private void AllConfig(AllConfig ac)
{
_model = new ConfigurationModel();
_model.SetFromAllConfig(ac);
ReadModel();
}
/*!
* This function (that executes in a separate thread) is an
* infinite loop that receives all lines from the serial port
* and parses and executes them.
*/
private object ReceiveThreadedData(object state)
{
//_serialPort.ReadTimeout = 1000;
bool recognised_frame = true;
string line = string.Empty;
while (file_to_replay != null && file_to_replay.BaseStream != null && !file_to_replay.EndOfStream)
{
try
{
while (!Play)
Thread.Sleep(100);
KeyValuePair<TimeSpan, string> kvp = ReadReplayLine();
if (DoubleSpeed)
Thread.Sleep((int)(kvp.Key.TotalMilliseconds / 2.0));
else if (QuadSpeed)
Thread.Sleep((int)(kvp.Key.TotalMilliseconds / 4.0));
else
Thread.Sleep(kvp.Key);
//Console.WriteLine(kvp.Key.ToString() + " - " + kvp.Value);
line = kvp.Value;
//line = _serialPort.ReadLine();
if (line.StartsWith("$")) // line with checksum
{
string[] frame = line.Substring(1, line.Length-1).Split('*');
//line = frame[0];
if (calculateChecksum(frame[0]) == Int32.Parse(frame[1], System.Globalization.NumberStyles.HexNumber))
line = frame[0];
else
throw new Exception("Checksum error");
}
if (logfile != null)
logfile.WriteLine("[" + DateTime.Now.ToString("MM/dd/yyyy HH:mm:ss") + "] " + line);
lock (this)
{
bytes_read += line.Length + 1;
}
line = line.Replace("\r", "");
string[] lines = line.Split(';');
//Console.WriteLine(line + "\n\r");
// TR: Gyro & Acc raw
recognised_frame = true;
if (lines[0].EndsWith("TR") && lines.Length >= 6)
{
double acc_x_raw = double.Parse(lines[1]);
double acc_y_raw = double.Parse(lines[2]);
double acc_z_raw = double.Parse(lines[3]);
double gyro_x = double.Parse(lines[4]);
double gyro_y = double.Parse(lines[5]);
double gyro_z = double.Parse(lines[6]);
GyroAccRaw ga = new GyroAccRaw(acc_x_raw, acc_y_raw, acc_z_raw, gyro_x, gyro_y, gyro_z);
if (GyroAccRawCommunicationReceived != null)
GyroAccRawCommunicationReceived(ga);
}
// TP: Processed gyro & acc
else if (lines[0].EndsWith("TP") && lines.Length >= 6)
{
double acc_x = double.Parse(lines[1]) / 1000.0;
double acc_y = double.Parse(lines[2]) / 1000.0;
double acc_z = double.Parse(lines[3]) / 1000.0;
double gyro_x = double.Parse(lines[4]) / 1000.0 * 180.0 / 3.14;
double gyro_y = double.Parse(lines[5]) / 1000.0 * 180.0 / 3.14;
double gyro_z = double.Parse(lines[6]) / 1000.0 * 180.0 / 3.14;
GyroAccProcessed ga = new GyroAccProcessed(acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z);
if (GyroAccProcCommunicationReceived != null)
GyroAccProcCommunicationReceived(ga);
}
// TH: Pressure & Temp
else if (lines[0].EndsWith("TH") && lines.Length >= 2)
{
float pressure = float.Parse(lines[1]);
float temp = float.Parse(lines[2]);
PressureTemp pt = new PressureTemp(temp, pressure);
if (PressureTempCommunicationReceived != null)
PressureTempCommunicationReceived(pt);
}
// CA: All configuration
else if (lines[0].EndsWith("CA") && lines.Length >= 2)
{
AllConfig ac = new AllConfig();
ac.acc_x_neutral = int.Parse(lines[1]);
ac.acc_y_neutral = int.Parse(lines[2]);
ac.acc_z_neutral = int.Parse(lines[3]);
ac.gyro_x_neutral = int.Parse(lines[4]);
ac.gyro_y_neutral = int.Parse(lines[5]);
ac.gyro_z_neutral = int.Parse(lines[6]);
ac.telemetry_basicgps = int.Parse(lines[7]);
ac.telemetry_ppm = int.Parse(lines[8]);
ac.telemetry_gyroaccraw = int.Parse(lines[9]);
