public void Activate()
{
if (!MainV2.comPort.BaseStream.IsOpen)
{
Enabled = false;
return;
}
Enabled = true;
startup = true;
if (MainV2.comPort.MAV.cs.version > Version.Parse("3.2.1") &&
MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
QuickAPM25.Visible = false;
buttonAPMExternal.Visible = false;
buttonQuickPixhawk.Visible = false;
label1.Visible = false;
}
if (MainV2.comPort.MAV.cs.version >= Version.Parse("3.7.1") &&
MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane ||
Control.ModifierKeys == Keys.Control)
{
groupBoxonboardcalib.Visible = true;
label4.Visible = true;
groupBoxmpcalib.Visible = true;
}
else if ((MainV2.comPort.MAV.cs.capabilities & (uint)MAVLink.MAV_PROTOCOL_CAPABILITY.COMPASS_CALIBRATION) == 0)
{
groupBoxonboardcalib.Visible = false;
label4.Visible = false;
groupBoxmpcalib.Visible = true;
}
else
{
groupBoxonboardcalib.Visible = true;
label4.Visible = false;
groupBoxmpcalib.Visible = false;
}
// General Compass Settings
CHK_enablecompass.setup(1, 0, "MAG_ENABLE", MainV2.comPort.MAV.param);
CHK_compass_learn.setup(1, 0, "COMPASS_LEARN", MainV2.comPort.MAV.param);
if (MainV2.comPort.MAV.param["COMPASS_DEC"] != null)
{
var dec = MainV2.comPort.MAV.param["COMPASS_DEC"].Value * MathHelper.rad2deg;
var min = (dec - (int)dec) * 60;
TXT_declination_deg.Text = ((int)dec).ToString("0");
TXT_declination_min.Text = min.ToString("0");
}
if (MainV2.comPort.MAV.param["COMPASS_AUTODEC"] != null)
{
CHK_autodec.Checked = MainV2.comPort.MAV.param["COMPASS_AUTODEC"].ToString() == "1" ? true : false;
}
// Compass 1 settings
CHK_compass1_use.setup(1, 0, "COMPASS_USE", MainV2.comPort.MAV.param);
CHK_compass1_external.setup(1, 0, "COMPASS_EXTERNAL", MainV2.comPort.MAV.param);
CMB_compass1_orient.setup(ParameterMetaDataRepository.GetParameterOptionsInt("COMPASS_ORIENT",
MainV2.comPort.MAV.cs.firmware.ToString()), "COMPASS_ORIENT", MainV2.comPort.MAV.param);
if (!MainV2.comPort.MAV.param.ContainsKey("COMPASS_OFS_X"))
{
Enabled = false;
return;
}
int offset1_x = (int)MainV2.comPort.MAV.param["COMPASS_OFS_X"];
int offset1_y = (int)MainV2.comPort.MAV.param["COMPASS_OFS_Y"];
int offset1_z = (int)MainV2.comPort.MAV.param["COMPASS_OFS_Z"];
// Turn offsets red if any offset exceeds a threshold, or all values are 0 (not yet calibrated)
if (absmax(offset1_x, offset1_y, offset1_z) > THRESHOLD_OFS_RED)
{
LBL_compass1_offset.ForeColor = Color.Red;
}
else if (absmax(offset1_x, offset1_y, offset1_z) > THRESHOLD_OFS_YELLOW)
{
LBL_compass1_offset.ForeColor = Color.Yellow;
}
else if (offset1_x == 0 && offset1_y == 0 & offset1_z == 0)
{
LBL_compass1_offset.ForeColor = Color.Red;
}
else
{
LBL_compass1_offset.ForeColor = Color.Green;
}
LBL_compass1_offset.Text = "OFFSETS X: " +
offset1_x.ToString() +
", Y: " + offset1_y.ToString() +
", Z: " + offset1_z.ToString();
if (MainV2.comPort.MAV.param.ContainsKey("COMPASS_MOT_X"))
{
LBL_compass1_mot.Text = "MOT X: " +
((int)MainV2.comPort.MAV.param["COMPASS_MOT_X"]).ToString() +
