public void Activate()
{
timer.Enabled = true;
timer.Interval = 100;
timer.Start();
if (!MainV2.comPort.MAV.param.ContainsKey("RCMAP_ROLL"))
{
chroll = 1;
chpitch = 2;
chthro = 3;
chyaw = 4;
}
else
{
//setup bindings
chroll = (int)(float)MainV2.comPort.MAV.param["RCMAP_ROLL"];
chpitch = (int)(float)MainV2.comPort.MAV.param["RCMAP_PITCH"];
chthro = (int)(float)MainV2.comPort.MAV.param["RCMAP_THROTTLE"];
chyaw = (int)(float)MainV2.comPort.MAV.param["RCMAP_YAW"];
}
BARroll.DataBindings.Clear();
BARpitch.DataBindings.Clear();
BARthrottle.DataBindings.Clear();
BARyaw.DataBindings.Clear();
BAR5.DataBindings.Clear();
BAR6.DataBindings.Clear();
BAR7.DataBindings.Clear();
BAR8.DataBindings.Clear();
BAR9.DataBindings.Clear();
BAR10.DataBindings.Clear();
BAR11.DataBindings.Clear();
BAR12.DataBindings.Clear();
BAR13.DataBindings.Clear();
BAR14.DataBindings.Clear();
BARroll.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch" + chroll + "in", true));
BARpitch.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch" + chpitch + "in", true));
BARthrottle.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch" + chthro + "in", true));
BARyaw.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch" + chyaw + "in", true));
BAR5.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch5in", true));
BAR6.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch6in", true));
BAR7.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch7in", true));
BAR8.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch8in", true));
BAR9.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch9in", true));
BAR10.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch10in", true));
BAR11.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch11in", true));
BAR12.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch12in", true));
BAR13.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch13in", true));
BAR14.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch14in", true));
try
{
// force this screen to work
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RC_CHANNELS, 2);
}
catch
{
}
startup = true;
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane ||
MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.Ateryx)
{
CHK_mixmode.setup(1, 0, "ELEVON_MIXING", MainV2.comPort.MAV.param);
CHK_elevonrev.setup(1, 0, "ELEVON_REVERSE", MainV2.comPort.MAV.param);
CHK_elevonch1rev.setup(1, 0, "ELEVON_CH1_REV", MainV2.comPort.MAV.param);
CHK_elevonch2rev.setup(1, 0, "ELEVON_CH2_REV", MainV2.comPort.MAV.param);
}
else
{
groupBoxElevons.Visible = false;
}
// this controls the direction of the output, not the input.
CHK_revch1.setup(new double[] { -1, 1 }, new double[] { 1, 0 }, new string[] { "RC1_REV", "SERVO1_REVERSED" },
MainV2.comPort.MAV.param);
CHK_revch2.setup(new double[] { -1, 1 }, new double[] { 1, 0 }, new string[] { "RC2_REV", "SERVO2_REVERSED" },
MainV2.comPort.MAV.param);
CHK_revch3.setup(new double[] { -1, 1 }, new double[] { 1, 0 }, new string[] { "RC3_REV", "SERVO3_REVERSED" },
MainV2.comPort.MAV.param);
CHK_revch4.setup(new double[] { -1, 1 }, new double[] { 1, 0 }, new string[] { "RC4_REV", "SERVO4_REVERSED" },
MainV2.comPort.MAV.param);
// run after to ensure they are disabled on copter