ac.telemetry_gyroaccproc = int.Parse(lines[10]);
ac.telemetry_pressuretemp = int.Parse(lines[11]);
ac.telemetry_attitude = int.Parse(lines[12]);
ac.gps_initial_baudrate = int.Parse(lines[13]) * 10;
ac.gps_operational_baudrate = int.Parse(lines[14]) * 10;
ac.channel_ap = int.Parse(lines[15]) + 1;
ac.channel_motor = int.Parse(lines[16]) + 1;
ac.channel_pitch = int.Parse(lines[17]) + 1;
ac.channel_roll = int.Parse(lines[18]) + 1;
ac.channel_yaw = int.Parse(lines[19]) + 1;
ac.pid_pitch2elevator_p = double.Parse(lines[20], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_pitch2elevator_d = double.Parse(lines[21], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_pitch2elevator_i = double.Parse(lines[22], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_pitch2elevator_imin = double.Parse(lines[23], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_pitch2elevator_imax = double.Parse(lines[24], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_pitch2elevator_dmin = double.Parse(lines[25], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_roll2aileron_p = double.Parse(lines[26], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_roll2aileron_d = double.Parse(lines[27], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_roll2aileron_i = double.Parse(lines[28], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_roll2aileron_imin = double.Parse(lines[29], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_roll2aileron_imax = double.Parse(lines[30], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_roll2aileron_dmin = double.Parse(lines[31], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_heading2roll_p = double.Parse(lines[32], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_heading2roll_d = double.Parse(lines[33], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_heading2roll_i = double.Parse(lines[34], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_heading2roll_imin = double.Parse(lines[35], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_heading2roll_imax = double.Parse(lines[36], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_heading2roll_dmin = double.Parse(lines[37], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_altitude2pitch_p = double.Parse(lines[38], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_altitude2pitch_d = double.Parse(lines[39], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_altitude2pitch_i = double.Parse(lines[40], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_altitude2pitch_imin = double.Parse(lines[41], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_altitude2pitch_imax = double.Parse(lines[42], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_altitude2pitch_dmin = double.Parse(lines[43], System.Globalization.CultureInfo.InvariantCulture);
int r = int.Parse(lines[44]);
byte r2 = (byte)r;
ac.servo_reverse[0] = (r & 1) != 0;
ac.servo_reverse[1] = (r & 2) != 0;
ac.servo_reverse[2] = (r & 4) != 0;
ac.servo_reverse[3] = (r & 8) != 0;
ac.servo_reverse[4] = (r & 16) != 0;
ac.servo_reverse[5] = (r & 32) != 0;
for (int i = 0; i < 6; i++)
{
ac.servo_min[i] = int.Parse(lines[45 + i * 3], System.Globalization.CultureInfo.InvariantCulture);
ac.servo_max[i] = int.Parse(lines[46 + i * 3], System.Globalization.CultureInfo.InvariantCulture);
ac.servo_neutral[i] = int.Parse(lines[47 + i * 3], System.Globalization.CultureInfo.InvariantCulture);
}
