private void BUT_simmulti_Click(object sender, EventArgs e)
{
Form frm = new Form();
var sim = new GCSViews.Simulation();
frm.Controls.Add(sim);
frm.Size = sim.Size;
sim.Dock = DockStyle.Fill;
frm.Show();
}
public MainV2()
{
log.Info("Mainv2 ctor");
ShowAirports = true;
// setup adsb
Utilities.adsb.UpdatePlanePosition += adsb_UpdatePlanePosition;
Form splash = Program.Splash;
splash.Refresh();
Application.DoEvents();
instance = this;
//disable dpi scaling
if (Font.Name != "宋体") //Chinese displayed normally when scaling. But would be too small or large using this line of code.
Font = new Font(Font.Name, 8.25f * 96f / CreateGraphics().DpiX, Font.Style, Font.Unit, Font.GdiCharSet, Font.GdiVerticalFont);
InitializeComponent();
MyView = new MainSwitcher(this);
View = MyView;
AdvancedChanged += updateAdvanced;
//startup console
TCPConsole.Write((byte)'S');
// full screen
//this.TopMost = true;
//this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.None;
//this.WindowState = FormWindowState.Maximized;
_connectionControl = toolStripConnectionControl.ConnectionControl;
_connectionControl.CMB_baudrate.TextChanged += this.CMB_baudrate_TextChanged;
_connectionControl.CMB_serialport.SelectedIndexChanged += this.CMB_serialport_SelectedIndexChanged;
_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();
Warnings.CustomWarning.defaultsrc = comPort.MAV.cs;
Warnings.WarningEngine.Start();
// 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;
comPort.BaseStream.BaudRate = 115200;
PopulateSerialportList();
if (_connectionControl.CMB_serialport.Items.Count > 0)
{
_connectionControl.CMB_baudrate.SelectedIndex = 8;
_connectionControl.CMB_serialport.SelectedIndex = 0;
}
// ** Done
splash.Refresh();
Application.DoEvents();
// set this before we reset it
MainV2.config["NUM_tracklength"] = "200";
// create one here - but override on load
MainV2.config["guid"] = Guid.NewGuid().ToString();
// load config
xmlconfig(false);
MissionPlanner.Utilities.Tracking.cid = new Guid(MainV2.config["guid"].ToString());
// setup guids for droneshare
if (!MainV2.config.ContainsKey("plane_guid"))
MainV2.config["plane_guid"] = Guid.NewGuid().ToString();
if (!MainV2.config.ContainsKey("copter_guid"))
MainV2.config["copter_guid"] = Guid.NewGuid().ToString();
if (!MainV2.config.ContainsKey("rover_guid"))
MainV2.config["rover_guid"] = Guid.NewGuid().ToString();
if (config.ContainsKey("language") && !string.IsNullOrEmpty((string)config["language"]))
{
changelanguage(CultureInfoEx.GetCultureInfo((string)config["language"]));
}
this.Text = splash.Text;
titlebar = splash.Text;
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
}
// prevent system from sleeping while mp open
var previousExecutionState = NativeMethods.SetThreadExecutionState(NativeMethods.ES_CONTINUOUS | NativeMethods.ES_SYSTEM_REQUIRED);
}
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); }
}
if (ThemeManager.CurrentTheme == ThemeManager.Themes.HighContrast)
{
switchlight(new menuicons2());
}
}
if (MainV2.config["showairports"] != null)
{
MainV2.ShowAirports = bool.Parse(config["showairports"].ToString());
}
// set default
ShowTFR = true;
// load saved
if (MainV2.config["showtfr"] != null)
{
MainV2.ShowTFR = bool.Parse(config["showtfr"].ToString());
}
if (MainV2.config["enableadsb"] != null)
{
MainV2.instance.EnableADSB = bool.Parse(config["enableadsb"].ToString());
}
// load this before the other screens get loaded
if (MainV2.config["advancedview"] != null)
{
MainV2.Advanced = bool.Parse(config["advancedview"].ToString());
}
else
{
// existing user - enable advanced view
if (MainV2.config.Count > 3)
{
config["advancedview"] = true.ToString();
MainV2.Advanced = true;
}
else
{
config["advancedview"] = false.ToString();
}
}
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();
FlightData.Width = MyView.Width;
FlightPlanner.Width = MyView.Width;
Simulation.Width = MyView.Width;
