Пример #1
0
        public void Activate()
        {
            if (!MainV2.comPort.BaseStream.IsOpen)
            {
                this.Enabled = false;
                return;
            }
            else
            {
                if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
                {
                    this.Enabled = true;
                }
                else
                {
                    this.Enabled = false;
                    return;
                }
            }

            startup = true;

            changes.Clear();

            // ensure the fields are populated before setting them
            TUNE.setup(ParameterMetaDataRepository.GetParameterOptionsInt("TUNE", MainV2.comPort.MAV.cs.firmware.ToString()).ToList(), "TUNE", MainV2.comPort.MAV.param);
            CH7_OPT.setup(ParameterMetaDataRepository.GetParameterOptionsInt("CH7_OPT", MainV2.comPort.MAV.cs.firmware.ToString()).ToList(), "CH7_OPT", MainV2.comPort.MAV.param);
            CH8_OPT.setup(ParameterMetaDataRepository.GetParameterOptionsInt("CH8_OPT", MainV2.comPort.MAV.cs.firmware.ToString()).ToList(), "CH8_OPT", MainV2.comPort.MAV.param);

            TUNE_LOW.setup(0, 10000, 1, 0.0001f, "TUNE_LOW", MainV2.comPort.MAV.param);
            TUNE_HIGH.setup(0, 10000, 1, 0.0001f, "TUNE_HIGH", MainV2.comPort.MAV.param);

            HLD_LAT_P.setup(0, 0, 1, 0.001f, new string[] { "HLD_LAT_P", "POS_XY_P" }, MainV2.comPort.MAV.param);
            LOITER_LAT_D.setup(0, 0, 1, 0.001f, "LOITER_LAT_D", MainV2.comPort.MAV.param);
            LOITER_LAT_I.setup(0, 0, 1, 0.001f, "LOITER_LAT_I", MainV2.comPort.MAV.param);
            LOITER_LAT_IMAX.setup(0, 0, 10, 0.1f, "LOITER_LAT_IMAX", MainV2.comPort.MAV.param);
            LOITER_LAT_P.setup(0, 0, 1, 0.001f, "LOITER_LAT_P", MainV2.comPort.MAV.param);
            RATE_PITCH_FF.setup(0, 0, 1, 0.001f, "RATE_PITCH_FF", MainV2.comPort.MAV.param);
            RATE_PIT_D.setup(0, 0, 1, 0.001f, "RATE_PIT_D", MainV2.comPort.MAV.param);
            RATE_PIT_I.setup(0, 0, 1, 0.001f, "RATE_PIT_I", MainV2.comPort.MAV.param);
            RATE_PIT_IMAX.setup(0, 0, 10, 0.1f, "RATE_PIT_IMAX", MainV2.comPort.MAV.param);
            RATE_PIT_P.setup(0, 0, 1, 0.001f, "RATE_PIT_P", MainV2.comPort.MAV.param);
            RATE_RLL_D.setup(0, 0, 1, 0.001f, "RATE_RLL_D", MainV2.comPort.MAV.param);
            RATE_RLL_I.setup(0, 0, 1, 0.001f, "RATE_RLL_I", MainV2.comPort.MAV.param);
            RATE_RLL_IMAX.setup(0, 0, 10, 0.1f, "RATE_RLL_IMAX", MainV2.comPort.MAV.param);
            RATE_RLL_P.setup(0, 0, 1, 0.001f, "RATE_RLL_P", MainV2.comPort.MAV.param);
            RATE_ROLL_FF.setup(0, 0, 1, 0.001f, "RATE_ROLL_FF", MainV2.comPort.MAV.param);
            RATE_YAW_D.setup(0, 0, 1, 0.001f, "RATE_YAW_D", MainV2.comPort.MAV.param);
            RATE_YAW_FF.setup(0, 0, 1, 0.001f, "RATE_YAW_FF", MainV2.comPort.MAV.param);
            RATE_YAW_I.setup(0, 0, 1, 0.001f, "RATE_YAW_I", MainV2.comPort.MAV.param);
            RATE_YAW_IMAX.setup(0, 0, 10, 0.1f, "RATE_YAW_IMAX", MainV2.comPort.MAV.param);
            RATE_YAW_P.setup(0, 0, 1, 0.001f, "RATE_YAW_P", MainV2.comPort.MAV.param);
            STB_PIT_P.setup(0, 0, 1, 0.001f, "STB_PIT_P", MainV2.comPort.MAV.param);
            STB_RLL_P.setup(0, 0, 1, 0.001f, "STB_RLL_P", MainV2.comPort.MAV.param);
            STB_YAW_P.setup(0, 0, 1, 0.001f, "STB_YAW_P", MainV2.comPort.MAV.param);
            THR_ACCEL_D.setup(0, 0, 1, 0.001f, new string[] { "THR_ACCEL_D", "ACCEL_Z_D" }, MainV2.comPort.MAV.param);
            THR_ACCEL_I.setup(0, 0, 1, 0.001f, new string[] { "THR_ACCEL_I", "ACCEL_Z_I" }, MainV2.comPort.MAV.param);
            THR_ACCEL_IMAX.setup(0, 0, 10, 0.1f, new string[] { "THR_ACCEL_IMAX", "ACCEL_Z_IMAX" }, MainV2.comPort.MAV.param);
            THR_ACCEL_P.setup(0, 0, 1, 0.001f, new string[] { "THR_ACCEL_P", "ACCEL_Z_P" }, MainV2.comPort.MAV.param);
            THR_ALT_P.setup(0, 0, 1, 0.001f, new string[] { "THR_ALT_P", "POS_Z_P" }, MainV2.comPort.MAV.param);
            THR_RATE_P.setup(0, 0, 1, 0.001f, "THR_RATE_P", MainV2.comPort.MAV.param);
            WPNAV_LOIT_SPEED.setup(0, 0, 1, 0.001f, "WPNAV_LOIT_SPEED", MainV2.comPort.MAV.param);
            WPNAV_RADIUS.setup(0, 0, 1, 0.001f, "WPNAV_RADIUS", MainV2.comPort.MAV.param);
            WPNAV_SPEED.setup(0, 0, 1, 0.001f, "WPNAV_SPEED", MainV2.comPort.MAV.param);
            WPNAV_SPEED_DN.setup(0, 0, 1, 0.001f, "WPNAV_SPEED_DN", MainV2.comPort.MAV.param);
            WPNAV_SPEED_UP.setup(0, 0, 1, 0.001f, "WPNAV_SPEED_UP", MainV2.comPort.MAV.param);

