000, 1, 0.01f, new[] { "TUNE_HIGH", "TUNE_MAX" },
MainV2.comPort.MAV.param);
HLD_LAT_P.setup(0, 0, 1, 0.001f, new[] { "HLD_LAT_P", "POS_XY_P", "PSC_POSXY_P", "Q_P_POSXY_P" },
MainV2.comPort.MAV.param);
LOITER_LAT_D.setup(0, 0, 1, 0.001f, new[] { "LOITER_LAT_D", "PSC_VELXY_D", "Q_P_VELXY_D" },
MainV2.comPort.MAV.param);
LOITER_LAT_I.setup(0, 0, 1, 0.001f, new[] { "LOITER_LAT_I", "VEL_XY_I", "PSC_VELXY_I", "Q_P_VELXY_I" },
MainV2.comPort.MAV.param);
LOITER_LAT_IMAX.setup(0, 0, 10, 1f,
new[] { "LOITER_LAT_IMAX", "VEL_XY_IMAX", "PSC_VELXY_IMAX", "Q_P_VELXY_IMAX" },
MainV2.comPort.MAV.param);
LOITER_LAT_P.setup(0, 0, 1, 0.001f, new[] { "LOITER_LAT_P", "VEL_XY_P", "PSC_VELXY_P", "Q_P_VELXY_P" },
MainV2.comPort.MAV.param);
RATE_PIT_P.setup(0, 0, 1, 0.001f, new[] { "RATE_PIT_P", "ATC_RAT_PIT_P", "Q_A_RAT_PIT_P" }, MainV2.comPort.MAV.param);
RATE_PIT_I.setup(0, 0, 1, 0.001f, new[] { "RATE_PIT_I", "ATC_RAT_PIT_I", "Q_A_RAT_PIT_I" }, MainV2.comPort.MAV.param);
RATE_PIT_D.setup(0, 0, 1, 0.0001f, new[] { "RATE_PIT_D", "ATC_RAT_PIT_D", "Q_A_RAT_PIT_D" }, MainV2.comPort.MAV.param);
if (MainV2.comPort.MAV.param.ContainsKey("ATC_RAT_PIT_IMAX")) // 3.4 changes scaling
{
RATE_PIT_IMAX.setup(0, 0, 1, 1f, new[] { "ATC_RAT_PIT_IMAX", "Q_A_RAT_PIT_IMAX" }, MainV2.comPort.MAV.param);
}
else
{
RATE_PIT_IMAX.setup(0, 0, 10, 1f, new[] { "RATE_PIT_IMAX", "RATE_PIT_IMAX" }, MainV2.comPort.MAV.param);
}
RATE_PIT_FILT.setup(0, 0, 1, 0.001f, new[] { "RATE_PIT_FILT", "ATC_RAT_PIT_FILT", "ATC_RAT_PIT_FLTE", "Q_A_RAT_PIT_FLTE" }, MainV2.comPort.MAV.param);
ATC_RAT_PIT_FLTD.setup(0, 0, 1, 1f, new[] { "ATC_RAT_PIT_FLTD", "ATC_RAT_PIT_FLTD" }, MainV2.comPort.MAV.param);
ATC_RAT_PIT_FLTT.setup(0, 0, 1, 1f, new[] { "ATC_RAT_PIT_FLTT", "ATC_RAT_PIT_FLTT" }, MainV2.comPort.MAV.param);
RATE_RLL_P.setup(0, 0, 1, 0.001f, new[] { "RATE_RLL_P", "ATC_RAT_RLL_P", "Q_A_RAT_RLL_P" }, MainV2.comPort.MAV.param);
RATE_RLL_I.setup(0, 0, 1, 0.001f, new[] { "RATE_RLL_I", "ATC_RAT_RLL_I", "Q_A_RAT_RLL_I" }, MainV2.comPort.MAV.param);
RATE_RLL_D.setup(0, 0, 1, 0.0001f, new[] { "RATE_RLL_D", "ATC_RAT_RLL_D", "Q_A_RAT_RLL_D" }, MainV2.comPort.MAV.param);
if (MainV2.comPort.MAV.param.ContainsKey("ATC_RAT_RLL_IMAX")) // 3.4 changes scaling
{
RATE_RLL_IMAX.setup(0, 0, 1, 1f, new[] { "ATC_RAT_RLL_IMAX", "Q_A_RAT_RLL_IMAX" }, MainV2.comPort.MAV.param);
}
else
{
RATE_RLL_IMAX.setup(0, 0, 10, 1f, new[] { "RATE_RLL_IMAX" }, MainV2.comPort.MAV.param);
