private void GridUI_Load(object sender, EventArgs e)
{
xmlcamera(false, Settings.GetRunningDirectory() + "camerasBuiltin.xml");
xmlcamera(false, Settings.GetUserDataDirectory() + "cameras.xml");
xmlaircraft();
loadsettings();
domainUpDown1_ValueChanged(null, null);
}
private void but_td_Click(object sender, EventArgs e)
{
string path = "@SYS/threads.txt";
if (InputBox.Show("path", "path", ref path) == DialogResult.OK)
{
if (MainV2.comPort.BaseStream.IsOpen)
{
var mavftp = new MAVFtp(MainV2.comPort, (byte)MainV2.comPort.sysidcurrent,
(byte)MainV2.comPort.compidcurrent);
var st = mavftp.GetFile(path, new CancellationTokenSource(5000), true);
var output = Path.Combine(Settings.GetUserDataDirectory(), Path.GetFileName(path));
File.WriteAllBytes(output, st.GetBuffer());
}
}
}
public static void Start(string[] args)
{
Program.args = args;
Console.WriteLine(
"If your error is about Microsoft.DirectX.DirectInput, please install the latest directx redist from here http://www.microsoft.com/en-us/download/details.aspx?id=35 \n\n");
Console.WriteLine("Debug under mono MONO_LOG_LEVEL=debug mono MissionPlanner.exe");
Console.WriteLine("To fix any filename case issues under mono use export MONO_IOMAP=drive:case");
Console.WriteLine("Data Dir " + Settings.GetDataDirectory());
Console.WriteLine("Log Dir " + Settings.GetDefaultLogDir());
Console.WriteLine("Running Dir " + Settings.GetRunningDirectory());
Console.WriteLine("User Data Dir " + Settings.GetUserDataDirectory());
var t = Type.GetType("Mono.Runtime");
MONO = (t != null);
Directory.SetCurrentDirectory(Settings.GetRunningDirectory());
var listener = new TextWriterTraceListener(Settings.GetDataDirectory() + Path.DirectorySeparatorChar + "trace.log",
"defaulttrace");
if (args.Any(a => a.Contains("trace")))
{
Trace.Listeners.Add(listener);
}
Thread = Thread.CurrentThread;
System.Windows.Forms.Application.EnableVisualStyles();
XmlConfigurator.Configure(LogManager.GetRepository(Assembly.GetCallingAssembly()));
log.Info("******************* Logging Configured *******************");
ServicePointManager.DefaultConnectionLimit = 10;
System.Windows.Forms.Application.ThreadException += Application_ThreadException;
if (args.Length > 0 && args[0] == "/update")
{
Utilities.Update.DoUpdate();
return;
}
name = "Mission Planner";
try
{
if (File.Exists(Settings.GetRunningDirectory() + "logo.txt"))
{
name = File.ReadAllLines(Settings.GetRunningDirectory() + "logo.txt",
Encoding.UTF8)[0];
}
}
catch
{
}
if (File.Exists(Settings.GetRunningDirectory() + "logo.png"))
{
Logo = new Bitmap(Settings.GetRunningDirectory() + "logo.png");
}
if (File.Exists(Settings.GetRunningDirectory() + "logo2.png"))
{
Logo2 = new Bitmap(Settings.GetRunningDirectory() + "logo2.png");
}
if (File.Exists(Settings.GetRunningDirectory() + "icon.png"))
{
// 128*128
IconFile = new Bitmap(Settings.GetRunningDirectory() + "icon.png");
}
else
{
IconFile = MissionPlanner.Properties.Resources.mpdesktop.ToBitmap();
}
if (File.Exists(Settings.GetRunningDirectory() + "splashbg.png")) // 600*375
{
SplashBG = new Bitmap(Settings.GetRunningDirectory() + "splashbg.png");
}
try
{
var file = NativeLibrary.GetLibraryPathname("libSkiaSharp");
var ptr = NativeLibrary.LoadLibrary(file);
if (ptr != IntPtr.Zero)
{
log.Info("SkiaLoaded");
}
}
catch (Exception ex)
{
log.Error(ex);
}
Splash = new MissionPlanner.Splash();
if (SplashBG != null)
{
Splash.BackgroundImage = SplashBG;
Splash.pictureBox1.Visible = false;
}
if (IconFile != null)
{
Splash.Icon = Icon.FromHandle(((Bitmap)IconFile).GetHicon());
}
string strVersion = File.Exists("version.txt")
? File.ReadAllText("version.txt")
: System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString();
Splash.Text = name + " " + Application.ProductVersion + " build " + strVersion;
Splash.Show();
if (Debugger.IsAttached)