ac.rc_ppm = 1 - int.Parse(lines[63]);
ac.control_mixing = int.Parse(lines[64]);
ac.control_max_pitch = int.Parse(lines[65]);
ac.control_max_roll = int.Parse(lines[66]);
// for backwards compatibility
if (lines.Length > 67)
ac.control_waypoint_radius = int.Parse(lines[67]);
if (lines.Length > 68)
ac.control_cruising_speed = int.Parse(lines[68]);
if (lines.Length > 69)
ac.control_stabilization_with_altitude_hold = int.Parse(lines[69]) == 0 ? false : true;
if (lines.Length > 70)
ac.control_aileron_differential = int.Parse(lines[70]);
if (lines.Length > 71)
ac.telemetry_control = int.Parse(lines[71]);
if (lines.Length > 72)
{
ac.auto_throttle_enabled = int.Parse(lines[72]) == 1;
ac.auto_throttle_min_pct = int.Parse(lines[73]);
ac.auto_throttle_max_pct = int.Parse(lines[74]);
ac.auto_throttle_cruise_pct = int.Parse(lines[75]);
ac.auto_throttle_p_gain_10 = int.Parse(lines[76]);
}
if (lines.Length > 77)
ac.control_min_pitch = int.Parse(lines[77]);
if (lines.Length > 78)
{
ac.manual_trim = int.Parse(lines[78]) == 0 ? false : true;
Console.WriteLine("receive: " + lines[78]);
}
if (lines.Length > 79)
{
ac.control_altitude_mode = int.Parse(lines[79]);
}
else
Console.WriteLine("FOUT");
if (lines.Length > 80)
{
ac.gps_enable_waas = int.Parse(lines[80]);
}
else
Console.WriteLine("FOUT");
if (lines.Length > 81)
{
ac.osd_bitmask = int.Parse(lines[81]);
ac.osd_RssiMode = int.Parse(lines[82]);
ac.osd_voltage_low = ((double)int.Parse(lines[83])) / 50.0;
ac.osd_voltage_high = ((double)int.Parse(lines[84])) / 50.0;
}
if (lines.Length > 84)
{
ac.imu_rotated = int.Parse(lines[85]);
ac.neutral_pitch = int.Parse(lines[86]);
}
if (AllConfigCommunicationReceived != null)
AllConfigCommunicationReceived(ac);
}
// TT: RC transmitter
else if (lines[0].EndsWith("TT") && lines.Length >= 7)
{
RcInput rc = new RcInput(
new int[] {
int.Parse(lines[1]),
int.Parse(lines[2]),
int.Parse(lines[3]),
int.Parse(lines[4]),
int.Parse(lines[5]),
int.Parse(lines[6]),
int.Parse(lines[7])});
if (RcInputCommunicationReceived != null)
RcInputCommunicationReceived(rc);
}
// TG: GPS basic
else if (lines[0].EndsWith("TG") && lines.Length >= 7)
{
//Console.WriteLine(line);
GpsBasic gb = new GpsBasic(
double.Parse(lines[2], System.Globalization.CultureInfo.InvariantCulture),
double.Parse(lines[3], System.Globalization.CultureInfo.InvariantCulture),
int.Parse(lines[7]),
double.Parse(lines[5]) / 100,
double.Parse(lines[4]) / 10,
int.Parse(lines[6]),
int.Parse(lines[1])
);
if (GpsBasicCommunicationReceived != null)
GpsBasicCommunicationReceived(gb);
}
// TA: Attitude
else if (lines[0].EndsWith("TA") && lines.Length >= 3)
{
Attitude att = new Attitude(
double.Parse(lines[1], CultureInfo.InvariantCulture) / 1000.0 / 3.14 * 180.0,
double.Parse(lines[2], CultureInfo.InvariantCulture) / 1000.0 / 3.14 * 180.0,
/*double.Parse(lines[3], CultureInfo.InvariantCulture) / 1000.0 / 3.14 * 180.0,
double.Parse(lines[4], CultureInfo.InvariantCulture) / 1000.0 / 3.14 * 180.0,*/0,0,
double.Parse(lines[3], CultureInfo.InvariantCulture) / 1000.0 / 3.14 * 180.0
);
if (AttitudeCommunicationReceived != null)
AttitudeCommunicationReceived(att);
}
// DT: Datalog table
else if (lines[0].EndsWith("DT") && lines.Length >= 4)
{
DatalogTable dt = new DatalogTable(
int.Parse(lines[1]),
int.Parse(lines[3]),
int.Parse(lines[4]),
int.Parse(lines[2]),
0);
if (DatalogTableCommunicationReceived != null)
DatalogTableCommunicationReceived(dt);