            // unlock entries if they differ
            if (RATE_RLL_P.Value != RATE_PIT_P.Value || RATE_RLL_I.Value != RATE_PIT_I.Value ||
                RATE_RLL_D.Value != RATE_PIT_D.Value || RATE_RLL_IMAX.Value != RATE_PIT_IMAX.Value)
            {
                CHK_lockrollpitch.Checked = false;
            }

            if (MainV2.comPort.MAV.param["H_SWASH_TYPE"] != null)
            {
                CHK_lockrollpitch.Checked = false;
            }

            startup = false;
        }
Пример #2
0
        public void Activate()
        {
            if (!MainV2.comPort.BaseStream.IsOpen)
            {
                Enabled = false;
                return;
            }
            if (MainV2.comPort.MAV.cs.firmware == Firmwares.ArduCopter2)
            {
                Enabled = true;
            }
            else
            {
                Enabled = false;
                return;
            }

            startup = true;

            changes.Clear();

            // ensure the fields are populated before setting them
            TUNE.setup(
                ParameterMetaDataRepository.GetParameterOptionsInt("TUNE", MainV2.comPort.MAV.cs.firmware.ToString())
                .ToList(), "TUNE", MainV2.comPort.MAV.param);

            CH7_OPTION.setup(new[] { "CH7_OPT", "CH7_OPTION", "RC7_OPTION" }, MainV2.comPort.MAV.param);
            CH8_OPTION.setup(new[] { "CH8_OPT", "CH8_OPTION", "RC8_OPTION" }, MainV2.comPort.MAV.param);
            CH9_OPTION.setup(new[] { "CH9_OPT", "CH9_OPTION", "RC9_OPTION" }, MainV2.comPort.MAV.param);
            CH10_OPTION.setup(new[] { "CH10_OPT", "CH10_OPTION", "RC10_OPTION" }, MainV2.comPort.MAV.param);

            TUNE_LOW.setup(0, 10000, 1000, 0.01f, new[] { "TUNE_LOW", "TUNE_MIN" }, MainV2.comPort.MAV.param);
            TUNE_HIGH.setup(0, 10000, 1000, 0.01f, new[] { "TUNE_HIGH", "TUNE_MIN" }, MainV2.comPort.MAV.param);