}
RATE_RLL_FILT.setup(0, 0, 1, 0.001f, new[] { "RATE_RLL_FILT", "ATC_RAT_RLL_FILT", "ATC_RAT_RLL_FLTE", "Q_A_RAT_RLL_FLTE" }, MainV2.comPort.MAV.param);
ATC_RAT_RLL_FLTD.setup(0, 0, 1, 1f, new[] { "ATC_RAT_RLL_FLTD" }, MainV2.comPort.MAV.param);
ATC_RAT_RLL_FLTT.setup(0, 0, 1, 1f, new[] { "ATC_RAT_RLL_FLTT" }, MainV2.comPort.MAV.param);
RATE_YAW_P.setup(0, 0, 1, 0.001f, new[] { "RATE_YAW_P", "ATC_RAT_YAW_P", "Q_A_RAT_YAW_P" }, MainV2.comPort.MAV.param);
RATE_YAW_I.setup(0, 0, 1, 0.001f, new[] { "RATE_YAW_I", "ATC_RAT_YAW_I", "Q_A_RAT_YAW_I" }, MainV2.comPort.MAV.param);
RATE_YAW_D.setup(0, 0, 1, 0.0001f, new[] { "RATE_YAW_D", "ATC_RAT_YAW_D", "Q_A_RAT_YAW_D" }, MainV2.comPort.MAV.param);
if (MainV2.comPort.MAV.param.ContainsKey("ATC_RAT_YAW_IMAX")) // 3.4 changes scaling
{
RATE_YAW_IMAX.setup(0, 0, 1, 1f, new[] { "ATC_RAT_YAW_IMAX", "Q_A_RAT_YAW_IMAX" }, MainV2.comPort.MAV.param);
}
else
{
RATE_YAW_IMAX.setup(0, 0, 10, 1f, new[] { "RATE_YAW_IMAX" }, MainV2.comPort.MAV.param);
}
RATE_YAW_FILT.setup(0, 0, 1, 0.001f, new[] { "RATE_YAW_FILT", "ATC_RAT_YAW_FILT", "ATC_RAT_YAW_FLTE", "Q_A_RAT_YAW_FLTE" }, MainV2.comPort.MAV.param);
ATC_RAT_YAW_FLTD.setup(0, 0, 1, 1f, new[] { "ATC_RAT_YAW_FLTD" }, MainV2.comPort.MAV.param);
ATC_RAT_YAW_FLTT.setup(0, 0, 1, 1f, new[] { "ATC_RAT_YAW_FLTT" }, MainV2.comPort.MAV.param);
STB_PIT_P.setup(0, 0, 1, 0.001f, new[] { "STB_PIT_P", "ATC_ANG_PIT_P", "Q_A_ANG_PIT_P" },
MainV2.comPort.MAV.param);
STB_RLL_P.setup(0, 0, 1, 0.001f, new[] { "STB_RLL_P", "ATC_ANG_RLL_P", "Q_A_ANG_RLL_P" },
MainV2.comPort.MAV.param);
STB_YAW_P.setup(0, 0, 1, 0.001f, new[] { "STB_YAW_P", "ATC_ANG_YAW_P", "Q_A_ANG_YAW_P" },
MainV2.comPort.MAV.param);
THR_ACCEL_P.setup(0, 0, 1, 0.001f, new[] { "THR_ACCEL_P", "ACCEL_Z_P", "PSC_ACCZ_P", "Q_P_ACCZ_P" },
MainV2.comPort.MAV.param);
THR_ACCEL_I.setup(0, 0, 1, 0.001f, new[] { "THR_ACCEL_I", "ACCEL_Z_I", "PSC_ACCZ_I", "Q_P_ACCZ_I" },
MainV2.comPort.MAV.param);
THR_ACCEL_D.setup(0, 0, 1, 0.001f, new[] { "THR_ACCEL_D", "ACCEL_Z_D", "PSC_ACCZ_D", "Q_P_ACCZ_D" },
MainV2.comPort.MAV.param);
THR_ACCEL_IMAX.setup(0, 0, 10, 1f, new[] { "THR_ACCEL_IMAX", "ACCEL_Z_IMAX", "PSC_ACCZ_IMAX", "Q_P_ACCZ_IMAX" },
MainV2.comPort.MAV.param);
THR_ALT_P.setup(0, 0, 1, 0.001f, new[] { "THR_ALT_P", "POS_Z_P", "PSC_POSZ_P", "Q_P_POSZ_P" },
MainV2.comPort.MAV.param);