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
CHK_revch1.Visible = false;
CHK_revch2.Visible = false;
CHK_revch3.Visible = false;
CHK_revch4.Visible = false;
}
startup = false;
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane ||
MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.Ateryx) // APM
{
CB_simple1.Visible = false;
CB_simple2.Visible = false;
CB_simple3.Visible = false;
CB_simple4.Visible = false;
CB_simple5.Visible = false;
CB_simple6.Visible = false;
chk_ss1.Visible = false;
chk_ss2.Visible = false;
chk_ss3.Visible = false;
chk_ss4.Visible = false;
chk_ss5.Visible = false;
chk_ss6.Visible = false;
//linkLabel1_ss.Visible = false;
try
{
updateDropDown(CMB_fmode1, "FLTMODE1");
updateDropDown(CMB_fmode2, "FLTMODE2");
updateDropDown(CMB_fmode3, "FLTMODE3");
updateDropDown(CMB_fmode4, "FLTMODE4");
updateDropDown(CMB_fmode5, "FLTMODE5");
updateDropDown(CMB_fmode6, "FLTMODE6");
CMB_fmode1.SelectedValue = int.Parse(MainV2.comPort.MAV.param["FLTMODE1"].ToString());
CMB_fmode2.SelectedValue = int.Parse(MainV2.comPort.MAV.param["FLTMODE2"].ToString());
CMB_fmode3.SelectedValue = int.Parse(MainV2.comPort.MAV.param["FLTMODE3"].ToString());
CMB_fmode4.SelectedValue = int.Parse(MainV2.comPort.MAV.param["FLTMODE4"].ToString());
CMB_fmode5.SelectedValue = int.Parse(MainV2.comPort.MAV.param["FLTMODE5"].ToString());
CMB_fmode6.Text = "Manual";
CMB_fmode6.Enabled = false;
}
catch
{
}
}
else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover) // APM
{
CB_simple1.Visible = false;
CB_simple2.Visible = false;
CB_simple3.Visible = false;
CB_simple4.Visible = false;
CB_simple5.Visible = false;
CB_simple6.Visible = false;
chk_ss1.Visible = false;
chk_ss2.Visible = false;
chk_ss3.Visible = false;
chk_ss4.Visible = false;
chk_ss5.Visible = false;
chk_ss6.Visible = false;
//linkLabel1_ss.Visible = false;
try
{
updateDropDown(CMB_fmode1, "MODE1");
updateDropDown(CMB_fmode2, "MODE2");
updateDropDown(CMB_fmode3, "MODE3");
updateDropDown(CMB_fmode4, "MODE4");
updateDropDown(CMB_fmode5, "MODE5");
updateDropDown(CMB_fmode6, "MODE6");
CMB_fmode1.SelectedValue = int.Parse(MainV2.comPort.MAV.param["MODE1"].ToString());
CMB_fmode2.SelectedValue = int.Parse(MainV2.comPort.MAV.param["MODE2"].ToString());
CMB_fmode3.SelectedValue = int.Parse(MainV2.comPort.MAV.param["MODE3"].ToString());
CMB_fmode4.SelectedValue = int.Parse(MainV2.comPort.MAV.param["MODE4"].ToString());
CMB_fmode5.SelectedValue = int.Parse(MainV2.comPort.MAV.param["MODE5"].ToString());
CMB_fmode6.Text = "Manual";
CMB_fmode6.Enabled = false;
}
catch
{
}
}
else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
{
try
{
updateDropDown(CMB_fmode1, "FLTMODE1");
updateDropDown(CMB_fmode2, "FLTMODE2");
updateDropDown(CMB_fmode3, "FLTMODE3");
updateDropDown(CMB_fmode4, "FLTMODE4");
updateDropDown(CMB_fmode5, "FLTMODE5");
updateDropDown(CMB_fmode6, "FLTMODE6");
CMB_fmode1.SelectedValue = int.Parse(MainV2.comPort.MAV.param["FLTMODE1"].ToString());
CMB_fmode2.SelectedValue = int.Parse(MainV2.comPort.MAV.param["FLTMODE2"].ToString());
CMB_fmode3.SelectedValue = int.Parse(MainV2.comPort.MAV.param["FLTMODE3"].ToString());
CMB_fmode4.SelectedValue = int.Parse(MainV2.comPort.MAV.param["FLTMODE4"].ToString());