}
// DH: Datalog header
else if (lines[0].EndsWith("DH") && lines.Length >= 4)
{
DatalogHeader = new string[lines.Length - 1];
for (int i = 1; i < lines.Length; i++)
DatalogHeader[i - 1] = lines[i];
}
// DD: Datalog data
else if (lines[0].EndsWith("DD") && lines.Length >= 4)
{
string[] logline = new string[DatalogHeader.Length];
for (int i = 0; i < logline.Length; i++)
logline[i] = lines[i + 1];
DatalogLine dl = new DatalogLine(
logline, DatalogHeader);
if (DatalogLineCommunicationReceived != null)
DatalogLineCommunicationReceived(dl);
}
// ND: Navigation data (Navigation instruction)
else if (lines[0].EndsWith("ND") && lines.Length >= 6)
{
Console.WriteLine(line);
lines[1] = lines[1].Replace("nan", "0");
lines[2] = lines[2].Replace("nan", "0");
lines[3] = lines[3].Replace("nan", "0");
lines[4] = lines[4].Replace("nan", "0");
lines[5] = lines[5].Replace("nan", "0");
lines[6] = lines[6].Replace("nan", "0");
NavigationInstruction ni =
new NavigationInstruction(
int.Parse(lines[1]),
(NavigationInstruction.navigation_command)int.Parse(lines[2]),
double.Parse(lines[3], CultureInfo.InvariantCulture),
double.Parse(lines[4], CultureInfo.InvariantCulture),
int.Parse(lines[5]),
int.Parse(lines[6]) );
if (NavigationInstructionCommunicationReceived != null)
NavigationInstructionCommunicationReceived(ni);
}
// TS: Servos (simulation)
else if (lines[0].EndsWith("TS") && lines.Length >= 3)
{
Console.WriteLine(line);
Servos s =
new Servos(
int.Parse(lines[1]),
int.Parse(lines[2]),
int.Parse(lines[3]));
if (ServosCommunicationReceived != null)
ServosCommunicationReceived(s);
}
// Control
else if (lines[0].EndsWith("TC") && lines.Length >= 3)
{
ControlInfo ci =
new ControlInfo();
ci.FlightMode = (ControlInfo.FlightModes)int.Parse(lines[1]);
ci.CurrentNavigationLine = int.Parse(lines[2]);
ci.Altitude = int.Parse(lines[3]);
if (lines.Length >= 5)
{
ci.Batt1Voltage = double.Parse(lines[4]) / 10.0;
if (lines.Length >= 6)
{
ci.FlightTime = int.Parse(lines[5]);
ci.BlockTime = int.Parse(lines[6]);
ci.RcLink = int.Parse(lines[7]);
ci.Throttle = int.Parse(lines[8]);
}
if (lines.Length >= 10)
{
ci.TargetAltitude = int.Parse(lines[9]);
}
if (lines.Length >= 11)
{
ci.Batt2Voltage = double.Parse(lines[10]) / 10.0;
ci.Batt_mAh = double.Parse(lines[11]) * 10.0;
}
}
if (ControlInfoCommunicationReceived != null)
ControlInfoCommunicationReceived(ci);
}
else
{
recognised_frame = false;
Console.WriteLine(line);
if (NonParsedCommunicationReceived != null)
NonParsedCommunicationReceived(line);
}
}
catch (TimeoutException toe)
{
if (CommunicationAlive)
{
if (CommunicationLost != null && SecondsConnectionLost() >= 5.0)
{
CommunicationLost();
CommunicationAlive = false;
}
}
}
catch (IOException ioe)
{
// happens when thread is shut down
}
catch (Exception e)
{
;
}
try
{
if (recognised_frame)
{
//Console.WriteLine(line);
LastValidFrame = DateTime.Now;
FramesReceived++;
if (!CommunicationAlive)
{
CommunicationAlive = true;
if (CommunicationEstablished != null)
CommunicationEstablished();
}
}
if (CommunicationReceived != null)
CommunicationReceived(line);
}
catch (Exception e)
{
;
}
}
CommunicationAlive = false;
CommunicationLost();
return null;
}
private void ReceiveAllConfig(AllConfig ac)
{
Console.WriteLine("GUI received");
this.BeginInvoke(new D_ReceiveAllConfig(AllConfig), new object[] { ac });
}
/*!
* Sends the complete configuration set AllConfig to the gluonpilot.