            HLD_LAT_P.setup(0, 0, 1, 0.001f, new[] { "HLD_LAT_P", "POS_XY_P", "PSC_POSXY_P" }, MainV2.comPort.MAV.param);
            LOITER_LAT_D.setup(0, 0, 1, 0.001f, new[] { "LOITER_LAT_D", "PSC_VELXY_D" }, MainV2.comPort.MAV.param);
            LOITER_LAT_I.setup(0, 0, 1, 0.001f, new[] { "LOITER_LAT_I", "VEL_XY_I", "PSC_VELXY_I" }, MainV2.comPort.MAV.param);
            LOITER_LAT_IMAX.setup(0, 0, 10, 1f, new[] { "LOITER_LAT_IMAX", "VEL_XY_IMAX", "PSC_VELXY_IMAX" }, MainV2.comPort.MAV.param);
            LOITER_LAT_P.setup(0, 0, 1, 0.001f, new[] { "LOITER_LAT_P", "VEL_XY_P", "PSC_VELXY_P" }, MainV2.comPort.MAV.param);

            RATE_PIT_D.setup(0, 0, 1, 0.001f, new[] { "RATE_PIT_D", "ATC_RAT_PIT_D" }, MainV2.comPort.MAV.param);
            RATE_PIT_I.setup(0, 0, 1, 0.001f, new[] { "RATE_PIT_I", "ATC_RAT_PIT_I" }, MainV2.comPort.MAV.param);
            if (MainV2.comPort.MAV.param.ContainsKey("ATC_RAT_PIT_IMAX")) // 3.4 changes scaling
            {
                RATE_PIT_IMAX.setup(0, 0, 1, 1f, new[] { "ATC_RAT_PIT_IMAX" }, MainV2.comPort.MAV.param);
            }
            else
            {
                RATE_PIT_IMAX.setup(0, 0, 10, 1f, new[] { "RATE_PIT_IMAX" }, MainV2.comPort.MAV.param);
            }
            RATE_PIT_P.setup(0, 0, 1, 0.001f, new[] { "RATE_PIT_P", "ATC_RAT_PIT_P" }, MainV2.comPort.MAV.param);
            RATE_PIT_FILT.setup(0, 0, 1, 0.001f, new[] { "RATE_PIT_FILT", "ATC_RAT_PIT_FILT", "ATC_RAT_PIT_FLTE" }, MainV2.comPort.MAV.param);

            RATE_RLL_D.setup(0, 0, 1, 0.001f, new[] { "RATE_RLL_D", "ATC_RAT_RLL_D" }, MainV2.comPort.MAV.param);
            RATE_RLL_I.setup(0, 0, 1, 0.001f, new[] { "RATE_RLL_I", "ATC_RAT_RLL_I" }, MainV2.comPort.MAV.param);
            if (MainV2.comPort.MAV.param.ContainsKey("ATC_RAT_RLL_IMAX")) // 3.4 changes scaling
            {
                RATE_RLL_IMAX.setup(0, 0, 1, 1f, new[] { "ATC_RAT_RLL_IMAX" }, MainV2.comPort.MAV.param);
            }
            else
            {
                RATE_RLL_IMAX.setup(0, 0, 10, 1f, new[] { "RATE_RLL_IMAX" }, MainV2.comPort.MAV.param);
            }
            RATE_RLL_P.setup(0, 0, 1, 0.001f, new[] { "RATE_RLL_P", "ATC_RAT_RLL_P" }, MainV2.comPort.MAV.param);
            RATE_RLL_FILT.setup(0, 0, 1, 0.001f, new[] { "RATE_RLL_FILT", "ATC_RAT_RLL_FILT", "ATC_RAT_RLL_FLTE" }, MainV2.comPort.MAV.param);