CMB_fmode5.SelectedValue = int.Parse(MainV2.comPort.MAV.param["FLTMODE5"].ToString());
CMB_fmode6.SelectedValue = int.Parse(MainV2.comPort.MAV.param["FLTMODE6"].ToString());
CMB_fmode6.Enabled = true;
if (MainV2.comPort.MAV.param.ContainsKey("SIMPLE"))
{
var simple = int.Parse(MainV2.comPort.MAV.param["SIMPLE"].ToString());
CB_simple1.Checked = ((simple >> 0 & 1) == 1);
CB_simple2.Checked = ((simple >> 1 & 1) == 1);
CB_simple3.Checked = ((simple >> 2 & 1) == 1);
CB_simple4.Checked = ((simple >> 3 & 1) == 1);
CB_simple5.Checked = ((simple >> 4 & 1) == 1);
CB_simple6.Checked = ((simple >> 5 & 1) == 1);
}
if (MainV2.comPort.MAV.param.ContainsKey("SUPER_SIMPLE"))
{
var simple = int.Parse(MainV2.comPort.MAV.param["SUPER_SIMPLE"].ToString());
chk_ss1.Checked = ((simple >> 0 & 1) == 1);
chk_ss2.Checked = ((simple >> 1 & 1) == 1);
chk_ss3.Checked = ((simple >> 2 & 1) == 1);
chk_ss4.Checked = ((simple >> 3 & 1) == 1);
chk_ss5.Checked = ((simple >> 4 & 1) == 1);
chk_ss6.Checked = ((simple >> 5 & 1) == 1);
}
}
catch
{
}
}
else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.PX4) // APM
{
CB_simple1.Visible = false;
CB_simple2.Visible = false;
CB_simple3.Visible = false;
CB_simple4.Visible = false;
CB_simple5.Visible = false;
CB_simple6.Visible = false;
chk_ss1.Visible = false;
chk_ss2.Visible = false;
chk_ss3.Visible = false;
chk_ss4.Visible = false;
chk_ss5.Visible = false;
chk_ss6.Visible = false;
//linkLabel1_ss.Visible = false;
try
{
updateDropDown(CMB_fmode1, "COM_FLTMODE1");
CMB_fmode1.DataSource = ParameterMetaDataRepository.GetParameterOptionsInt("COM_FLTMODE1", "PX4");
updateDropDown(CMB_fmode2, "COM_FLTMODE2");
CMB_fmode2.DataSource = ParameterMetaDataRepository.GetParameterOptionsInt("COM_FLTMODE2", "PX4");
updateDropDown(CMB_fmode3, "COM_FLTMODE3");
CMB_fmode3.DataSource = ParameterMetaDataRepository.GetParameterOptionsInt("COM_FLTMODE3", "PX4");
updateDropDown(CMB_fmode4, "COM_FLTMODE4");
CMB_fmode4.DataSource = ParameterMetaDataRepository.GetParameterOptionsInt("COM_FLTMODE4", "PX4");
updateDropDown(CMB_fmode5, "COM_FLTMODE5");
CMB_fmode5.DataSource = ParameterMetaDataRepository.GetParameterOptionsInt("COM_FLTMODE5", "PX4");
updateDropDown(CMB_fmode6, "COM_FLTMODE6");
CMB_fmode6.DataSource = ParameterMetaDataRepository.GetParameterOptionsInt("COM_FLTMODE6", "PX4");
CMB_fmode1.SelectedValue = int.Parse(MainV2.comPort.MAV.param["COM_FLTMODE1"].ToString());
CMB_fmode2.SelectedValue = int.Parse(MainV2.comPort.MAV.param["COM_FLTMODE2"].ToString());
CMB_fmode3.SelectedValue = int.Parse(MainV2.comPort.MAV.param["COM_FLTMODE3"].ToString());
CMB_fmode4.SelectedValue = int.Parse(MainV2.comPort.MAV.param["COM_FLTMODE4"].ToString());
CMB_fmode5.SelectedValue = int.Parse(MainV2.comPort.MAV.param["COM_FLTMODE5"].ToString());
CMB_fmode6.SelectedValue = int.Parse(MainV2.comPort.MAV.param["COM_FLTMODE6"].ToString());
}
catch
{
}
}
timer.Enabled = true;
timer.Interval = 100;
timer.Start();
}
public void Activate()
{
timer.Enabled = true;
timer.Interval = 100;
timer.Start();
if (!MainV2.comPort.MAV.param.ContainsKey("RCMAP_ROLL"))
{
chroll = 1;
chpitch = 2;
chthro = 3;
chyaw = 4;
}
else
{
try
{
//setup bindings
chroll = (int)(float)MainV2.comPort.MAV.param["RCMAP_ROLL"];
chpitch = (int)(float)MainV2.comPort.MAV.param["RCMAP_PITCH"];