THR_RATE_P.setup(0, 0, 1, 0.001f, new[] { "THR_RATE_P", "VEL_Z_P", "PSC_VELZ_P", "Q_P_VELZ_P" },
MainV2.comPort.MAV.param);
WPNAV_LOIT_SPEED.setup(0, 0, 1, 0.001f, new[] { "WPNAV_LOIT_SPEED", "LOIT_SPEED", "Q_LOIT_SPEED" },
MainV2.comPort.MAV.param);
WPNAV_RADIUS.setup(0, 0, 1, 0.001f, new[] { "WPNAV_RADIUS", "Q_WP_RADIUS" }, MainV2.comPort.MAV.param);
WPNAV_SPEED.setup(0, 0, 1, 0.001f, new[] { "WPNAV_SPEED", "Q_WP_SPEED" }, MainV2.comPort.MAV.param);
WPNAV_SPEED_DN.setup(0, 0, 1, 0.001f, new[] { "WPNAV_SPEED_DN", "Q_WP_SPEED_DN" }, MainV2.comPort.MAV.param);
WPNAV_SPEED_UP.setup(0, 0, 1, 0.001f, new[] { "WPNAV_SPEED_UP", "Q_WP_SPEED_UP" }, MainV2.comPort.MAV.param);
INS_GYRO_FILTER.setup(0, 0, 1, 1f, new[] { "INS_GYRO_FILTER" }, MainV2.comPort.MAV.param);
INS_ACCEL_FILTER.setup(0, 0, 1, 1f, new[] { "INS_ACCEL_FILTER" }, MainV2.comPort.MAV.param);
INS_LOG_BAT_MASK.setup(new[] { "INS_LOG_BAT_MASK" }, MainV2.comPort.MAV.param);
INS_LOG_BAT_OPT.setup(0, 0, 1, 1f, new[] { "INS_LOG_BAT_OPT" }, MainV2.comPort.MAV.param);
INS_NOTCH_ENABLE.setup(new[] { "INS_NOTCH_ENABLE" }, MainV2.comPort.MAV.param);
INS_NOTCH_FREQ.setup(0, 0, 1, 1f, new[] { "INS_NOTCH_FREQ" }, MainV2.comPort.MAV.param);
INS_NOTCH_BW.setup(0, 0, 1, 1f, new[] { "INS_NOTCH_BW" }, MainV2.comPort.MAV.param);
INS_NOTCH_ATT.setup(0, 0, 1, 1f, new[] { "INS_NOTCH_ATT" }, MainV2.comPort.MAV.param);
INS_HNTCH_ENABLE.setup(new[] { "INS_HNTCH_ENABLE" }, MainV2.comPort.MAV.param);
INS_HNTCH_MODE.setup(0, 0, 1, 1f, new[] { "INS_HNTCH_MODE" }, MainV2.comPort.MAV.param);
INS_HNTCH_REF.setup(0, 0, 1, 1f, new[] { "INS_HNTCH_REF" }, MainV2.comPort.MAV.param);
INS_HNTCH_FREQ.setup(0, 0, 1, 1f, new[] { "INS_HNTCH_FREQ" }, MainV2.comPort.MAV.param);
INS_HNTCH_ATT.setup(0, 0, 1, 1f, new[] { "INS_HNTCH_ATT" }, MainV2.comPort.MAV.param);
INS_HNTCH_BW.setup(0, 0, 1, 1f, new[] { "INS_HNTCH_BW" }, MainV2.comPort.MAV.param);
INS_HNTCH_OPTS.setup(0, 0, 1, 1f, new[] { "INS_HNTCH_OPTS" }, MainV2.comPort.MAV.param);
INS_HNTCH_HMNCS.setup(0, 0, 1, 1f, new[] { "INS_HNTCH_HMNCS" }, MainV2.comPort.MAV.param);
mavlinkNumericUpDownatc_accel_r_max.setup(0, 0, 1, 0.001f, new[] { "ATC_ACCEL_R_MAX", "Q_A_ACCEL_R_MAX" },
MainV2.comPort.MAV.param);
mavlinkNumericUpDownatc_accel_p_max.setup(0, 0, 1, 0.001f, new[] { "ATC_ACCEL_P_MAX", "Q_A_ACCEL_P_MAX" },
MainV2.comPort.MAV.param);
mavlinkNumericUpDownatc_accel_y_max.setup(0, 0, 1, 0.001f, new[] { "ATC_ACCEL_Y_MAX", "Q_A_ACCEL_Y_MAX" },