            RATE_YAW_D.setup(0, 0, 1, 0.001f, new[] { "RATE_YAW_D", "ATC_RAT_YAW_D" }, MainV2.comPort.MAV.param);
            RATE_YAW_I.setup(0, 0, 1, 0.001f, new[] { "RATE_YAW_I", "ATC_RAT_YAW_I" }, MainV2.comPort.MAV.param);
            if (MainV2.comPort.MAV.param.ContainsKey("ATC_RAT_YAW_IMAX")) // 3.4 changes scaling
            {
                RATE_YAW_IMAX.setup(0, 0, 1, 1f, new[] { "ATC_RAT_YAW_IMAX" }, MainV2.comPort.MAV.param);
            }
            else
            {
                RATE_YAW_IMAX.setup(0, 0, 10, 1f, new[] { "RATE_YAW_IMAX" }, MainV2.comPort.MAV.param);
            }
            RATE_YAW_P.setup(0, 0, 1, 0.001f, new[] { "RATE_YAW_P", "ATC_RAT_YAW_P" }, MainV2.comPort.MAV.param);
            RATE_YAW_FILT.setup(0, 0, 1, 0.001f, new[] { "RATE_YAW_FILT", "ATC_RAT_YAW_FILT", "ATC_RAT_YAW_FLTE" }, MainV2.comPort.MAV.param);

            STB_PIT_P.setup(0, 0, 1, 0.001f, new[] { "STB_PIT_P", "ATC_ANG_PIT_P" }, MainV2.comPort.MAV.param);
            STB_RLL_P.setup(0, 0, 1, 0.001f, new[] { "STB_RLL_P", "ATC_ANG_RLL_P" }, MainV2.comPort.MAV.param);
            STB_YAW_P.setup(0, 0, 1, 0.001f, new[] { "STB_YAW_P", "ATC_ANG_YAW_P" }, MainV2.comPort.MAV.param);

            THR_ACCEL_D.setup(0, 0, 1, 0.001f, new[] { "THR_ACCEL_D", "ACCEL_Z_D", "PSC_ACCZ_D" }, MainV2.comPort.MAV.param);
            THR_ACCEL_I.setup(0, 0, 1, 0.001f, new[] { "THR_ACCEL_I", "ACCEL_Z_I", "PSC_ACCZ_I" }, MainV2.comPort.MAV.param);
            THR_ACCEL_IMAX.setup(0, 0, 10, 1f, new[] { "THR_ACCEL_IMAX", "ACCEL_Z_IMAX", "PSC_ACCZ_IMAX" }, MainV2.comPort.MAV.param);
            THR_ACCEL_P.setup(0, 0, 1, 0.001f, new[] { "THR_ACCEL_P", "ACCEL_Z_P", "PSC_ACCZ_P" }, MainV2.comPort.MAV.param);
            THR_ALT_P.setup(0, 0, 1, 0.001f, new[] { "THR_ALT_P", "POS_Z_P", "PSC_POSZ_P" }, MainV2.comPort.MAV.param);
            THR_RATE_P.setup(0, 0, 1, 0.001f, new[] { "THR_RATE_P", "VEL_Z_P", "PSC_VELZ_P" }, MainV2.comPort.MAV.param);

            WPNAV_LOIT_SPEED.setup(0, 0, 1, 0.001f, new[] { "WPNAV_LOIT_SPEED", "LOIT_SPEED" }, MainV2.comPort.MAV.param);
            WPNAV_RADIUS.setup(0, 0, 1, 0.001f, "WPNAV_RADIUS", MainV2.comPort.MAV.param);
            WPNAV_SPEED.setup(0, 0, 1, 0.001f, "WPNAV_SPEED", MainV2.comPort.MAV.param);
            WPNAV_SPEED_DN.setup(0, 0, 1, 0.001f, "WPNAV_SPEED_DN", MainV2.comPort.MAV.param);
            WPNAV_SPEED_UP.setup(0, 0, 1, 0.001f, "WPNAV_SPEED_UP", MainV2.comPort.MAV.param);

            mavlinkNumericUpDownatc_accel_r_max.setup(0, 0, 1, 0.001f, "ATC_ACCEL_R_MAX", MainV2.comPort.MAV.param);
            mavlinkNumericUpDownatc_accel_p_max.setup(0, 0, 1, 0.001f, "ATC_ACCEL_P_MAX", MainV2.comPort.MAV.param);
            mavlinkNumericUpDownatc_accel_y_max.setup(0, 0, 1, 0.001f, "ATC_ACCEL_Y_MAX", MainV2.comPort.MAV.param);
            mavlinkNumericUpDownatc_input_tc.setup(0, 0, 1, 0.001f, "ATC_INPUT_TC", MainV2.comPort.MAV.param);