{
Splash.TopMost = false;
}
Application.DoEvents();
Application.DoEvents();
CustomMessageBox.ShowEvent += (text, caption, buttons, icon, yestext, notext) =>
{
return((CustomMessageBox.DialogResult)(int) MsgBox.CustomMessageBox.Show(text, caption,
(MessageBoxButtons)(int)buttons, (MessageBoxIcon)(int)icon, yestext, notext));
};
// setup theme provider
MsgBox.CustomMessageBox.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
Controls.MainSwitcher.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
MissionPlanner.Controls.InputBox.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
Controls.BackstageView.BackstageViewPage.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
Controls.MainSwitcher.Tracking += MissionPlanner.Utilities.Tracking.AddPage;
Controls.BackstageView.BackstageView.Tracking += MissionPlanner.Utilities.Tracking.AddPage;
// setup settings provider
MissionPlanner.Comms.CommsBase.Settings += CommsBase_Settings;
MissionPlanner.Comms.CommsBase.InputBoxShow += CommsBaseOnInputBoxShow;
MissionPlanner.Comms.CommsBase.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
MissionPlanner.Comms.SerialPort.GetDeviceName += SerialPort_GetDeviceName;
MissionPlanner.Utilities.Extensions.MessageLoop = new Action(() => Application.DoEvents());
// set the cache provider to my custom version
GMap.NET.GMaps.Instance.PrimaryCache = new Maps.MyImageCache();
// add my custom map providers
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.WMSProvider.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Custom.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Earthbuilder.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Statkart_Topo2.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Eniro_Topo.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.MapBox.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.MapboxNoFly.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.MapboxUser.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_Lake.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_1974.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_1979.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_1984.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_1988.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_Relief.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_Slopezone.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_Sea.Instance);
GoogleMapProvider.APIKey = "AIzaSyA5nFp39fEHruCezXnG3r8rGyZtuAkmCug";
if (Settings.Instance["GoogleApiKey"] != null)
{
GoogleMapProvider.APIKey = Settings.Instance["GoogleApiKey"];
}
Tracking.productName = Application.ProductName;
Tracking.productVersion = Application.ProductVersion;
Tracking.currentCultureName = Application.CurrentCulture.Name;
Tracking.primaryScreenBitsPerPixel = Screen.PrimaryScreen.BitsPerPixel;
Tracking.boundsWidth = Screen.PrimaryScreen.Bounds.Width;
Tracking.boundsHeight = Screen.PrimaryScreen.Bounds.Height;
Settings.Instance.UserAgent = Application.ProductName + " " + Application.ProductVersion + " (" + Environment.OSVersion.VersionString + ")";
// optionally add gdal support
if (Directory.Exists(Application.StartupPath + Path.DirectorySeparatorChar + "gdal"))
{
GMap.NET.MapProviders.GMapProviders.List.Add(GDAL.GDALProvider.Instance);
}
// add proxy settings
GMap.NET.MapProviders.GMapProvider.WebProxy = WebRequest.GetSystemWebProxy();
GMap.NET.MapProviders.GMapProvider.WebProxy.Credentials = CredentialCache.DefaultCredentials;
// generic status report screen
MAVLinkInterface.CreateIProgressReporterDialogue += title =>
new ProgressReporterDialogue()
{
StartPosition = FormStartPosition.CenterScreen, Text = title
};
WebRequest.DefaultWebProxy = WebRequest.GetSystemWebProxy();
WebRequest.DefaultWebProxy.Credentials = CredentialCache.DefaultNetworkCredentials;