}
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());
if (MainV2.config["CHK_hudshow"] != null)
GCSViews.FlightData.myhud.hudon = bool.Parse(MainV2.config["CHK_hudshow"].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());
if (MainV2.config["analyticsoptout"] != null)
MissionPlanner.Utilities.Tracking.OptOut = bool.Parse(config["analyticsoptout"].ToString());
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());
// remove invalid entrys
if (Math.Abs(MainV2.comPort.MAV.cs.HomeLocation.Lat) > 90 || Math.Abs(MainV2.comPort.MAV.cs.HomeLocation.Lng) > 180)
MainV2.comPort.MAV.cs.HomeLocation = new PointLatLngAlt();
}
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();
// create log dir if it doesnt exist
if (!Directory.Exists(MainV2.LogDir))
Directory.CreateDirectory(MainV2.LogDir);
//System.Threading.Thread.Sleep(2000);
Microsoft.Win32.SystemEvents.PowerModeChanged += SystemEvents_PowerModeChanged;
// 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)
{
CustomMessageBox.Show("This program requires .NET Framework 4.0. You currently have " + Framework);
}
}
if (Program.Logo != null)
{
this.Icon = Icon.FromHandle(((Bitmap)Program.Logo).GetHicon());
}
if (Program.Logo != null && Program.vvvvz)
{
MenuDonate.Click -= this.toolStripMenuItem1_Click;
MenuDonate.Text = "";
MenuDonate.Image = Program.Logo;
MenuDonate.Click += MenuCustom_Click;
MenuFlightData.Visible = false;
MenuFlightPlanner.Visible = true;
MenuConfigTune.Visible = false;
MenuHelp.Visible = false;
MenuInitConfig.Visible = false;
MenuSimulation.Visible = false;
MenuTerminal.Visible = false;
}
Application.DoEvents();
Comports.Add(comPort);
// save config to test we have write access
xmlconfig(true);
}
private void BUT_simmulti_Click(object sender, EventArgs e)
{
Form frm = new Form();
var sim = new GCSViews.Simulation();
frm.Controls.Add(sim);
frm.Size = sim.Size;
sim.Dock = DockStyle.Fill;
frm.Show();
}
public void update(ref double[] servos, Simulation.FGNetFDM fdm)
{
for (int i = 0; i < servos.Length; i++)
{
var servo = servos[(int)self.motors[i].servo - 1];
if (servo <= 0.0)
{
motor_speed[i] = 0;
}
else
{
motor_speed[i] = scale_rc(i, (float)servo, 0.0f, 1.0f);
//servos[i] = motor_speed[i];
}
}
double[] m = motor_speed;
//# how much time has passed?
DateTime t = DateTime.Now;
TimeSpan delta_time = t - last_time; // 0.02
last_time = t;
if (delta_time.TotalMilliseconds > 100) // somethings wrong / debug
{
delta_time = new TimeSpan(0, 0, 0, 0, 20);
}
// rotational acceleration, in degrees/s/s, in body frame
Vector3 rot_accel = new Vector3(0, 0, 0);
double thrust = 0.0;
foreach (var i in range((self.motors.Length)))
{
rot_accel.x += -radians(5000.0) * sin(radians(self.motors[i].angle)) * m[i];
rot_accel.y += radians(5000.0) * cos(radians(self.motors[i].angle)) * m[i];
if (self.motors[i].clockwise)
{
rot_accel.z -= m[i] * radians(400.0);
}
else
{
rot_accel.z += m[i] * radians(400.0);
}
thrust += m[i] * self.thrust_scale; // newtons
}
// rotational air resistance
rot_accel.x -= self.gyro.x * radians(5000.0) / self.terminal_rotation_rate;
rot_accel.y -= self.gyro.y * radians(5000.0) / self.terminal_rotation_rate;
rot_accel.z -= self.gyro.z * radians(400.0) / self.terminal_rotation_rate;
// Console.WriteLine("rot_accel " + rot_accel.ToString());
// update rotational rates in body frame
self.gyro += rot_accel * delta_time.TotalSeconds;
// Console.WriteLine("gyro " + gyro.ToString());
// update attitude
self.dcm.rotate(self.gyro * delta_time.TotalSeconds);
self.dcm.normalize();
// air resistance
Vector3 air_resistance = -self.velocity * (self.gravity / self.terminal_velocity);
accel_body = new Vector3(0, 0, -thrust / self.mass);
Vector3 accel_earth = self.dcm * accel_body;
accel_earth += new Vector3(0, 0, self.gravity);
accel_earth += air_resistance;
// add in some wind (turn force into accel by dividing by mass).