            // unlock entries if they differ
            if (RATE_RLL_P.Value != RATE_PIT_P.Value || RATE_RLL_I.Value != RATE_PIT_I.Value ||
                RATE_RLL_D.Value != RATE_PIT_D.Value || RATE_RLL_IMAX.Value != RATE_PIT_IMAX.Value)
            {
                CHK_lockrollpitch.Checked = false;
            }

            if (MainV2.comPort.MAV.param["H_SWASH_TYPE"] != null)
            {
                CHK_lockrollpitch.Checked = false;
            }

            // add tooltips to all controls
            foreach (Control control1 in Controls)
            {
                foreach (Control control2 in control1.Controls)
                {
                    if (control2 is MavlinkNumericUpDown)
                    {
                        var ParamName = ((MavlinkNumericUpDown)control2).ParamName;
                        toolTip1.SetToolTip(control2,
                                            ParameterMetaDataRepository.GetParameterMetaData(ParamName,
                                                                                             ParameterMetaDataConstants.Description, MainV2.comPort.MAV.cs.firmware.ToString()));
                    }
                    if (control2 is MavlinkComboBox)
                    {
                        var ParamName = ((MavlinkComboBox)control2).ParamName;
                        toolTip1.SetToolTip(control2,
                                            ParameterMetaDataRepository.GetParameterMetaData(ParamName,
                                                                                             ParameterMetaDataConstants.Description, MainV2.comPort.MAV.cs.firmware.ToString()));
                    }
                }
            }

            startup = false;
        }
Пример #3
0
        public void Activate()
        {
            if (!MainV2.comPort.BaseStream.IsOpen)
            {
                Enabled = false;
                return;
            }
            if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
            {
                Enabled = true;
            }
            else
            {
                Enabled = false;
                return;
            }

            startup = true;

            changes.Clear();

            // ensure the fields are populated before setting them
            TUNE.setup(
                ParameterMetaDataRepository.GetParameterOptionsInt("TUNE", MainV2.comPort.MAV.cs.firmware.ToString())
                .ToList(), "TUNE", MainV2.comPort.MAV.param);
            CH7_OPT.setup(
                ParameterMetaDataRepository.GetParameterOptionsInt("CH7_OPT", MainV2.comPort.MAV.cs.firmware.ToString())
                .ToList(), "CH7_OPT", MainV2.comPort.MAV.param);
            CH8_OPT.setup(
                ParameterMetaDataRepository.GetParameterOptionsInt("CH8_OPT", MainV2.comPort.MAV.cs.firmware.ToString())
                .ToList(), "CH8_OPT", MainV2.comPort.MAV.param);

            TUNE_LOW.setup(0, 10000, 1000, 0.01f, "TUNE_LOW", MainV2.comPort.MAV.param);
            TUNE_HIGH.setup(0, 10000, 1000, 0.01f, "TUNE_HIGH", MainV2.comPort.MAV.param);

            // HLD_LAT_P.setup(0, 0, 1, 0.001f, new[] {"HLD_LAT_P", "POS_XY_P"}, MainV2.comPort.MAV.param);
            HLD_LAT_P.setup(0, 10, 1, 0.001f, new[] { "HLD_LAT_P", "PSC_POSXY_P" }, MainV2.comPort.MAV.param);
            // PosXY_I.setup(0, 10, 1, 0.001f, new[] { "PosXY_I", "PSC_PXY_I" }, MainV2.comPort.MAV.param);
            // PosXY_IMAX.setup(0, 5000, 1, 1, new[] { "PosXY_IMAX", "PSC_PXY_IMAX" }, MainV2.comPort.MAV.param);
            // PosXY_D.setup(0, 10, 1, 0.001f, new[] { "PosXY_D", "PSC_PXY_D" }, MainV2.comPort.MAV.param);

            LOITER_LAT_D.setup(0, 10, 1, 0.001f, new[] { "LOITER_LAT_D", "PSC_VELXY_D" }, MainV2.comPort.MAV.param);
            LOITER_LAT_I.setup(0, 10, 1, 0.001f, new[] { "LOITER_LAT_I", "PSC_VELXY_I" }, MainV2.comPort.MAV.param);
            LOITER_LAT_IMAX.setup(0, 5000, 1, 1, new[] { "LOITER_LAT_IMAX", "PSC_VELXY_IMAX" }, MainV2.comPort.MAV.param);
            LOITER_LAT_P.setup(0, 10, 1, 0.001f, new[] { "LOITER_LAT_P", "PSC_VELXY_P" }, MainV2.comPort.MAV.param);

