private void btn_add_points_Click(object sender, EventArgs e)
{
// get layout
if (first_add)
{
delta_gap = this.num_ref1.Size.Height + 6;
last_loc_ref.X = this.num_ref1.Location.X;
last_loc_ref.Y = this.num_ref1.Location.Y + delta_gap;
first_add = false;
curr_numUpDn = this.num_ref1;
}
else
{
last_loc_ref.Y += delta_gap;
}
System.Windows.Forms.NumericUpDown num_ref_new = new System.Windows.Forms.NumericUpDown();
float num_meas1, num_meas2;
//
num_ref_new.Location = last_loc_ref;
num_ref_new.Size = this.num_ref1.Size;
num_ref_new.Increment = 0.05M;
num_ref_new.DecimalPlaces = 2;
num_meas1 = MainV2.comPort.MAV.cs.battery_voltage;
num_meas2 = MainV2.comPort.MAV.cs.battery_voltage2;
num_pair np_tmp = new num_pair((float)curr_numUpDn.Value, num_meas1, num_meas2);
this.list_num.Add(np_tmp);
this.Controls.Add(num_ref_new);
curr_numUpDn = num_ref_new;
}
private void btn_volt_cali_Click(object sender, EventArgs e)
{
num_pair np_tmp = new num_pair((float)curr_numUpDn.Value, (float)MainV2.comPort.MAV.cs.battery_voltage, (float)MainV2.comPort.MAV.cs.battery_voltage2);
this.list_num.Add(np_tmp);
PointSet mainSet = new PointSet();
int valid_data = 0;
foreach (var num in this.list_num)
{
if (!(num.num_meas1.Equals(0) && num.num_meas2.Equals(0) && num.num_ref.Equals(0)))
{
coordinates[valid_data].x = (double)(num.num_meas1);
coordinates[valid_data].y = (double)(num.num_ref);
valid_data++;
}
}
for (int i = 0; (i < valid_data) && (i < 20); i++)
{
mainSet.Add(coordinates[i]);
}
StraightLine result = mainSet.FindApproximateSolution();
if (Double.IsNaN(result.a) || Double.IsNaN(result.b))
{
MessageBox.Show("抱歉，校准值中有异常值，请检查后重新校准!", "校准值异常", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
int try_times = 0;
for (try_times = 0; try_times < 5; try_times++)
{
// save horizon spd
if (MainV2.comPort.setParam("BATT_VM", result.a))
{
if (MainV2.comPort.setParam("BATT_V_OFS", result.b))
{
MessageBox.Show("恭喜，校准电压1成功!", "校准成功", MessageBoxButtons.OK, MessageBoxIcon.Information);
break;
}
}
}
PointSet mainSet2 = new PointSet();
this.coordinates.Initialize();
valid_data = 0;
foreach (var num in this.list_num)
{
if (!(num.num_meas1.Equals(0) && num.num_meas2.Equals(0) && num.num_ref.Equals(0)))
{
coordinates[valid_data].x = (double)(num.num_meas2);
coordinates[valid_data].y = (double)(num.num_ref);
valid_data++;
}
}
for (int i = 0; (i < valid_data) && (i < 20); i++)
{
mainSet2.Add(coordinates[i]);
}
StraightLine result2 = mainSet2.FindApproximateSolution();
if (Double.IsNaN(result2.a) || Double.IsNaN(result2.b))
{
MessageBox.Show("抱歉，校准值中有异常值，请检查后重新校准!", "校准值异常", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
try_times = 0;
for (try_times = 0; try_times < 5; try_times++)
{
// save horizon spd
if (MainV2.comPort.setParam("BATT2_VM", result2.a))
{
if (MainV2.comPort.setParam("BATT2_V_OFS", result2.b))
{
MessageBox.Show("恭喜，校准电压2成功!", "校准成功", MessageBoxButtons.OK, MessageBoxIcon.Information);
break;
}
}
}
if (5 == try_times)
{
MessageBox.Show("抱歉，校准值保存到飞控失败，请尝试重新连接飞控后再次尝试!", "校准失败", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