MainV2.comPort.MAV.param);
mavlinkNumericUpDownatc_input_tc.setup(0, 0, 1, 0.001f, new[] { "ATC_INPUT_TC", "Q_A_INPUT_TC" },
MainV2.comPort.MAV.param);
// unlock entries if they differ
if (RATE_RLL_P.Value != RATE_PIT_P.Value || RATE_RLL_I.Value != RATE_PIT_I.Value ||
RATE_RLL_D.Value != RATE_PIT_D.Value ||
RATE_RLL_IMAX.Value != RATE_PIT_IMAX.Value)
{
CHK_lockrollpitch.Checked = false;
}
if (MainV2.comPort.MAV.param["H_SWASH_TYPE"] != null)
{
CHK_lockrollpitch.Checked = false;
}
// add tooltips to all controls
foreach (Control control1 in Controls)
{
foreach (Control control2 in control1.Controls)
{
if (control2 is MavlinkNumericUpDown)
{
var ParamName = ((MavlinkNumericUpDown)control2).ParamName;
toolTip1.SetToolTip(control2,
ParameterMetaDataRepository.GetParameterMetaData(ParamName,
ParameterMetaDataConstants.Description, MainV2.comPort.MAV.cs.firmware.ToString()));
}
if (control2 is MavlinkComboBox)
{
var ParamName = ((MavlinkComboBox)control2).ParamName;
toolTip1.SetToolTip(control2,
ParameterMetaDataRepository.GetParameterMetaData(ParamName,
ParameterMetaDataConstants.Description, MainV2.comPort.MAV.cs.firmware.ToString()));
}
}
}
startup = false;
}
public void Activate()
{
if (!MainV2.comPort.BaseStream.IsOpen)
{
this.Enabled = false;
return;
}
else
{
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
this.Enabled = true;
}
else
{
this.Enabled = false;
return;
}
}
startup = true;
changes.Clear();
// ensure the fields are populated before setting them
TUNE.setup(ParameterMetaDataRepository.GetParameterOptionsInt("TUNE", MainV2.comPort.MAV.cs.firmware.ToString()).ToList(), "TUNE", MainV2.comPort.MAV.param);
CH7_OPT.setup(ParameterMetaDataRepository.GetParameterOptionsInt("CH7_OPT", MainV2.comPort.MAV.cs.firmware.ToString()).ToList(), "CH7_OPT", MainV2.comPort.MAV.param);
CH8_OPT.setup(ParameterMetaDataRepository.GetParameterOptionsInt("CH8_OPT", MainV2.comPort.MAV.cs.firmware.ToString()).ToList(), "CH8_OPT", MainV2.comPort.MAV.param);
TUNE_LOW.setup(0, 10000, 1, 0.0001f, "TUNE_LOW", MainV2.comPort.MAV.param);
TUNE_HIGH.setup(0, 10000, 1, 0.0001f, "TUNE_HIGH", MainV2.comPort.MAV.param);
HLD_LAT_P.setup(0, 0, 1, 0.001f, new string[] { "HLD_LAT_P", "POS_XY_P" }, MainV2.comPort.MAV.param);
LOITER_LAT_D.setup(0, 0, 1, 0.001f, "LOITER_LAT_D", MainV2.comPort.MAV.param);