            RATE_PIT_D.setup(0, 10, 1, 0.0001f, new[] { "RATE_PIT_D", "ATC_RAT_PIT_D" }, MainV2.comPort.MAV.param);
            RATE_PIT_I.setup(0, 10, 1, 0.001f, new[] { "RATE_PIT_I", "ATC_RAT_PIT_I" }, MainV2.comPort.MAV.param);
            if (MainV2.comPort.MAV.param.ContainsKey("ATC_RAT_PIT_IMAX")) // 3.4 changes scaling
            {
                RATE_PIT_IMAX.setup(0, 10, 1, 0.1f, new[] { "ATC_RAT_PIT_IMAX" }, MainV2.comPort.MAV.param);
            }
            else
            {
                RATE_PIT_IMAX.setup(0, 10, 10, 1f, new[] { "RATE_PIT_IMAX" }, MainV2.comPort.MAV.param);
            }
            RATE_PIT_P.setup(0, 10, 1, 0.001f, new[] { "RATE_PIT_P", "ATC_RAT_PIT_P" }, MainV2.comPort.MAV.param);
            RATE_PIT_FILT.setup(0, 10, 1, 0.001f, new[] { "RATE_PIT_FILT", "ATC_RAT_PIT_FILT" }, MainV2.comPort.MAV.param);

            RATE_RLL_D.setup(0, 10, 1, 0.0001f, new[] { "RATE_RLL_D", "ATC_RAT_RLL_D" }, MainV2.comPort.MAV.param);
            RATE_RLL_I.setup(0, 10, 1, 0.001f, new[] { "RATE_RLL_I", "ATC_RAT_RLL_I" }, MainV2.comPort.MAV.param);
            if (MainV2.comPort.MAV.param.ContainsKey("ATC_RAT_RLL_IMAX")) // 3.4 changes scaling
            {
                RATE_RLL_IMAX.setup(0, 10, 1, 0.1f, new[] { "ATC_RAT_RLL_IMAX" }, MainV2.comPort.MAV.param);
            }
            else
            {
                RATE_RLL_IMAX.setup(0, 10, 10, 1f, new[] { "RATE_RLL_IMAX" }, MainV2.comPort.MAV.param);
            }
            RATE_RLL_P.setup(0, 10, 1, 0.001f, new[] { "RATE_RLL_P", "ATC_RAT_RLL_P" }, MainV2.comPort.MAV.param);
            RATE_RLL_FILT.setup(0, 10, 1, 0.001f, new[] { "RATE_RLL_FILT", "ATC_RAT_RLL_FILT" }, MainV2.comPort.MAV.param);

            RATE_YAW_D.setup(0, 10, 1, 0.0001f, new[] { "RATE_YAW_D", "ATC_RAT_YAW_D" }, MainV2.comPort.MAV.param);
            RATE_YAW_I.setup(0, 10, 1, 0.001f, new[] { "RATE_YAW_I", "ATC_RAT_YAW_I" }, MainV2.comPort.MAV.param);
            if (MainV2.comPort.MAV.param.ContainsKey("ATC_RAT_YAW_IMAX")) // 3.4 changes scaling
            {
                RATE_YAW_IMAX.setup(0, 10, 1, 0.1f, new[] { "ATC_RAT_YAW_IMAX" }, MainV2.comPort.MAV.param);
            }
            else
            {
                RATE_YAW_IMAX.setup(0, 10, 10, 1f, new[] { "RATE_YAW_IMAX" }, MainV2.comPort.MAV.param);
            }
            RATE_YAW_P.setup(0, 10, 1, 0.001f, new[] { "RATE_YAW_P", "ATC_RAT_YAW_P" }, MainV2.comPort.MAV.param);
            RATE_YAW_FILT.setup(0, 10, 1, 0.001f, new[] { "RATE_YAW_FILT", "ATC_RAT_YAW_FILT" }, MainV2.comPort.MAV.param);

