Exemplo n.º 1
0
        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();
        }
Exemplo n.º 2
0
        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;
        }