LOITER_LAT_I.setup(0, 0, 1, 0.001f, "LOITER_LAT_I", MainV2.comPort.MAV.param);
LOITER_LAT_IMAX.setup(0, 0, 10, 0.1f, "LOITER_LAT_IMAX", MainV2.comPort.MAV.param);
LOITER_LAT_P.setup(0, 0, 1, 0.001f, "LOITER_LAT_P", MainV2.comPort.MAV.param);
RATE_PITCH_FF.setup(0, 0, 1, 0.001f, "RATE_PITCH_FF", MainV2.comPort.MAV.param);
RATE_PIT_D.setup(0, 0, 1, 0.001f, "RATE_PIT_D", MainV2.comPort.MAV.param);
RATE_PIT_I.setup(0, 0, 1, 0.001f, "RATE_PIT_I", MainV2.comPort.MAV.param);
RATE_PIT_IMAX.setup(0, 0, 10, 0.1f, "RATE_PIT_IMAX", MainV2.comPort.MAV.param);
RATE_PIT_P.setup(0, 0, 1, 0.001f, "RATE_PIT_P", MainV2.comPort.MAV.param);
RATE_RLL_D.setup(0, 0, 1, 0.001f, "RATE_RLL_D", MainV2.comPort.MAV.param);
RATE_RLL_I.setup(0, 0, 1, 0.001f, "RATE_RLL_I", MainV2.comPort.MAV.param);
RATE_RLL_IMAX.setup(0, 0, 10, 0.1f, "RATE_RLL_IMAX", MainV2.comPort.MAV.param);
RATE_RLL_P.setup(0, 0, 1, 0.001f, "RATE_RLL_P", MainV2.comPort.MAV.param);
RATE_ROLL_FF.setup(0, 0, 1, 0.001f, "RATE_ROLL_FF", MainV2.comPort.MAV.param);
RATE_YAW_D.setup(0, 0, 1, 0.001f, "RATE_YAW_D", MainV2.comPort.MAV.param);
RATE_YAW_FF.setup(0, 0, 1, 0.001f, "RATE_YAW_FF", MainV2.comPort.MAV.param);
RATE_YAW_I.setup(0, 0, 1, 0.001f, "RATE_YAW_I", MainV2.comPort.MAV.param);
RATE_YAW_IMAX.setup(0, 0, 10, 0.1f, "RATE_YAW_IMAX", MainV2.comPort.MAV.param);
RATE_YAW_P.setup(0, 0, 1, 0.001f, "RATE_YAW_P", MainV2.comPort.MAV.param);
STB_PIT_P.setup(0, 0, 1, 0.001f, "STB_PIT_P", MainV2.comPort.MAV.param);
STB_RLL_P.setup(0, 0, 1, 0.001f, "STB_RLL_P", MainV2.comPort.MAV.param);
STB_YAW_P.setup(0, 0, 1, 0.001f, "STB_YAW_P", MainV2.comPort.MAV.param);
THR_ACCEL_D.setup(0, 0, 1, 0.001f, new string[] { "THR_ACCEL_D", "ACCEL_Z_D" }, MainV2.comPort.MAV.param);
THR_ACCEL_I.setup(0, 0, 1, 0.001f, new string[] { "THR_ACCEL_I", "ACCEL_Z_I" }, MainV2.comPort.MAV.param);
THR_ACCEL_IMAX.setup(0, 0, 10, 0.1f, new string[] { "THR_ACCEL_IMAX", "ACCEL_Z_IMAX" }, MainV2.comPort.MAV.param);
THR_ACCEL_P.setup(0, 0, 1, 0.001f, new string[] { "THR_ACCEL_P", "ACCEL_Z_P" }, MainV2.comPort.MAV.param);
THR_ALT_P.setup(0, 0, 1, 0.001f, new string[] { "THR_ALT_P", "POS_Z_P" }, MainV2.comPort.MAV.param);
THR_RATE_P.setup(0, 0, 1, 0.001f, "THR_RATE_P", MainV2.comPort.MAV.param);
WPNAV_LOIT_SPEED.setup(0, 0, 1, 0.001f, "WPNAV_LOIT_SPEED", MainV2.comPort.MAV.param);
WPNAV_RADIUS.setup(0, 0, 1, 0.001f, "WPNAV_RADIUS", MainV2.comPort.MAV.param);