*/
public override void Send(AllConfig ac)
{
SendTelemetry(
ac.telemetry_basicgps,
ac.telemetry_gyroaccraw,
ac.telemetry_gyroaccproc,
ac.telemetry_ppm,
ac.telemetry_pressuretemp,
ac.telemetry_attitude,
ac.telemetry_control);
Thread.Sleep(200);
// neutral acc
WriteChecksumLine("SA;" +
ac.acc_x_neutral.ToString() + ";" +
ac.acc_y_neutral.ToString() + ";" +
ac.acc_z_neutral.ToString() + "");
/*Console.WriteLine("\nSA;" +
ac.acc_x_neutral.ToString() + ";" +
ac.acc_y_neutral.ToString() + ";" +
ac.acc_z_neutral.ToString() + "\n");*/
Thread.Sleep(200);
// neutral gyro
WriteChecksumLine("SY;" +
ac.gyro_x_neutral.ToString() + ";" +
ac.gyro_y_neutral.ToString() + ";" +
ac.gyro_z_neutral.ToString() + "");
/*Console.WriteLine("\nSY;" +
ac.gyro_x_neutral.ToString() + ";" +
ac.gyro_y_neutral.ToString() + ";" +
ac.gyro_z_neutral.ToString() + "\n");*/
Thread.Sleep(200);
// channel config
SendConfigChannels(ac.rc_ppm, ac.channel_ap, ac.channel_motor, ac.channel_pitch, ac.channel_roll, ac.channel_yaw);
Thread.Sleep(200);
// gps config
WriteChecksumLine("SG;" + (ac.gps_initial_baudrate / 10).ToString() + ";" + ac.gps_enable_waas);
//Console.WriteLine("\nSG;" + (ac.gps_initial_baudrate / 10).ToString() + "\n");
Thread.Sleep(200);
SendPidPitch2Elevator(ac.pid_pitch2elevator_p, ac.pid_pitch2elevator_i, ac.pid_pitch2elevator_d,
ac.pid_pitch2elevator_imin, ac.pid_pitch2elevator_imax, ac.pid_pitch2elevator_dmin);
Thread.Sleep(200);
SendPidRoll2Aileron(ac.pid_roll2aileron_p, ac.pid_roll2aileron_i, ac.pid_roll2aileron_d,
ac.pid_roll2aileron_imin, ac.pid_roll2aileron_imax, ac.pid_roll2aileron_dmin);
Thread.Sleep(200);
WriteChecksumLine("PH;" +
ac.pid_heading2roll_p.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_heading2roll_i.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_heading2roll_d.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_heading2roll_imin.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_heading2roll_imax.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_heading2roll_dmin.ToString(System.Globalization.CultureInfo.InvariantCulture) + "");
/*Console.WriteLine("\nPH;" +
ac.pid_heading2roll_p.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_heading2roll_i.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_heading2roll_d.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_heading2roll_imin.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_heading2roll_imax.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_heading2roll_dmin.ToString(System.Globalization.CultureInfo.InvariantCulture) + "\n");
*/
Thread.Sleep(200);
WriteChecksumLine("PA;" +
ac.pid_altitude2pitch_p.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_altitude2pitch_i.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_altitude2pitch_d.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_altitude2pitch_imin.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_altitude2pitch_imax.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_altitude2pitch_dmin.ToString(System.Globalization.CultureInfo.InvariantCulture) + "");
/*Console.WriteLine("\nPA;" +
ac.pid_altitude2pitch_p.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_altitude2pitch_i.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_altitude2pitch_d.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_altitude2pitch_imin.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_altitude2pitch_imax.ToString(System.Globalization.CultureInfo.InvariantCulture) + ";" +
ac.pid_altitude2pitch_dmin.ToString(System.Globalization.CultureInfo.InvariantCulture) + "\n");
*/
Thread.Sleep(200);
SendServoReverse(ac.servo_reverse[0], ac.servo_reverse[1], ac.servo_reverse[2], ac.servo_reverse[3], ac.servo_reverse[4], ac.servo_reverse[5], ac.manual_trim);
Thread.Sleep(200);
if (ac.manual_trim)
{
for (int i = 0; i < 6; i++)
{
SendServoMinNeutralMax(i, ac.servo_min[i], ac.servo_neutral[i], ac.servo_max[i]);
Thread.Sleep(200);
}
}
SendControlSettings(ac.control_mixing,
ac.control_max_pitch,
ac.control_min_pitch,
ac.control_max_roll,
ac.control_aileron_differential,
ac.control_waypoint_radius,
ac.control_cruising_speed,
ac.control_stabilization_with_altitude_hold,
ac.control_altitude_mode);
Thread.Sleep(200);
SendAutoThrottleConfig(ac.auto_throttle_min_pct, ac.auto_throttle_max_pct, ac.auto_throttle_cruise_pct, ac.auto_throttle_p_gain_10, ac.auto_throttle_enabled);
}
/*!