", Y: " + ((int)MainV2.comPort.MAV.param["COMPASS_MOT_Y"]).ToString() +
", Z: " + ((int)MainV2.comPort.MAV.param["COMPASS_MOT_Z"]).ToString();
}
if (!MainV2.DisplayConfiguration.displayCompassConfiguration)
{
CHK_compass1_use.Enabled = false;
CHK_compass1_external.Enabled = false;
CMB_compass1_orient.Enabled = false;
}
// Compass 2 settings
if (MainV2.comPort.MAV.param.ContainsKey("COMPASS_EXTERN2"))
{
CHK_compass2_use.setup(1, 0, "COMPASS_USE2", MainV2.comPort.MAV.param);
CHK_compass2_external.setup(1, 0, "COMPASS_EXTERN2", MainV2.comPort.MAV.param);
CMB_compass2_orient.setup(ParameterMetaDataRepository.GetParameterOptionsInt("COMPASS_ORIENT2",
MainV2.comPort.MAV.cs.firmware.ToString()), "COMPASS_ORIENT2", MainV2.comPort.MAV.param);
CMB_primary_compass.setup(typeof(CompassNumber), "COMPASS_PRIMARY", MainV2.comPort.MAV.param);
int offset2_x = (int)MainV2.comPort.MAV.param["COMPASS_OFS2_X"];
int offset2_y = (int)MainV2.comPort.MAV.param["COMPASS_OFS2_Y"];
int offset2_z = (int)MainV2.comPort.MAV.param["COMPASS_OFS2_Z"];
if (absmax(offset2_x, offset2_y, offset2_z) > THRESHOLD_OFS_RED)
{
LBL_compass2_offset.ForeColor = Color.Red;
}
else if (absmax(offset2_x, offset2_y, offset2_z) > THRESHOLD_OFS_YELLOW)
{
LBL_compass2_offset.ForeColor = Color.Yellow;
}
else if (offset2_x == 0 && offset2_y == 0 & offset2_z == 0)
{
LBL_compass2_offset.ForeColor = Color.Red;
}
else
{
LBL_compass2_offset.ForeColor = Color.Green;
}
LBL_compass2_offset.Text = "OFFSETS X: " +
offset2_x.ToString() +
", Y: " + offset2_y.ToString() +
", Z: " + offset2_z.ToString();
if (MainV2.comPort.MAV.param.ContainsKey("COMPASS_MOT2_X"))
{
LBL_compass2_mot.Text = "MOT X: " +
((int)MainV2.comPort.MAV.param["COMPASS_MOT2_X"]).ToString() +
", Y: " + ((int)MainV2.comPort.MAV.param["COMPASS_MOT2_Y"]).ToString() +
", Z: " + ((int)MainV2.comPort.MAV.param["COMPASS_MOT2_Z"]).ToString();
}
if (!MainV2.DisplayConfiguration.displayCompassConfiguration)
{
CHK_compass2_use.Enabled = false;
CHK_compass2_external.Enabled = false;
CMB_compass2_orient.Enabled = false;
}
}
else
{
groupBoxCompass2.Hide();
}
if (MainV2.comPort.MAV.param.ContainsKey("COMPASS_EXTERN3"))
{
CHK_compass3_external.setup(1, 0, "COMPASS_EXTERN3", MainV2.comPort.MAV.param);
CHK_compass3_use.setup(1, 0, "COMPASS_USE3", MainV2.comPort.MAV.param);
CMB_compass3_orient.setup(ParameterMetaDataRepository.GetParameterOptionsInt("COMPASS_ORIENT3",
MainV2.comPort.MAV.cs.firmware.ToString()), "COMPASS_ORIENT3", MainV2.comPort.MAV.param);
int offset3_x = (int)MainV2.comPort.MAV.param["COMPASS_OFS3_X"];
int offset3_y = (int)MainV2.comPort.MAV.param["COMPASS_OFS3_Y"];
int offset3_z = (int)MainV2.comPort.MAV.param["COMPASS_OFS3_Z"];
if (absmax(offset3_x, offset3_y, offset3_z) > THRESHOLD_OFS_RED)
{
LBL_compass3_offset.ForeColor = Color.Red;
}
else if (absmax(offset3_x, offset3_y, offset3_z) > THRESHOLD_OFS_YELLOW)
{
LBL_compass3_offset.ForeColor = Color.Yellow;
}
else if (offset3_x == 0 && offset3_y == 0 & offset3_z == 0)
{
LBL_compass3_offset.ForeColor = Color.Red;
