void GetValues(ref float p, ref float r)
{
float []valores;
FlightPlanUSB ikarus = new FlightPlanUSB();
if (ikarus.IsOpen())
{
valores = ikarus.ReadADCs();
ikarus.Close();
p = valores[(int)FlightPlanUSB.ADC_VALUES.CO_X];
r = valores[(int)FlightPlanUSB.ADC_VALUES.CO_Y];
}
else
{
p = 1.66f;
r = 1.66f;
//MessageBox.Show("No esta conectado!");
}
}
float GetValue(FlightPlanUSB.ADC_VALUES canal)
{
float valor;
FlightPlanUSB ikarus = new FlightPlanUSB();
if (ikarus.IsOpen())
{
valor = ikarus.ReadADCs(canal);
ikarus.Close();
}
else
{
if (me.Idioma == 0)
MessageBox.Show("No esta conectado!");
else
MessageBox.Show("Not connected!");
valor = 0.0f;
}
return valor;
}
private void timer1_Tick(object sender, EventArgs e)
{
while (!planUSB.IsOpen())
{
planUSB = new FlightPlanUSB();
Thread.Sleep(100);
}
if (planUSB.IsOpen())
{
labelStatus.Text = "Connected!";
labelStatus.ForeColor = Color.Green;
sconfig = planUSB.ReadConfig();
//sconfig.offsetX = 0x2C;// &0x3f;
//sconfig.offsetY = 0x15;//&0x1f;
try
{
numericUpDownOffsetX.Value = sconfig.offsetX;
numericUpDownOffsetY.Value = sconfig.offsetY;
numericUpDownBattCapacity.Value = (decimal)sconfig.total_mAh;
numericUpDownHomeAltitude.Value = (decimal)sconfig.HomeAltitude;
textBoxHomeLat.Text = sconfig.HomeLat.ToString();
textBoxHomeLon.Text = sconfig.HomeLon.ToString();
numericUpDownCellsBatt1.Value = sconfig.cellsBatt1;
numericUpDownCellsBatt2.Value = sconfig.cellsBatt2;
if (sconfig.cellAlarm < 3.0f)
sconfig.cellAlarm = 3.0f;
numericUpDownCellAlarm.Value = (decimal)sconfig.cellAlarm;
numericUpDownAlarmAltitude.Value = (decimal)sconfig.altitudeAlarm;
numericUpDownAlarmDistance.Value = (decimal)sconfig.distanceAlarm;
numericUpDownAlarmLowSpeed.Value = (decimal)sconfig.lowSpeedAlarm;
numericUpDownWptRange.Value = (decimal)sconfig.WptRange;
updateForm();
} catch (Exception){}
timer1.Enabled = false;
panel1.Enabled = true;
}
}
private void button9_Click(object sender, EventArgs e)
{
FlightPlanUSB fp = new FlightPlanUSB();
if (fp.IsOpen())
{
IkarusCompleteConfig full = new IkarusCompleteConfig();
full.IkarusBasicConfig = fp.ReadConfig();
full.IkarusAutopilotConfig = fp.ReadConfigAutopilot();
full.IkarusScreenConfig1 = fp.ReadScreen(0);
full.IkarusScreenConfig2 = fp.ReadScreen(1);
full.IkarusScreenConfig3 = fp.ReadScreen(2);
full.IkarusScreenConfigFailSafe = fp.ReadScreen(3);
full.IkarusScreenConfigResumen = fp.ReadScreen(4);
fp.Close();
SaveFileDialog dlg = new SaveFileDialog();
dlg.ShowDialog();
if (dlg.FileName != "")
{
full.SaveToXml(dlg.FileName);
if (me.Idioma == 0)
MessageBox.Show("Guardado con exito!");
else
MessageBox.Show("Saved Succesful!");
}
else
if (me.Idioma == 0)
MessageBox.Show("No se ha salvado!");
else
MessageBox.Show("Not saved!");
}
else
if (me.Idioma == 0)
MessageBox.Show("No esta conectado!");
else
MessageBox.Show("Not connected!");