if (name == "VVVVZ")
{
// set pw
Settings.Instance["password"] = "******";
Settings.Instance["password_protect"] = "True";
// prevent wizard
Settings.Instance["newuser"] = "******";
// invalidate update url
System.Configuration.ConfigurationManager.AppSettings["UpdateLocationVersion"] = "";
}
CleanupFiles();
log.InfoFormat("64bit os {0}, 64bit process {1}, OS Arch {2}", System.Environment.Is64BitOperatingSystem,
System.Environment.Is64BitProcess, RuntimeInformation.OSArchitecture);
log.InfoFormat("Runtime Version {0}",
System.Reflection.Assembly.GetExecutingAssembly().ImageRuntimeVersion);
try
{
log.Info(Process.GetCurrentProcess().Modules.ToJSON());
}
catch
{
}
Type type = Type.GetType("Mono.Runtime");
if (type != null)
{
MethodInfo displayName = type.GetMethod("GetDisplayName", BindingFlags.NonPublic | BindingFlags.Static);
if (displayName != null)
{
log.Info(displayName.Invoke(null, null));
//6.6.0.161 (tarball Tue Dec 10 10:36:32 UTC 2019)
var match = Regex.Match(displayName.Invoke(null, null).ToString(), @"([0-9]+)\.([0-9]+)\.([0-9]+)\.([0-9]+)");
if (match.Success)
{
if (int.Parse(match.Groups[1].Value) < 6)
{
CustomMessageBox.Show(
"Please upgrade your mono version to 6+ https://www.mono-project.com/download/stable/");
}
}
}
}
try
{
Thread.CurrentThread.Name = "Base Thread";
Application.Run(new MainV2());
}
catch (Exception ex)
{
log.Fatal("Fatal app exception", ex);
Console.WriteLine(ex.ToString());
Console.WriteLine("\nPress any key to exit!");
Console.ReadLine();
}
try
{
// kill sim background process if its still running
GCSViews.SITL.simulator.ForEach(a =>
{
try
{
a.Kill();
}
catch { }
});
}
catch
{
}
}
void mainloop()
{
DateTime nextsend = DateTime.Now;
DateTime nextrallypntupdate = DateTime.Now;
StreamWriter sw = new StreamWriter(Settings.GetUserDataDirectory() + File.OpenWrite("MovingBase.txt"));
threadrun = true;
while (threadrun)
{
try
{
string line = comPort.ReadLine();
sw.WriteLine(line);
//string line = string.Format("$GP{0},{1:HHmmss},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},", "GGA", DateTime.Now.ToUniversalTime(), Math.Abs(lat * 100), MainV2.comPort.MAV.cs.lat < 0 ? "S" : "N", Math.Abs(lng * 100), MainV2.comPort.MAV.cs.lng < 0 ? "W" : "E", MainV2.comPort.MAV.cs.gpsstatus, MainV2.comPort.MAV.cs.satcount, MainV2.comPort.MAV.cs.gpshdop, MainV2.comPort.MAV.cs.alt, "M", 0, "M", "");
if (line.StartsWith("$GPGGA") || line.StartsWith("$GNGGA")) //
{
string[] items = line.Trim().Split(',', '*');
if (items[items.Length - 1] != GetChecksum(line.Trim()))
{
Console.WriteLine("Bad Nmea line " + items[15] + " vs " + GetChecksum(line.Trim()));
continue;
}
if (items[6] == "0")
{
Console.WriteLine("No Fix");
continue;
}
gotolocation.Lat = double.Parse(items[2], CultureInfo.InvariantCulture) / 100.0;
gotolocation.Lat = (int)gotolocation.Lat + ((gotolocation.Lat - (int)gotolocation.Lat) / 0.60);
if (items[3] == "S")
{
gotolocation.Lat *= -1;
}
gotolocation.Lng = double.Parse(items[4], CultureInfo.InvariantCulture) / 100.0;
gotolocation.Lng = (int)gotolocation.Lng + ((gotolocation.Lng - (int)gotolocation.Lng) / 0.60);
if (items[5] == "W")
{
gotolocation.Lng *= -1;
}
gotolocation.Alt = double.Parse(items[9], CultureInfo.InvariantCulture);
gotolocation.Tag = "Sats " + items[7] + " hdop " + items[8];
}
if (DateTime.Now > nextsend && gotolocation.Lat != 0 && gotolocation.Lng != 0) // 200 * 10 = 2 sec /// lastgotolocation != gotolocation &&
{
nextsend = DateTime.Now.AddMilliseconds(1000 / updaterate);
Console.WriteLine("new home wp " + DateTime.Now.ToString("h:MM:ss") + " " + gotolocation.Lat +
" " + gotolocation.Lng + " " + gotolocation.Alt);
lastgotolocation = new PointLatLngAlt(gotolocation);
Locationwp gotohere = new Locationwp();
gotohere.id = (ushort)MAVLink.MAV_CMD.WAYPOINT;