WPNAV_SPEED.setup(0, 0, 1, 0.001f, "WPNAV_SPEED", MainV2.comPort.MAV.param);
WPNAV_SPEED_DN.setup(0, 0, 1, 0.001f, "WPNAV_SPEED_DN", MainV2.comPort.MAV.param);
WPNAV_SPEED_UP.setup(0, 0, 1, 0.001f, "WPNAV_SPEED_UP", MainV2.comPort.MAV.param);
// unlock entries if they differ
if (RATE_RLL_P.Value != RATE_PIT_P.Value || RATE_RLL_I.Value != RATE_PIT_I.Value ||
RATE_RLL_D.Value != RATE_PIT_D.Value || RATE_RLL_IMAX.Value != RATE_PIT_IMAX.Value)
{
CHK_lockrollpitch.Checked = false;
}
if (MainV2.comPort.MAV.param["H_SWASH_TYPE"] != null)
{
CHK_lockrollpitch.Checked = false;
}
startup = false;
}
public void Activate()
{
if (!MainV2.comPort.BaseStream.IsOpen)
{
Enabled = false;
return;
}
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
Enabled = true;
}
else
{
Enabled = false;
return;
}
startup = true;
changes.Clear();
// ensure the fields are populated before setting them
TUNE.setup(
ParameterMetaDataRepository.GetParameterOptionsInt("TUNE", MainV2.comPort.MAV.cs.firmware.ToString())
.ToList(), "TUNE", MainV2.comPort.MAV.param);
CH7_OPT.setup(
ParameterMetaDataRepository.GetParameterOptionsInt("CH7_OPT", MainV2.comPort.MAV.cs.firmware.ToString())
.ToList(), "CH7_OPT", MainV2.comPort.MAV.param);
CH8_OPT.setup(
ParameterMetaDataRepository.GetParameterOptionsInt("CH8_OPT", MainV2.comPort.MAV.cs.firmware.ToString())
.ToList(), "CH8_OPT", MainV2.comPort.MAV.param);
TUNE_LOW.setup(0, 10000, 1000, 0.01f, "TUNE_LOW", MainV2.comPort.MAV.param);
TUNE_HIGH.setup(0, 10000, 1000, 0.01f, "TUNE_HIGH", MainV2.comPort.MAV.param);
// HLD_LAT_P.setup(0, 0, 1, 0.001f, new[] {"HLD_LAT_P", "POS_XY_P"}, MainV2.comPort.MAV.param);
HLD_LAT_P.setup(0, 10, 1, 0.001f, new[] { "HLD_LAT_P", "PSC_POSXY_P" }, MainV2.comPort.MAV.param);
// PosXY_I.setup(0, 10, 1, 0.001f, new[] { "PosXY_I", "PSC_PXY_I" }, MainV2.comPort.MAV.param);
// PosXY_IMAX.setup(0, 5000, 1, 1, new[] { "PosXY_IMAX", "PSC_PXY_IMAX" }, MainV2.comPort.MAV.param);
// PosXY_D.setup(0, 10, 1, 0.001f, new[] { "PosXY_D", "PSC_PXY_D" }, MainV2.comPort.MAV.param);
LOITER_LAT_D.setup(0, 10, 1, 0.001f, new[] { "LOITER_LAT_D", "PSC_VELXY_D" }, MainV2.comPort.MAV.param);
LOITER_LAT_I.setup(0, 10, 1, 0.001f, new[] { "LOITER_LAT_I", "PSC_VELXY_I" }, MainV2.comPort.MAV.param);
LOITER_LAT_IMAX.setup(0, 5000, 1, 1, new[] { "LOITER_LAT_IMAX", "PSC_VELXY_IMAX" }, MainV2.comPort.MAV.param);
LOITER_LAT_P.setup(0, 10, 1, 0.001f, new[] { "LOITER_LAT_P", "PSC_VELXY_P" }, MainV2.comPort.MAV.param);