}
else
{
LBL_compass3_offset.ForeColor = Color.Green;
}
LBL_compass3_offset.Text = "OFFSETS X: " +
offset3_x.ToString() +
", Y: " + offset3_y.ToString() +
", Z: " + offset3_z.ToString();
if (MainV2.comPort.MAV.param.ContainsKey("COMPASS_MOT3_X"))
{
LBL_compass3_mot.Text = "MOT X: " +
((int)MainV2.comPort.MAV.param["COMPASS_MOT3_X"]).ToString() +
", Y: " + ((int)MainV2.comPort.MAV.param["COMPASS_MOT3_Y"]).ToString() +
", Z: " + ((int)MainV2.comPort.MAV.param["COMPASS_MOT3_Z"]).ToString();
}
if (!MainV2.DisplayConfiguration.displayCompassConfiguration)
{
CHK_compass3_use.Enabled = false;
CHK_compass3_external.Enabled = false;
CMB_compass3_orient.Enabled = false;
}
}
else
{
groupBoxCompass3.Hide();
}
mavlinkComboBoxfitness.setup(ParameterMetaDataRepository.GetParameterOptionsInt("COMPASS_CAL_FIT",
MainV2.comPort.MAV.cs.firmware.ToString()), "COMPASS_CAL_FIT", MainV2.comPort.MAV.param);
ShowRelevantFields();
if (!MainV2.DisplayConfiguration.displayCompassConfiguration)
{
CHK_enablecompass.Enabled = false;
CHK_compass_learn.Enabled = false;
CHK_autodec.Enabled = false;
CMB_primary_compass.Enabled = false;
}
startup = false;
}
public void Activate()
{
if (!MainV2.comPort.BaseStream.IsOpen)
{
Enabled = false;
return;
}
Enabled = true;
startup = true;
// General Compass Settings
CHK_enablecompass.setup(1, 0, "MAG_ENABLE", MainV2.comPort.MAV.param);
CHK_compass_learn.setup(1, 0, "COMPASS_LEARN", MainV2.comPort.MAV.param);
if (MainV2.comPort.MAV.param["COMPASS_DEC"] != null)
{
var dec = MainV2.comPort.MAV.param["COMPASS_DEC"].Value * rad2deg;
var min = (dec - (int)dec) * 60;
TXT_declination_deg.Text = ((int)dec).ToString("0");
TXT_declination_min.Text = min.ToString("0");
}
if (MainV2.comPort.MAV.param["COMPASS_AUTODEC"] != null)
{
CHK_autodec.Checked = MainV2.comPort.MAV.param["COMPASS_AUTODEC"].ToString() == "1" ? true : false;
}
// Compass 1 settings
CHK_compass1_use.setup(1, 0, "COMPASS_USE", MainV2.comPort.MAV.param);
CHK_compass1_external.setup(1, 0, "COMPASS_EXTERNAL", MainV2.comPort.MAV.param);
CMB_compass1_orient.setup(typeof(Common.Rotation), "COMPASS_ORIENT", MainV2.comPort.MAV.param);
int offset1_x = (int)MainV2.comPort.MAV.param["COMPASS_OFS_X"];
int offset1_y = (int)MainV2.comPort.MAV.param["COMPASS_OFS_Y"];
int offset1_z = (int)MainV2.comPort.MAV.param["COMPASS_OFS_Z"];
// Turn offsets red if any offset exceeds a threshold, or all values are 0 (not yet calibrated)
if (absmax(offset1_x, offset1_y, offset1_z) > THRESHOLD_OFS_RED)
{
LBL_compass1_offset.ForeColor = Color.Red;
}
else if (absmax(offset1_x, offset1_y, offset1_z) > THRESHOLD_OFS_YELLOW)
{
LBL_compass1_offset.ForeColor = Color.Yellow;
}
else if (offset1_x == 0 && offset1_y == 0 & offset1_z == 0)
{
LBL_compass1_offset.ForeColor = Color.Red;
}
else
{
LBL_compass1_offset.ForeColor = Color.Green;
}
LBL_compass1_offset.Text = "OFFSETS X: " +
offset1_x.ToString() +
", Y: " + offset1_y.ToString() +
", Z: " + offset1_z.ToString();