gotohere.alt = (float)(gotolocation.Alt);
gotohere.lat = (gotolocation.Lat);
gotohere.lng = (gotolocation.Lng);
if (chk_relalt.Checked)
{
gotohere.alt = gotohere.alt - (float)MainV2.comPort.MAV.cs.HomeAlt;
}
try
{
updateLocationLabel(gotohere);
}
catch
{
}
MainV2.comPort.MAV.cs.MovingBase = gotolocation;
// plane only
if (updaterallypnt && DateTime.Now > nextrallypntupdate)
{
nextrallypntupdate = DateTime.Now.AddSeconds(5);
try
{
MainV2.comPort.setParam("RALLY_TOTAL", 1);
MainV2.comPort.setRallyPoint(0,
new PointLatLngAlt(gotolocation)
{
Alt =
gotolocation.Alt + double.Parse(Settings.Instance["TXT_DefaultAlt"].ToString())
},
0, 0, 0, (byte)(float)MainV2.comPort.MAV.param["RALLY_TOTAL"]);
MainV2.comPort.setParam("RALLY_TOTAL", 1);
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
}
}
}
}
catch
{
System.Threading.Thread.Sleep((int)(1000 / updaterate));
}
}
sw.Close();
}
public static void Start(string[] args)
{
Program.args = args;
Console.WriteLine(
"If your error is about Microsoft.DirectX.DirectInput, please install the latest directx redist from here http://www.microsoft.com/en-us/download/details.aspx?id=35 \n\n");
Console.WriteLine("Debug under mono MONO_LOG_LEVEL=debug mono MissionPlanner.exe");
Console.WriteLine("Data Dir " + Settings.GetDataDirectory());
Console.WriteLine("Log Dir " + Settings.GetDefaultLogDir());
Console.WriteLine("Running Dir " + Settings.GetRunningDirectory());
Console.WriteLine("User Data Dir " + Settings.GetUserDataDirectory());
var t = Type.GetType("Mono.Runtime");
MONO = (t != null);
Thread = Thread.CurrentThread;
System.Windows.Forms.Application.EnableVisualStyles();
XmlConfigurator.Configure();
log.Info("******************* Logging Configured *******************");
ServicePointManager.DefaultConnectionLimit = 10;
System.Windows.Forms.Application.ThreadException += Application_ThreadException;
// fix ssl on mono
ServicePointManager.ServerCertificateValidationCallback =
new System.Net.Security.RemoteCertificateValidationCallback(
(sender, certificate, chain, policyErrors) => { return(true); });
if (args.Length > 0 && args[0] == "/update")
{
Utilities.Update.DoUpdate();
return;
}
name = "Mission Planner";
try
{
if (File.Exists(Settings.GetRunningDirectory() + "logo.txt"))
{
name = File.ReadAllLines(Settings.GetRunningDirectory() + "logo.txt",
Encoding.UTF8)[0];
}
}
catch
{
}
if (File.Exists(Settings.GetRunningDirectory() + "logo.png"))
{
Logo = new Bitmap(Settings.GetRunningDirectory() + "logo.png");
}
if (File.Exists(Settings.GetRunningDirectory() + "logo2.png"))
{
Logo2 = new Bitmap(Settings.GetRunningDirectory() + "logo2.png");
}
if (File.Exists(Settings.GetRunningDirectory() + "icon.png"))
{
// 128*128
IconFile = new Bitmap(Settings.GetRunningDirectory() + "icon.png");
}
else
{
IconFile = MissionPlanner.Properties.Resources.mpdesktop.ToBitmap();
}
if (File.Exists(Settings.GetRunningDirectory() + "splashbg.png")) // 600*375
{
SplashBG = new Bitmap(Settings.GetRunningDirectory() + "splashbg.png");
}
Splash = new MissionPlanner.Splash();
if (SplashBG != null)
{
Splash.BackgroundImage = SplashBG;
Splash.pictureBox1.Visible = false;
}
if (IconFile != null)
{
Splash.Icon = Icon.FromHandle(((Bitmap)IconFile).GetHicon());
}
string strVersion = File.Exists("version.txt")
? File.ReadAllText("version.txt")
: System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString();
Splash.Text = name + " " + Application.ProductVersion + " build " + strVersion;
Splash.Show();
Application.DoEvents();
Application.DoEvents();
CustomMessageBox.ShowEvent += (text, caption, buttons, icon) =>
{
return((CustomMessageBox.DialogResult)(int) MsgBox.CustomMessageBox.Show(text, caption, (MessageBoxButtons)(int)buttons, (MessageBoxIcon)(int)icon));
};
// setup theme provider