RATE_PIT_D.setup(0, 10, 1, 0.0001f, new[] { "RATE_PIT_D", "ATC_RAT_PIT_D" }, MainV2.comPort.MAV.param);
RATE_PIT_I.setup(0, 10, 1, 0.001f, new[] { "RATE_PIT_I", "ATC_RAT_PIT_I" }, MainV2.comPort.MAV.param);
if (MainV2.comPort.MAV.param.ContainsKey("ATC_RAT_PIT_IMAX")) // 3.4 changes scaling
{
RATE_PIT_IMAX.setup(0, 10, 1, 0.1f, new[] { "ATC_RAT_PIT_IMAX" }, MainV2.comPort.MAV.param);
}
else
{
RATE_PIT_IMAX.setup(0, 10, 10, 1f, new[] { "RATE_PIT_IMAX" }, MainV2.comPort.MAV.param);
}
RATE_PIT_P.setup(0, 10, 1, 0.001f, new[] { "RATE_PIT_P", "ATC_RAT_PIT_P" }, MainV2.comPort.MAV.param);
RATE_PIT_FILT.setup(0, 10, 1, 0.001f, new[] { "RATE_PIT_FILT", "ATC_RAT_PIT_FILT" }, MainV2.comPort.MAV.param);
RATE_RLL_D.setup(0, 10, 1, 0.0001f, new[] { "RATE_RLL_D", "ATC_RAT_RLL_D" }, MainV2.comPort.MAV.param);
RATE_RLL_I.setup(0, 10, 1, 0.001f, new[] { "RATE_RLL_I", "ATC_RAT_RLL_I" }, MainV2.comPort.MAV.param);
if (MainV2.comPort.MAV.param.ContainsKey("ATC_RAT_RLL_IMAX")) // 3.4 changes scaling
{
RATE_RLL_IMAX.setup(0, 10, 1, 0.1f, new[] { "ATC_RAT_RLL_IMAX" }, MainV2.comPort.MAV.param);
}
else
{
RATE_RLL_IMAX.setup(0, 10, 10, 1f, new[] { "RATE_RLL_IMAX" }, MainV2.comPort.MAV.param);
}
RATE_RLL_P.setup(0, 10, 1, 0.001f, new[] { "RATE_RLL_P", "ATC_RAT_RLL_P" }, MainV2.comPort.MAV.param);
RATE_RLL_FILT.setup(0, 10, 1, 0.001f, new[] { "RATE_RLL_FILT", "ATC_RAT_RLL_FILT" }, MainV2.comPort.MAV.param);
RATE_YAW_D.setup(0, 10, 1, 0.0001f, new[] { "RATE_YAW_D", "ATC_RAT_YAW_D" }, MainV2.comPort.MAV.param);
RATE_YAW_I.setup(0, 10, 1, 0.001f, new[] { "RATE_YAW_I", "ATC_RAT_YAW_I" }, MainV2.comPort.MAV.param);
if (MainV2.comPort.MAV.param.ContainsKey("ATC_RAT_YAW_IMAX")) // 3.4 changes scaling
{
RATE_YAW_IMAX.setup(0, 10, 1, 0.1f, new[] { "ATC_RAT_YAW_IMAX" }, MainV2.comPort.MAV.param);
}
else
{
RATE_YAW_IMAX.setup(0, 10, 10, 1f, new[] { "RATE_YAW_IMAX" }, MainV2.comPort.MAV.param);
}
RATE_YAW_P.setup(0, 10, 1, 0.001f, new[] { "RATE_YAW_P", "ATC_RAT_YAW_P" }, MainV2.comPort.MAV.param);
RATE_YAW_FILT.setup(0, 10, 1, 0.001f, new[] { "RATE_YAW_FILT", "ATC_RAT_YAW_FILT" }, MainV2.comPort.MAV.param);
STB_PIT_P.setup(0, 10, 1, 0.001f, new[] { "STB_PIT_P", "ATC_ANG_PIT_P" }, MainV2.comPort.MAV.param);
// STB_PIT_I.setup(0, 10, 1, 0.001f, new[] { "STB_PIT_I", "ATC_ANG_P_I" }, MainV2.comPort.MAV.param);