* Sends the complete configuration set AllConfig to the gluonpilot.
*/
public override void Send(AllConfig ac)
{
}
private void AllConfig(AllConfig ac)
{
_model.SetFromAllConfig(ac);
ReadModel();
}
private void ReceiveAllConfig(AllConfig ac)
{
this.BeginInvoke(new D_ReceiveAllConfig(AllConfig), new object[] { ac });
}
/*!
* Converts to _model to AllConfig communication frame.
*/
public AllConfig ToAllConfig()
{
Console.WriteLine("To all config");
AllConfig ac = new AllConfig();
ConfigurationModel _model = this;
ac.acc_x_neutral = _model.NeutralAccX;
ac.acc_y_neutral = _model.NeutralAccY;
ac.acc_z_neutral = _model.NeutralAccZ;
ac.gyro_x_neutral = _model.NeutralGyroX;
ac.gyro_y_neutral = _model.NeutralGyroY;
ac.gyro_z_neutral = _model.NeutralGyroZ;
ac.imu_rotated = _model.ImuRotated;
ac.neutral_pitch = _model.NeutralPitch;
ac.channel_pitch = _model.ChannelPitch;
ac.channel_roll = _model.ChannelRoll;
ac.channel_motor = _model.ChannelMotor;
ac.channel_yaw = _model.ChannelYaw;
ac.channel_ap = _model.ChannelAp;
ac.rc_ppm = _model.RcTransmitterFromPpm;
ac.control_max_pitch = _model.ControlMaxPitch;
ac.control_min_pitch = _model.ControlMinPitch;
ac.control_max_roll = _model.ControlMaxRoll;
ac.control_mixing = _model.ControlMixing;
ac.control_waypoint_radius = _model.WaypointRadius;
ac.control_stabilization_with_altitude_hold = _model.StabilizationWithAltitudeHold;
ac.control_cruising_speed = _model.CruisingSpeed;
ac.control_aileron_differential = _model.ControlAileronDiff;
ac.control_altitude_mode = _model.AltitudeMode;
ac.telemetry_basicgps = _model.TelemetryGpsBasic;
ac.telemetry_gyroaccraw = _model.TelemetryGyroAccRaw;
ac.telemetry_gyroaccproc = _model.TelemetryGyroAccProc;
ac.telemetry_ppm = _model.TelemetryPpm;
ac.telemetry_pressuretemp = _model.TelemetryPressureTemp;
ac.telemetry_attitude = _model.TelemetryAttitude;
ac.telemetry_control = _model.TelemetryControl;
ac.gps_initial_baudrate = _model.GpsInitialBaudrate;
ac.gps_enable_waas = _model.GpsEnableWaas;
ac.pid_pitch2elevator_p = _model.Pitch2ElevatorPidModel.P;
ac.pid_pitch2elevator_i = _model.Pitch2ElevatorPidModel.I;
ac.pid_pitch2elevator_d = _model.Pitch2ElevatorPidModel.D;
ac.pid_pitch2elevator_imin = _model.Pitch2ElevatorPidModel.IMin;
ac.pid_pitch2elevator_imax = _model.Pitch2ElevatorPidModel.IMax;
ac.pid_pitch2elevator_dmin = _model.Pitch2ElevatorPidModel.DMin;
ac.pid_roll2aileron_p = _model.Roll2AileronPidModel.P;