}
private void buttonFIN_Click(object sender, EventArgs e)
{
FlightPlanUSB ikarus = new FlightPlanUSB();
if (ikarus.IsOpen())
{
IkarusBasicConfig cfg = ikarus.ReadConfig();
cfg.rssi_min = (float)numericUpDownRSSImin.Value;
cfg.rssi_max = (float)numericUpDownRSSImax.Value;
ikarus.WriteConfig(cfg);
ikarus.Close();
}
else if (me.Idioma == 0)
{
MessageBox.Show("Error abriendo disp USB");
}
else
{
MessageBox.Show("Error opening USB device!");
}
this.Close();
}
private void button4_Click(object sender, EventArgs e)
{
List<WayPoint> miRuta = mapControl1.ruta;
FlightPlanUSB fp = new FlightPlanUSB();
if (fp.IsOpen())
{
if (miRuta.Count >= 0)
{
Thread.Sleep(500);
for (int i = 0; i < miRuta.Count; i++)
{
WayPoint wpt = miRuta[i];
fp.WriteWpt(i, wpt.name, (float)wpt.Longitude, (float)wpt.Latitude, wpt.Altitude);
Thread.Sleep(500);
}
fp.WriteMaxWpt(miRuta.Count);
fp.Flush();
}
fp.Close();
}
}
private void button3_Click(object sender, EventArgs e)
{
FlightPlanUSB ikarus = new FlightPlanUSB();
if (ikarus.IsOpen())
{
IkarusAutopilotConfig autocfg = ikarus.ReadConfigAutopilot();
float total;
float co_x = Math.Abs(x_max - x_offset);
float co_y = Math.Abs(y_max - y_offset);
autocfg.x_off = x_offset;
autocfg.y_off = y_offset;
if (autocfg.IR_cross_sensor == 0)
{
if (autocfg.IR_cross_rev == 0)
total = co_x;
else
total = co_y;
}
else
{
total = co_x + co_y;
}
autocfg.IR_max = total;
ikarus.WriteConfigAutopilot(autocfg);
ikarus.Close();
}
else
MessageBox.Show("No conectado!");
this.Close();
}
private void button5_Click(object sender, EventArgs e)
{
FlightPlanUSB ikarus = new FlightPlanUSB();
if (ikarus.IsOpen())
{
float v1, v2;
if (float.TryParse(textBoxMotorI1.Text, out v1) && float.TryParse(textBoxMotorI2.Text, out v2))
{
float gain = (float)(numericUpDownMotorI1.Value - numericUpDownMotorI2.Value) / (v1 - v2);
//float offset = -(float)numericUpDownMotorI1.Value - gain * float.Parse(textBoxMotorI1.Text);
float offset = float.Parse(textBoxMotorI1.Text) - (float)numericUpDownMotorI1.Value/ gain;
IkarusBasicConfig cfg = ikarus.ReadConfig();
cfg.sensorI_gain = gain;
cfg.sensorI_offset = offset;
ikarus.WriteConfig(cfg);
if (me.Idioma == 0)
{
MessageBox.Show("Valores guardados correctamente");
}
else
{
MessageBox.Show("Values saved sucesfully");
}
}
else if (me.Idioma == 0)
{
MessageBox.Show("Error en los valores capturados");
}
else
{
MessageBox.Show("Error in captured values");
}
ikarus.Close();
}
else if (me.Idioma == 0)
{
MessageBox.Show("Error abriendo disp USB");
}
else
{
MessageBox.Show("Error opening USB device!");
}
ikarus.Close();
}
private void button5_Click(object sender, EventArgs e)
{
try
{
fc = new FileCharset(textBox1.Text);
}
catch (Exception)
{
MessageBox.Show("Error abriendo fichero. Usando buildin");
MemoryStream stream = new MemoryStream(global::UAVConsole.Properties.Resources.Ikarus);