MsgBox.CustomMessageBox.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
Controls.MainSwitcher.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
MissionPlanner.Controls.InputBox.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
Controls.BackstageView.BackstageViewPage.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
Controls.MainSwitcher.Tracking += MissionPlanner.Utilities.Tracking.AddPage;
Controls.BackstageView.BackstageView.Tracking += MissionPlanner.Utilities.Tracking.AddPage;
// setup settings provider
MissionPlanner.Comms.CommsBase.Settings += CommsBase_Settings;
MissionPlanner.Comms.CommsBase.InputBoxShow += CommsBaseOnInputBoxShow;
MissionPlanner.Comms.CommsBase.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
// set the cache provider to my custom version
GMap.NET.GMaps.Instance.PrimaryCache = new Maps.MyImageCache();
// add my custom map providers
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.WMSProvider.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Custom.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Earthbuilder.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Statkart_Topo2.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Eniro_Topo.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.MapBox.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.MapboxNoFly.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_Lake.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_1974.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_1979.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_1984.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_1988.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_Relief.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_Slopezone.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_Sea.Instance);
GoogleMapProvider.APIKey = "AIzaSyA5nFp39fEHruCezXnG3r8rGyZtuAkmCug";
// optionally add gdal support
if (Directory.Exists(Application.StartupPath + Path.DirectorySeparatorChar + "gdal"))
{
GMap.NET.MapProviders.GMapProviders.List.Add(GDAL.GDALProvider.Instance);
}
// add proxy settings
GMap.NET.MapProviders.GMapProvider.WebProxy = WebRequest.GetSystemWebProxy();
GMap.NET.MapProviders.GMapProvider.WebProxy.Credentials = CredentialCache.DefaultCredentials;
// generic status report screen
MAVLinkInterface.CreateIProgressReporterDialogue += title =>
new ProgressReporterDialogue()
{
StartPosition = FormStartPosition.CenterScreen, Text = title
};
WebRequest.DefaultWebProxy = WebRequest.GetSystemWebProxy();
WebRequest.DefaultWebProxy.Credentials = CredentialCache.DefaultNetworkCredentials;
if (name == "VVVVZ")
{
// set pw
Settings.Instance["password"] = "******";
Settings.Instance["password_protect"] = "True";
// prevent wizard
Settings.Instance["newuser"] = "******";
// invalidate update url
System.Configuration.ConfigurationManager.AppSettings["UpdateLocationVersion"] = "";
}
CleanupFiles();
//LoadDlls();
log.InfoFormat("64bit os {0}, 64bit process {1}", System.Environment.Is64BitOperatingSystem,
System.Environment.Is64BitProcess);
Device.DeviceStructure test1 = new Device.DeviceStructure(73225);
Device.DeviceStructure test2 = new Device.DeviceStructure(262434);
Device.DeviceStructure test3 = new Device.DeviceStructure(131874);
//ph2 - cube with here
Device.DeviceStructure test5 = new Device.DeviceStructure(466441);
Device.DeviceStructure test6 = new Device.DeviceStructure(131874);
Device.DeviceStructure test7 = new Device.DeviceStructure(263178);
//
Device.DeviceStructure test8 = new Device.DeviceStructure(1442082);
Device.DeviceStructure test9 = new Device.DeviceStructure(1114914);
Device.DeviceStructure test10 = new Device.DeviceStructure(1442826);
//
Device.DeviceStructure test11 = new Device.DeviceStructure(2359586);
Device.DeviceStructure test12 = new Device.DeviceStructure(2229282);