ac.pid_roll2aileron_i = _model.Roll2AileronPidModel.I;
ac.pid_roll2aileron_d = _model.Roll2AileronPidModel.D;
ac.pid_roll2aileron_imin = _model.Roll2AileronPidModel.IMin;
ac.pid_roll2aileron_imax = _model.Roll2AileronPidModel.IMax;
ac.pid_roll2aileron_dmin = _model.Roll2AileronPidModel.DMin;
ac.pid_heading2roll_p = _model.Heading2RollPidModel.P;
ac.pid_heading2roll_i = _model.Heading2RollPidModel.I;
ac.pid_heading2roll_d = _model.Heading2RollPidModel.D;
ac.pid_heading2roll_imin = _model.Heading2RollPidModel.IMin;
ac.pid_heading2roll_imax = _model.Heading2RollPidModel.IMax;
ac.pid_heading2roll_dmin = _model.Heading2RollPidModel.DMin;
ac.pid_altitude2pitch_p = _model.Altitude2PitchPidModel.P;
ac.pid_altitude2pitch_i = _model.Altitude2PitchPidModel.I;
ac.pid_altitude2pitch_d = _model.Altitude2PitchPidModel.D;
ac.pid_altitude2pitch_imin = _model.Altitude2PitchPidModel.IMin;
ac.pid_altitude2pitch_imax = _model.Altitude2PitchPidModel.IMax;
ac.pid_altitude2pitch_dmin = _model.Altitude2PitchPidModel.DMin;
ac.servo_reverse[0] = _model.ReverseServo1;
ac.servo_reverse[1] = _model.ReverseServo2;
ac.servo_reverse[2] = _model.ReverseServo3;
ac.servo_reverse[3] = _model.ReverseServo4;
ac.servo_reverse[4] = _model.ReverseServo5;
ac.servo_reverse[5] = _model.ReverseServo6;
ac.manual_trim = _model.ManualTrim;
ac.servo_min[0] = _model.ServoMin[0];
ac.servo_min[1] = _model.ServoMin[1];
ac.servo_min[2] = _model.ServoMin[2];
ac.servo_min[3] = _model.ServoMin[3];
ac.servo_min[4] = _model.ServoMin[4];
ac.servo_min[5] = _model.ServoMin[5];
ac.servo_max[0] = _model.ServoMax[0];
ac.servo_max[1] = _model.ServoMax[1];
ac.servo_max[2] = _model.ServoMax[2];
ac.servo_max[3] = _model.ServoMax[3];
ac.servo_max[4] = _model.ServoMax[4];
ac.servo_max[5] = _model.ServoMax[5];
ac.servo_neutral[0] = _model.ServoNeutral[0];
ac.servo_neutral[1] = _model.ServoNeutral[1];
ac.servo_neutral[2] = _model.ServoNeutral[2];
ac.servo_neutral[3] = _model.ServoNeutral[3];
ac.servo_neutral[4] = _model.ServoNeutral[4];
ac.servo_neutral[5] = _model.ServoNeutral[5];
ac.auto_throttle_enabled = _model.AutoThrottleEnabled;
ac.auto_throttle_min_pct = _model.AutoThrottleMinPct;
ac.auto_throttle_max_pct = _model.AutoThrottleMaxPct;
ac.auto_throttle_cruise_pct = _model.AutoThrottleCruisePct;
ac.auto_throttle_p_gain_10 = (int)(_model.AutoThrottlePGain * 10);
ac.osd_bitmask = _model.OsdBitmask;
return ac;
}
/*!