LBL_compass1_mot.Text = "MOT X: " + ((int)MainV2.comPort.MAV.param["COMPASS_MOT_X"]).ToString() +
", Y: " + ((int)MainV2.comPort.MAV.param["COMPASS_MOT_Y"]).ToString() +
", Z: " + ((int)MainV2.comPort.MAV.param["COMPASS_MOT_Z"]).ToString();
// Compass 2 settings
if (MainV2.comPort.MAV.param.ContainsKey("COMPASS_EXTERN2"))
{
CHK_compass2_use.setup(1, 0, "COMPASS_USE2", MainV2.comPort.MAV.param);
CHK_compass2_external.setup(1, 0, "COMPASS_EXTERN2", MainV2.comPort.MAV.param);
CMB_compass2_orient.setup(typeof(Common.Rotation), "COMPASS_ORIENT2", MainV2.comPort.MAV.param);
CMB_primary_compass.setup(typeof(CompassNumber), "COMPASS_PRIMARY", MainV2.comPort.MAV.param);
int offset2_x = (int)MainV2.comPort.MAV.param["COMPASS_OFS2_X"];
int offset2_y = (int)MainV2.comPort.MAV.param["COMPASS_OFS2_Y"];
int offset2_z = (int)MainV2.comPort.MAV.param["COMPASS_OFS2_Z"];
if (absmax(offset2_x, offset2_y, offset2_z) > THRESHOLD_OFS_RED)
{
LBL_compass2_offset.ForeColor = Color.Red;
}
else if (absmax(offset2_x, offset2_y, offset2_z) > THRESHOLD_OFS_YELLOW)
{
LBL_compass2_offset.ForeColor = Color.Yellow;
}
else if (offset2_x == 0 && offset2_y == 0 & offset2_z == 0)
{
LBL_compass2_offset.ForeColor = Color.Red;
}
else
{
LBL_compass2_offset.ForeColor = Color.Green;
}
LBL_compass2_offset.Text = "OFFSETS X: " +
offset2_x.ToString() +
", Y: " + offset2_y.ToString() +
", Z: " + offset2_z.ToString();
LBL_compass2_mot.Text = "MOT X: " + ((int)MainV2.comPort.MAV.param["COMPASS_MOT2_X"]).ToString() +
", Y: " + ((int)MainV2.comPort.MAV.param["COMPASS_MOT2_Y"]).ToString() +
", Z: " + ((int)MainV2.comPort.MAV.param["COMPASS_MOT2_Z"]).ToString();
}
else
{
groupBoxCompass2.Hide();
}
if (MainV2.comPort.MAV.param.ContainsKey("COMPASS_EXTERN3"))
{
CHK_compass3_external.setup(1, 0, "COMPASS_EXTERN3", MainV2.comPort.MAV.param);
CHK_compass3_use.setup(1, 0, "COMPASS_USE3", MainV2.comPort.MAV.param);
CMB_compass3_orient.setup(typeof(Common.Rotation), "COMPASS_ORIENT3", MainV2.comPort.MAV.param);
int offset3_x = (int)MainV2.comPort.MAV.param["COMPASS_OFS3_X"];
int offset3_y = (int)MainV2.comPort.MAV.param["COMPASS_OFS3_Y"];
int offset3_z = (int)MainV2.comPort.MAV.param["COMPASS_OFS3_Z"];
if (absmax(offset3_x, offset3_y, offset3_z) > THRESHOLD_OFS_RED)
{
LBL_compass3_offset.ForeColor = Color.Red;
}
else if (absmax(offset3_x, offset3_y, offset3_z) > THRESHOLD_OFS_YELLOW)
{
LBL_compass3_offset.ForeColor = Color.Yellow;
}
else if (offset3_x == 0 && offset3_y == 0 & offset3_z == 0)
{
LBL_compass3_offset.ForeColor = Color.Red;
}
else
{
LBL_compass3_offset.ForeColor = Color.Green;
}
LBL_compass3_offset.Text = "OFFSETS X: " +
offset3_x.ToString() +
", Y: " + offset3_y.ToString() +
", Z: " + offset3_z.ToString();
LBL_compass3_mot.Text = "MOT X: " + ((int)MainV2.comPort.MAV.param["COMPASS_MOT3_X"]).ToString() +
", Y: " + ((int)MainV2.comPort.MAV.param["COMPASS_MOT3_Y"]).ToString() +
", Z: " + ((int)MainV2.comPort.MAV.param["COMPASS_MOT3_Z"]).ToString();
}
else
{
groupBoxCompass3.Hide();
}
ShowRelevantFields();
startup = false;
}