fc= new FileCharset(new StreamReader(stream));
}
fp = new FlightPlanUSB();
timer1.Interval = 200;
t_i = 0;
if (fp.IsOpen())
timer1.Enabled = true;
else
MessageBox.Show("Not conected!");
}
private void button2_Click(object sender, EventArgs e)
{
FlightPlanUSB fp = new FlightPlanUSB();
if (fp.IsOpen())
{
hud = fp.ReadScreen(comboBoxScreenSlot.SelectedIndex);
fp.Close();
UpdateTextBoxes();
pictureBox1.Invalidate();
}
else
MessageBox.Show("Not conected!");
}
private void button8_Click(object sender, EventArgs e)
{
FlightPlanUSB fp = new FlightPlanUSB();
if (fp.IsOpen())
{
OpenFileDialog dlg = new OpenFileDialog();
dlg.ShowDialog();
if (dlg.FileName != "")
{
IkarusCompleteConfig full = new IkarusCompleteConfig();
full.LoadFromXml(dlg.FileName);
fp.WriteConfig(full.IkarusBasicConfig);
fp.WriteConfigAutopilot(full.IkarusAutopilotConfig);
fp.WriteScreen(0, full.IkarusScreenConfig1);
fp.WriteScreen(1, full.IkarusScreenConfig2);
fp.WriteScreen(2, full.IkarusScreenConfig3);
fp.WriteScreen(3, full.IkarusScreenConfigFailSafe);
fp.WriteScreen(4, full.IkarusScreenConfigResumen);
fp.Close();
if (me.Idioma == 0)
MessageBox.Show("Restaurado con exito!");
else
MessageBox.Show("Succesfully restored!");
}
else
if (me.Idioma == 0)
MessageBox.Show("No se ha especificado nombre de fichero");
else
MessageBox.Show("File Name not specified!");
}
else
if (me.Idioma == 0)
MessageBox.Show("No esta conectado!");
else
MessageBox.Show("Not connected!");
}
private void button8_Click(object sender, EventArgs e)
{
FlightPlanUSB planUSB = new FlightPlanUSB();
if (planUSB.IsOpen())
{
int[] servos = planUSB.ReadServosRAW();
if (comboAilCH.SelectedIndex > 0)
{
numericUpDownServoAILcenter.Value =servos[comboAilCH.SelectedIndex - 1];
}
if (comboEleCH.SelectedIndex > 0)
{
numericUpDownServoELEcenter.Value = servos[comboEleCH.SelectedIndex - 1];
}
/*
if (comboThrCH.SelectedIndex > 0)
{
numericUpDownServoTHRcenter.Value = servos[comboThrCH.SelectedIndex - 1];
}
*/
if (comboTailCH.SelectedIndex > 0)
{
numericUpDownServoTAILcenter.Value = servos[comboTailCH.SelectedIndex - 1];
}
if (comboPanCH.SelectedIndex > 0)
{
numericUpDownServoPANcenter.Value = servos[comboPanCH.SelectedIndex - 1];
}
if (comboTiltCH.SelectedIndex > 0)
{
numericUpDownServoTILTcenter.Value = servos[comboTiltCH.SelectedIndex - 1];
}
if (comboAil2CH.SelectedIndex > 0)
{
numericUpDownServoAIL2center.Value = servos[comboAil2CH.SelectedIndex - 1];
}
planUSB.Close();
}
else if (me.Idioma == 0)
{
MessageBox.Show("No se puede abrir dispositivo Ikarus OSD");
}
else
{
MessageBox.Show("Cannot open Ikarus OSD device");
}
}
private void button1_Click(object sender, EventArgs e)
{
FlightPlanUSB fp = new FlightPlanUSB();
if (fp.IsOpen())
{
IkarusBasicConfig basiccfg = new IkarusBasicConfig();
basiccfg.LoadDefaults();
basiccfg.LoadFromXmlString(global::UAVConsole.Properties.Resources.osd_config);