Device.DeviceStructure test13 = new Device.DeviceStructure(2360330);
Device.DeviceStructure test21 = new Device.DeviceStructure(592905);
Device.DeviceStructure test22 = new Device.DeviceStructure(131874);
Device.DeviceStructure test23 = new Device.DeviceStructure(263178);
MAVLink.MavlinkParse tmp = new MAVLink.MavlinkParse();
MAVLink.mavlink_heartbeat_t hb = new MAVLink.mavlink_heartbeat_t()
{
autopilot = 1,
base_mode = 2,
custom_mode = 3,
mavlink_version = 2,
system_status = 6,
type = 7
};
var t1 = tmp.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
var t2 = tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
tmp.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb, true);
tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb, true);
var msg = new MAVLink.MAVLinkMessage(t2);
try
{
//System.Diagnostics.Process.GetCurrentProcess().PriorityClass = System.Diagnostics.ProcessPriorityClass.RealTime;
Thread.CurrentThread.Name = "Base Thread";
Application.Run(new MainV2());
}
catch (Exception ex)
{
log.Fatal("Fatal app exception", ex);
Console.WriteLine(ex.ToString());
Console.WriteLine("\nPress any key to exit!");
Console.ReadLine();
}
try
{
// kill sim background process if its still running
if (Controls.SITL.simulator != null)
{
Controls.SITL.simulator.Kill();
}
}
catch
{
}
}
void mainloop()
{
DateTime nextsend = DateTime.Now;
StreamWriter sw = new StreamWriter(File.OpenWrite(Settings.GetUserDataDirectory() + "followmeraw.txt"));
threadrun = true;
while (threadrun)
{
try
{
string line = comPort.ReadLine();
sw.WriteLine(line);
//string line = string.Format("$GP{0},{1:HHmmss},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},", "GGA", DateTime.Now.ToUniversalTime(), Math.Abs(lat * 100), MainV2.comPort.MAV.cs.lat < 0 ? "S" : "N", Math.Abs(lng * 100), MainV2.comPort.MAV.cs.lng < 0 ? "W" : "E", MainV2.comPort.MAV.cs.gpsstatus, MainV2.comPort.MAV.cs.satcount, MainV2.comPort.MAV.cs.gpshdop, MainV2.comPort.MAV.cs.alt, "M", 0, "M", "");
if (line.StartsWith("$GPGGA") || line.StartsWith("$GNGGA")) //
{
string[] items = line.Trim().Split(',', '*');
if (items[items.Length - 1] != GetChecksum(line.Trim()))
{
Console.WriteLine("Bad Nmea line " + items[15] + " vs " + GetChecksum(line.Trim()));
continue;
}
if (items[6] == "0")
{
Console.WriteLine("No Fix");
continue;
}
gotolocation.Lat = double.Parse(items[2], CultureInfo.InvariantCulture) / 100.0;
gotolocation.Lat = (int)gotolocation.Lat + ((gotolocation.Lat - (int)gotolocation.Lat) / 0.60);
if (items[3] == "S")
{
gotolocation.Lat *= -1;
}
gotolocation.Lng = double.Parse(items[4], CultureInfo.InvariantCulture) / 100.0;
gotolocation.Lng = (int)gotolocation.Lng + ((gotolocation.Lng - (int)gotolocation.Lng) / 0.60);
if (items[5] == "W")
{
gotolocation.Lng *= -1;
}
gotolocation.Alt = intalt;
gotolocation.Tag = "Sats " + items[7] + " hdop " + items[8];
}
if (DateTime.Now > nextsend && gotolocation.Lat != 0 && gotolocation.Lng != 0 &&
gotolocation.Alt != 0) // 200 * 10 = 2 sec /// lastgotolocation != gotolocation &&
{
nextsend = DateTime.Now.AddMilliseconds(1000 / updaterate);
Console.WriteLine("Sending follow wp " + DateTime.Now.ToString("h:MM:ss") + " " +
gotolocation.Lat + " " + gotolocation.Lng + " " + gotolocation.Alt);
lastgotolocation = new PointLatLngAlt(gotolocation);
Locationwp gotohere = new Locationwp();
gotohere.id = (ushort)MAVLink.MAV_CMD.WAYPOINT;
gotohere.alt = (float)(gotolocation.Alt);
gotohere.lat = (gotolocation.Lat);
gotohere.lng = (gotolocation.Lng);
try
{
updateLocationLabel(gotohere);
}
catch
{
}
if (MainV2.comPort.BaseStream.IsOpen && MainV2.comPort.giveComport == false)
{
try
{
MainV2.comPort.setGuidedModeWP(gotohere, false);
}
catch
{
}
}
}
}
catch
{
System.Threading.Thread.Sleep((int)(1000 / updaterate));
}
}
sw.Close();
}