chthro = (int)(float)MainV2.comPort.MAV.param["RCMAP_THROTTLE"];
chyaw = (int)(float)MainV2.comPort.MAV.param["RCMAP_YAW"];
}
catch (Exception ex)
{
CustomMessageBox.Show(Strings.ErrorReceivingParams, Strings.ERROR);
this.Enabled = false;
return;
}
}
BARroll.DataBindings.Clear();
BARpitch.DataBindings.Clear();
BARthrottle.DataBindings.Clear();
BARyaw.DataBindings.Clear();
BAR5.DataBindings.Clear();
BAR6.DataBindings.Clear();
BAR7.DataBindings.Clear();
BAR8.DataBindings.Clear();
BAR9.DataBindings.Clear();
BAR10.DataBindings.Clear();
BAR11.DataBindings.Clear();
BAR12.DataBindings.Clear();
BAR13.DataBindings.Clear();
BAR14.DataBindings.Clear();
BARroll.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch" + chroll + "in", true));
BARpitch.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch" + chpitch + "in", true));
BARthrottle.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch" + chthro + "in", true));
BARyaw.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch" + chyaw + "in", true));
BAR5.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch5in", true));
BAR6.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch6in", true));
BAR7.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch7in", true));
BAR8.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch8in", true));
BAR9.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch9in", true));
BAR10.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch10in", true));
BAR11.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch11in", true));
BAR12.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch12in", true));
BAR13.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch13in", true));
BAR14.DataBindings.Add(new Binding("Value", currentStateBindingSource, "ch14in", true));
try
{
// force this screen to work
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RC_CHANNELS, 2);
}
catch
{
}
startup = true;
if (MainV2.comPort.MAV.cs.firmware == Firmwares.ArduPlane ||
MainV2.comPort.MAV.cs.firmware == Firmwares.Ateryx)
{
CHK_mixmode.setup(1, 0, "ELEVON_MIXING", MainV2.comPort.MAV.param);
CHK_elevonrev.setup(1, 0, "ELEVON_REVERSE", MainV2.comPort.MAV.param);
CHK_elevonch1rev.setup(1, 0, "ELEVON_CH1_REV", MainV2.comPort.MAV.param);
CHK_elevonch2rev.setup(1, 0, "ELEVON_CH2_REV", MainV2.comPort.MAV.param);
}
else
{
groupBoxElevons.Visible = false;
}
// this controls the direction of the output, not the input.
CHK_revch1.setup(new double[] { -1, 1 }, new double[] { 1, 0 }, new string[] { "RC1_REV", "RC1_REVERSED" },
MainV2.comPort.MAV.param);
CHK_revch2.setup(new double[] { -1, 1 }, new double[] { 1, 0 }, new string[] { "RC2_REV", "RC2_REVERSED" },
MainV2.comPort.MAV.param);
CHK_revch3.setup(new double[] { -1, 1 }, new double[] { 1, 0 }, new string[] { "RC3_REV", "RC3_REVERSED" },
MainV2.comPort.MAV.param);
CHK_revch4.setup(new double[] { -1, 1 }, new double[] { 1, 0 }, new string[] { "RC4_REV", "RC4_REVERSED" },
MainV2.comPort.MAV.param);
// run after to ensure they are disabled on copter
if (MainV2.comPort.MAV.cs.firmware == Firmwares.ArduCopter2)
{
CHK_revch1.Visible = false;
CHK_revch2.Visible = false;
CHK_revch3.Visible = false;
CHK_revch4.Visible = false;
}
startup = false;
}