// STB_PIT_IMAX.setup(0, 30, 1, 0.1f, new[] { "STB_PIT_IMAX", "ATC_ANG_P_IMAX" }, MainV2.comPort.MAV.param);
// STB_PIT_D.setup(0, 10, 1, 0.001f, new[] { "STB_PIT_D", "ATC_ANG_P_D" }, MainV2.comPort.MAV.param);
STB_RLL_P.setup(0, 10, 1, 0.001f, new[] { "STB_RLL_P", "ATC_ANG_RLL_P" }, MainV2.comPort.MAV.param);
// STB_RLL_IMAX.setup(0, 30, 1, 0.1f, new[] { "STB_RLL_IMAX", "ATC_ANG_R_IMAX" }, MainV2.comPort.MAV.param);
// STB_RLL_D.setup(0, 10, 1, 0.001f, new[] { "STB_RLL_D", "ATC_ANG_R_D" }, MainV2.comPort.MAV.param);
// STB_RLL_I.setup(0, 10, 1, 0.001f, new[] { "STB_RLL_I", "ATC_ANG_R_I" }, MainV2.comPort.MAV.param);
STB_YAW_P.setup(0, 10, 1, 0.001f, new[] { "STB_YAW_P", "ATC_ANG_YAW_P" }, MainV2.comPort.MAV.param);
// STB_YAW_I.setup(0, 10, 1, 0.001f, new[] { "STB_YAW_I", "ATC_ANG_Y_I" }, MainV2.comPort.MAV.param);
// STB_YAW_IMAX.setup(0, 30, 1, 0.1f, new[] { "STB_YAW_IMAX", "ATC_ANG_Y_IMAX" }, MainV2.comPort.MAV.param);
// STB_YAW_D.setup(0, 10, 1, 0.001f, new[] { "STB_YAW_D", "ATC_ANG_Y_D" }, MainV2.comPort.MAV.param);
THR_ACCEL_D.setup(0, 10, 1, 0.001f, new[] { "THR_ACCEL_D", "PSC_ACCZ_D" }, MainV2.comPort.MAV.param);
THR_ACCEL_I.setup(0, 10, 1, 0.001f, new[] { "THR_ACCEL_I", "PSC_ACCZ_I" }, MainV2.comPort.MAV.param);
THR_ACCEL_IMAX.setup(0, 5000, 1, 1f, new[] { "THR_ACCEL_IMAX", "PSC_ACCZ_IMAX" }, MainV2.comPort.MAV.param);
THR_ACCEL_P.setup(0, 10, 1, 0.001f, new[] { "THR_ACCEL_P", "PSC_ACCZ_P" }, MainV2.comPort.MAV.param);
THR_ALT_P.setup(0, 10, 1, 0.001f, new[] { "THR_ALT_P", "PSC_POSZ_P" }, MainV2.comPort.MAV.param);
THR_RATE_P.setup(0, 10, 1, 0.001f, new[] { "THR_RATE_P", "PSC_VELZ_P" }, MainV2.comPort.MAV.param);
WPNAV_LOIT_SPEED.setup(0, 0, 1, 0.001f, "WPNAV_LOIT_SPEED", MainV2.comPort.MAV.param);
WPNAV_RADIUS.setup(0, 0, 1, 0.001f, "WPNAV_RADIUS", MainV2.comPort.MAV.param);
WPNAV_SPEED.setup(0, 0, 1, 0.001f, "WPNAV_SPEED", MainV2.comPort.MAV.param);
WPNAV_SPEED_DN.setup(0, 0, 1, 0.001f, "WPNAV_SPEED_DN", MainV2.comPort.MAV.param);
WPNAV_SPEED_UP.setup(0, 0, 1, 0.001f, "WPNAV_SPEED_UP", MainV2.comPort.MAV.param);
// unlock entries if they differ
if (RATE_RLL_P.Value != RATE_PIT_P.Value || RATE_RLL_I.Value != RATE_PIT_I.Value ||
RATE_RLL_D.Value != RATE_PIT_D.Value || RATE_RLL_IMAX.Value != RATE_PIT_IMAX.Value)
{
CHK_lockrollpitch.Checked = false;
}
if (MainV2.comPort.MAV.param["H_SWASH_TYPE"] != null)
{
CHK_lockrollpitch.Checked = false;
}
startup = false;
}