* Updates it's state according to allconfig
*/
public void SetFromAllConfig(AllConfig ac)
{
ConfigurationModel _model = this;
_model.NeutralAccX = ac.acc_x_neutral;
_model.NeutralAccY = ac.acc_y_neutral;
_model.NeutralAccZ = ac.acc_z_neutral;
_model.NeutralGyroX = ac.gyro_x_neutral;
_model.NeutralGyroY = ac.gyro_y_neutral;
_model.NeutralGyroZ = ac.gyro_z_neutral;
_model.NeutralPitch = ac.neutral_pitch;
_model.ImuRotated = ac.imu_rotated;
_model.TelemetryGpsBasic = ac.telemetry_basicgps;
_model.TelemetryGyroAccRaw = ac.telemetry_gyroaccraw;
_model.TelemetryGyroAccProc = ac.telemetry_gyroaccproc;
_model.TelemetryPpm = ac.telemetry_ppm;
_model.TelemetryPressureTemp = ac.telemetry_pressuretemp;
_model.TelemetryAttitude = ac.telemetry_attitude;
_model.TelemetryControl = ac.telemetry_control;
_model.ChannelAp = ac.channel_ap;
_model.ChannelPitch = ac.channel_pitch;
_model.ChannelRoll = ac.channel_roll;
_model.ChannelYaw = ac.channel_yaw;
_model.ChannelMotor = ac.channel_motor;
_model.RcTransmitterFromPpm = ac.rc_ppm;
_model.ControlMixing = ac.control_mixing;
_model.ControlMaxPitch = ac.control_max_pitch;
_model.ControlMinPitch = ac.control_min_pitch;
_model.ControlMaxRoll = ac.control_max_roll;
_model.ControlAileronDiff = ac.control_aileron_differential;
_model.AltitudeMode = ac.control_altitude_mode;
_model.CruisingSpeed = ac.control_cruising_speed;
_model.StabilizationWithAltitudeHold = ac.control_stabilization_with_altitude_hold;
_model.WaypointRadius = ac.control_waypoint_radius;
_model.GpsInitialBaudrate = ac.gps_initial_baudrate;
_model.GpsOperationalBaudrate = ac.gps_operational_baudrate;
_model.GpsEnableWaas = ac.gps_enable_waas;
_model.Pitch2ElevatorPidModel = new PidModel(ac.pid_pitch2elevator_p,
ac.pid_pitch2elevator_i,
ac.pid_pitch2elevator_d,
ac.pid_pitch2elevator_imin,
ac.pid_pitch2elevator_imax,
ac.pid_pitch2elevator_dmin);
_model.Roll2AileronPidModel = new PidModel(ac.pid_roll2aileron_p,
ac.pid_roll2aileron_i,
ac.pid_roll2aileron_d,
ac.pid_roll2aileron_imin,
ac.pid_roll2aileron_imax,
ac.pid_roll2aileron_dmin);
_model.Heading2RollPidModel = new PidModel(ac.pid_heading2roll_p,
ac.pid_heading2roll_i,
ac.pid_heading2roll_d,
ac.pid_heading2roll_imin,
ac.pid_heading2roll_imax,
ac.pid_heading2roll_dmin);
_model.Altitude2PitchPidModel = new PidModel(ac.pid_altitude2pitch_p,
ac.pid_altitude2pitch_i,
ac.pid_altitude2pitch_d,
ac.pid_altitude2pitch_imin,
ac.pid_altitude2pitch_imax,
ac.pid_altitude2pitch_dmin);
_model.ReverseServo1 = ac.servo_reverse[0];
_model.ReverseServo2 = ac.servo_reverse[1];
_model.ReverseServo3 = ac.servo_reverse[2];
_model.ReverseServo4 = ac.servo_reverse[3];
_model.ReverseServo5 = ac.servo_reverse[4];
_model.ReverseServo6 = ac.servo_reverse[5];
// Due to an annoying bug
_model.ServoMin = new int[6];
_model.ServoMax = new int[6];
_model.ServoNeutral = new int[6];
for (int i = 0; i < 6; i++)
{
_model.ServoMin[i] = ac.servo_min[i];
_model.ServoMax[i] = ac.servo_max[i];
_model.ServoNeutral[i] = ac.servo_neutral[i];
}
_model.ManualTrim = ac.manual_trim;
_model.AutoThrottleEnabled = ac.auto_throttle_enabled;
_model.AutoThrottleMinPct = ac.auto_throttle_min_pct;
_model.AutoThrottleMaxPct = ac.auto_throttle_max_pct;
_model.AutoThrottleCruisePct = ac.auto_throttle_cruise_pct;
_model.AutoThrottlePGain = (double)ac.auto_throttle_p_gain_10 / 10;
_model.OsdBitmask = ac.osd_bitmask;
}
public abstract void Send(AllConfig ac);