basiccfg.videoPAL = (byte)(1 - comboBoxVideoSystem.SelectedIndex);
basiccfg.BaudRate = (byte)comboBoxGPSBaudRate.SelectedIndex;
basiccfg.Modo_PPM = (byte)comboBoxModoPPM.SelectedIndex;
basiccfg.PPM_Channel = (byte)(comboBoxCanalPPM.SelectedIndex+4);
TimeSpan rafa=TimeZone.CurrentTimeZone.GetUtcOffset(new DateTime());
basiccfg.TimeZone = (sbyte)rafa.Hours;
fp.WriteConfig(basiccfg);
IkarusAutopilotConfig autocfg = new IkarusAutopilotConfig();
autocfg.LoadDefaults();
autocfg.LoadFromXmlString(global::UAVConsole.Properties.Resources.autopilot_config);
autocfg.tipo_mezcla = (byte)comboBoxTipoMezcla.SelectedIndex;
fp.WriteConfigAutopilot(autocfg);
if (checkBoxActualizarHUDs.Checked)
{
IkarusScreenConfig scr = new IkarusScreenConfig();
scr.LoadFromXmlString(global::UAVConsole.Properties.Resources.HUD1);
fp.WriteScreen(0, scr); // HUD 0
scr.LoadFromXmlString(global::UAVConsole.Properties.Resources.HUD2);
fp.WriteScreen(1, scr); // HUD 1
scr.LoadFromXmlString(global::UAVConsole.Properties.Resources.HUD3);
fp.WriteScreen(2, scr); // HUD 2
scr.LoadFromXmlString(global::UAVConsole.Properties.Resources.Failsafe);
fp.WriteScreen(3, scr); // FailSafe
scr.LoadFromXmlString(global::UAVConsole.Properties.Resources.Resumen);
fp.WriteScreen(4, scr); // Resumen
}
if (checkBoxActualizarCharSet.Checked)
{
MemoryStream stream = new MemoryStream(global::UAVConsole.Properties.Resources.Ikarus);
FileCharset fc = new FileCharset(new StreamReader(stream));
byte[] buff;
for(int i=0;i<256;i++)
{
buff = fc.getChar((byte)i);
fp.WriteCharSet(i, buff);
}
}
fp.Close();
if (me.Idioma == 0)
MessageBox.Show("Realizado!");
else
MessageBox.Show("Done!");
this.Close();
}
else
if (me.Idioma == 0)
MessageBox.Show("No esta conectado!");
else
MessageBox.Show("Not connected!");
}
private void button2_Click(object sender, EventArgs e)
{
if (device == Devices.OSD)
{
FlightPlanUSB dev = new FlightPlanUSB();
if (dev.IsOpen())
{
dev.FirmwareUpdate();
dev.Close();
}
else
{
if (me.Idioma == 0)
MessageBox.Show("Error abriendo USB");
else
MessageBox.Show("Error opening USB");
}
}
else if (device == Devices.Uplink)
{
EmisoraUSB dev = new EmisoraUSB();
if (dev.IsOpen())
{
dev.UpdateFirmware();
dev.Close();
}
else
{
if (me.Idioma == 0)
MessageBox.Show("Error abriendo USB");
else
MessageBox.Show("Error opening USB");
}
}
else if (device == Devices.AntTracker)
{
AntenaTracker dev = new AntenaTracker();
if (dev.IsOpen())
{
dev.UpdateFirmware();
dev.Close();
}
else
{
if (me.Idioma == 0)
MessageBox.Show("Error abriendo USB");
else
MessageBox.Show("Error opening USB");
}
}
}
private void button6_Click(object sender, EventArgs e)
{
List<WayPoint> miRuta = mapControl1.ruta;
FlightPlanUSB fp = new FlightPlanUSB();
if (fp.IsOpen())
{
int max = fp.ReadMaxWpts();
miRuta.Clear();
for (int i = 0; i < max && max < 0xff; i++)