// accel_earth += self.wind.drag(self.velocity) / self.mass;
// if we're on the ground, then our vertical acceleration is limited
// to zero. This effectively adds the force of the ground on the aircraft
if (self.on_ground() && accel_earth.z > 0)
accel_earth.z = 0;
// work out acceleration as seen by the accelerometers. It sees the kinematic
// acceleration (ie. real movement), plus gravity
self.accel_body = self.dcm.transposed() * (accel_earth + new Vector3(0, 0, -self.gravity));
// new velocity vector
self.velocity += accel_earth * delta_time.TotalSeconds;
if (double.IsNaN(velocity.x) || double.IsNaN(velocity.y) || double.IsNaN(velocity.z))
velocity = new Vector3();
// new position vector
old_position = self.position.copy();
self.position += self.velocity * delta_time.TotalSeconds;
if (home_latitude == 0)
{
home_latitude = fdm.latitude * rad2deg;
home_longitude = fdm.longitude * rad2deg;
home_altitude = altitude;
}
// constrain height to the ground
if (self.on_ground())
{
if (!self.on_ground(old_position))
Console.WriteLine("Hit ground at {0} m/s", (self.velocity.z));
self.velocity = new Vector3(0, 0, 0);
// zero roll/pitch, but keep yaw
double r = 0;
double p = 0;
double y = 0;
self.dcm.to_euler(ref r, ref p, ref y);
self.dcm.from_euler(0, 0, y);
self.position = new Vector3(self.position.x, self.position.y,
-(self.ground_level + self.frame_height - self.home_altitude));
}
// update lat/lon/altitude
self.update_position(delta_time.TotalSeconds);
}
public MainV2()
{
log.Info("Mainv2 ctor");
Form splash = Program.Splash;
splash.Refresh();
Application.DoEvents();
instance = this;
InitializeComponent();
MyView = new MainSwitcher(this);
View = MyView;
POIs.CollectionChanged += POIs_CollectionChanged;
// full screen
//this.TopMost = true;
//this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.None;
//this.WindowState = FormWindowState.Maximized;
_connectionControl = toolStripConnectionControl.ConnectionControl;
_connectionControl.CMB_baudrate.TextChanged += this.CMB_baudrate_TextChanged;
_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;
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 = 8;
_connectionControl.CMB_serialport.SelectedIndex = 0;
}
// ** Done
splash.Refresh();
Application.DoEvents();
// set this before we reset it
MainV2.config["NUM_tracklength"] = "200";
// create one here - but override on load
MainV2.config["guid"] = Guid.NewGuid().ToString();
// load config
xmlconfig(false);
MissionPlanner.Utilities.Tracking.cid = new Guid(MainV2.config["guid"].ToString());
if (config.ContainsKey("language") && !string.IsNullOrEmpty((string)config["language"]))
{
changelanguage(CultureInfoEx.GetCultureInfo((string)config["language"]));
}
this.Text = splash.Text;
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();
FlightData.Width = MyView.Width;
FlightPlanner.Width = MyView.Width;
Simulation.Width = MyView.Width;
}
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());
if (MainV2.config["analyticsoptout"] != null)
MissionPlanner.Utilities.Tracking.OptOut = bool.Parse(config["analyticsoptout"].ToString());
if (MainV2.config["advancedview"] != null)
{
MainV2.Advanced = bool.Parse(config["advancedview"].ToString());
}
else
{
// existing user - enable advanced view
if (MainV2.config.Count > 3)
{
config["advancedview"] = true.ToString();
MainV2.Advanced = true;
}
else
{
config["advancedview"] = false.ToString();
}
}
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 < 4.0)
{
CustomMessageBox.Show("This program requires .NET Framework 4.0. You currently have " + Framework);
}
}
if (Program.Logo != null)
{
this.Icon = Icon.FromHandle(((Bitmap)Program.Logo).GetHicon());
}
if (Program.Logo != null && Program.vvvvz)
{
MenuDonate.Click -= this.toolStripMenuItem1_Click;
MenuDonate.Text = "";
MenuDonate.Image = Program.Logo;
MenuDonate.Click += MenuCustom_Click;
MenuFlightData.Visible = false;
MenuFlightPlanner.Visible = true;
MenuConfigTune.Visible = false;
MenuHelp.Visible = false;
MenuInitConfig.Visible = false;
MenuSimulation.Visible = false;
MenuTerminal.Visible = false;
}
Application.DoEvents();
Comports.Add(comPort);
// setup adsb
Utilities.adsb.UpdatePlanePosition += adsb_UpdatePlanePosition;
new Utilities.adsb();
//int fixmenextrelease;
// if (MainV2.getConfig("fixparams") == "")
{
// Utilities.ParameterMetaDataParser.GetParameterInformation();
// MainV2.config["fixparams"] = 1;
}
}