            STB_PIT_P.setup(0, 10, 1, 0.001f, new[] { "STB_PIT_P", "ATC_ANG_PIT_P" }, MainV2.comPort.MAV.param);
            // STB_PIT_I.setup(0, 10, 1, 0.001f, new[] { "STB_PIT_I", "ATC_ANG_P_I" }, MainV2.comPort.MAV.param);
            // STB_PIT_IMAX.setup(0, 30, 1, 0.1f, new[] { "STB_PIT_IMAX", "ATC_ANG_P_IMAX" }, MainV2.comPort.MAV.param);
            // STB_PIT_D.setup(0, 10, 1, 0.001f, new[] { "STB_PIT_D", "ATC_ANG_P_D" }, MainV2.comPort.MAV.param);
            STB_RLL_P.setup(0, 10, 1, 0.001f, new[] { "STB_RLL_P", "ATC_ANG_RLL_P" }, MainV2.comPort.MAV.param);
            // STB_RLL_IMAX.setup(0, 30, 1, 0.1f, new[] { "STB_RLL_IMAX", "ATC_ANG_R_IMAX" }, MainV2.comPort.MAV.param);
            // STB_RLL_D.setup(0, 10, 1, 0.001f, new[] { "STB_RLL_D", "ATC_ANG_R_D" }, MainV2.comPort.MAV.param);
            // STB_RLL_I.setup(0, 10, 1, 0.001f, new[] { "STB_RLL_I", "ATC_ANG_R_I" }, MainV2.comPort.MAV.param);
            STB_YAW_P.setup(0, 10, 1, 0.001f, new[] { "STB_YAW_P", "ATC_ANG_YAW_P" }, MainV2.comPort.MAV.param);
            // STB_YAW_I.setup(0, 10, 1, 0.001f, new[] { "STB_YAW_I", "ATC_ANG_Y_I" }, MainV2.comPort.MAV.param);
            // STB_YAW_IMAX.setup(0, 30, 1, 0.1f, new[] { "STB_YAW_IMAX", "ATC_ANG_Y_IMAX" }, MainV2.comPort.MAV.param);
            // STB_YAW_D.setup(0, 10, 1, 0.001f, new[] { "STB_YAW_D", "ATC_ANG_Y_D" }, MainV2.comPort.MAV.param);

            THR_ACCEL_D.setup(0, 10, 1, 0.001f, new[] { "THR_ACCEL_D", "PSC_ACCZ_D" }, MainV2.comPort.MAV.param);
            THR_ACCEL_I.setup(0, 10, 1, 0.001f, new[] { "THR_ACCEL_I", "PSC_ACCZ_I" }, MainV2.comPort.MAV.param);
            THR_ACCEL_IMAX.setup(0, 5000, 1, 1f, new[] { "THR_ACCEL_IMAX", "PSC_ACCZ_IMAX" }, MainV2.comPort.MAV.param);
            THR_ACCEL_P.setup(0, 10, 1, 0.001f, new[] { "THR_ACCEL_P", "PSC_ACCZ_P" }, MainV2.comPort.MAV.param);
            THR_ALT_P.setup(0, 10, 1, 0.001f, new[] { "THR_ALT_P", "PSC_POSZ_P" }, MainV2.comPort.MAV.param);
            THR_RATE_P.setup(0, 10, 1, 0.001f, new[] { "THR_RATE_P", "PSC_VELZ_P" }, MainV2.comPort.MAV.param);

            WPNAV_LOIT_SPEED.setup(0, 0, 1, 0.001f, "WPNAV_LOIT_SPEED", MainV2.comPort.MAV.param);
            WPNAV_RADIUS.setup(0, 0, 1, 0.001f, "WPNAV_RADIUS", MainV2.comPort.MAV.param);
            WPNAV_SPEED.setup(0, 0, 1, 0.001f, "WPNAV_SPEED", MainV2.comPort.MAV.param);
            WPNAV_SPEED_DN.setup(0, 0, 1, 0.001f, "WPNAV_SPEED_DN", MainV2.comPort.MAV.param);
            WPNAV_SPEED_UP.setup(0, 0, 1, 0.001f, "WPNAV_SPEED_UP", MainV2.comPort.MAV.param);

            // unlock entries if they differ
            if (RATE_RLL_P.Value != RATE_PIT_P.Value || RATE_RLL_I.Value != RATE_PIT_I.Value ||
                RATE_RLL_D.Value != RATE_PIT_D.Value || RATE_RLL_IMAX.Value != RATE_PIT_IMAX.Value)
            {
                CHK_lockrollpitch.Checked = false;
            }

            if (MainV2.comPort.MAV.param["H_SWASH_TYPE"] != null)
            {
                CHK_lockrollpitch.Checked = false;
            }

            startup = false;
        }