{
miRuta.Add(fp.ReadWpt(i));
}
mapControl1.Refresh();
fp.Close();
listBoxUpdate();
}
}
private void button1_Click(object sender, EventArgs e)
{
FlightPlanUSB fp = new FlightPlanUSB();
if (fp.IsOpen())
{
fp.WriteScreen(comboBoxScreenSlot.SelectedIndex,hud);
fp.Close();
}
else
MessageBox.Show("Not conected!");
}
private void button12_Click(object sender, EventArgs e)
{
FlightPlanUSB planUSB = new FlightPlanUSB();
if (planUSB.IsOpen())
{
WayPoint wpt = planUSB.ReadGPS();
if (wpt != null)
{
Singleton.GetInstance().HomeLat = (float)wpt.Latitude;
Singleton.GetInstance().HomeLon = (float)wpt.Longitude;
Singleton.GetInstance().HomeAlt = (float)wpt.Altitude;
mapControl1.home.Latitude = wpt.Latitude;
mapControl1.home.Longitude = wpt.Longitude;
mapControl1.Invalidate();
}
else
{
IkarusBasicConfig cfg = planUSB.ReadConfig();
Singleton.GetInstance().HomeLat = (float)cfg.HomeLat;
Singleton.GetInstance().HomeLon = (float)cfg.HomeLon;
Singleton.GetInstance().HomeAlt = (float)cfg.HomeAltitude;
mapControl1.home.Latitude = cfg.HomeLat;
mapControl1.home.Longitude = cfg.HomeLon;
mapControl1.Invalidate();
}
planUSB.Close();
}
else if (me.Idioma == 0)
{
MessageBox.Show("No se puede conectar!");
}
else
{
MessageBox.Show("Cannot connect!");
}
}
private void buttonFIN_Click(object sender, EventArgs e)
{
timer1.Enabled = false;
FlightPlanUSB ikarus = new FlightPlanUSB();
if (ikarus.IsOpen())
{
IkarusAutopilotConfig autocfg = ikarus.ReadConfigAutopilot();
autocfg.x_off = off_r;
autocfg.y_off = off_p;
switch (position)
{
case 0:
autocfg.IR_cross_sensor = 0;
autocfg.IR_cross_rev = 0;
autocfg.IR_pitch_rev = 1;
autocfg.IR_roll_rev = (byte)((position2 == 2) ? 0 : 1);
break;
case 1:
autocfg.IR_cross_sensor = 1;
autocfg.IR_cross_rev = 0;
autocfg.IR_pitch_rev = 1;
autocfg.IR_roll_rev = (byte)((position2 == 3) ? 1 : 0);
break;
case 2:
autocfg.IR_cross_sensor = 0;
autocfg.IR_cross_rev = 1;
autocfg.IR_pitch_rev = 1;
autocfg.IR_roll_rev = (byte)((position2 == 4) ? 1 : 0);
break;
case 3:
autocfg.IR_cross_sensor = 1;
autocfg.IR_cross_rev = 1;
autocfg.IR_pitch_rev = 0;
autocfg.IR_roll_rev = (byte)((position2 == 5) ? 1 : 0);
break;
case 4:
autocfg.IR_cross_sensor = 0;
autocfg.IR_cross_rev = 0;
autocfg.IR_pitch_rev = 0;
autocfg.IR_roll_rev = (byte)((position2 == 6) ? 1 : 0);
break;
case 5:
autocfg.IR_cross_sensor = 1;
autocfg.IR_cross_rev = 0;
autocfg.IR_pitch_rev = 0;
autocfg.IR_roll_rev = (byte)((position2 == 7) ? 0 : 1);
break;
case 6:
autocfg.IR_cross_sensor = 0;
autocfg.IR_cross_rev = 1;
autocfg.IR_pitch_rev = 0;
autocfg.IR_roll_rev = (byte)((position2 == 0) ? 0 : 1);
break;
case 7:
autocfg.IR_cross_sensor = 1;
autocfg.IR_cross_rev = 1;
autocfg.IR_pitch_rev = 1;
autocfg.IR_roll_rev = (byte)((position2 == 1) ? 0 : 1);
break;
}
ikarus.WriteConfigAutopilot(autocfg);
ikarus.Close();
}
this.Close();
}
