APM Planner 1.1.51

revert posible camera issue
fix apc220 units rts issue
fix bluetooth comport issue - re andrew
cleanup startup test

Tools/ArdupilotMegaPlanner/Capture.cs

@@ -157,7 +157,7 @@ namespace WebCamService
                 Start();
 
                 // Start waiting
-                if ( ! m_PictureReady.WaitOne(2000, false) )
+                if ( ! m_PictureReady.WaitOne(5000, false) )
                 {
                     throw new Exception("Timeout waiting to get picture");
                 }

Tools/ArdupilotMegaPlanner/MAVLink.cs

@@ -184,7 +184,8 @@ namespace ArdupilotMega
 
                     BaseStream.DiscardInBuffer();
 
-                    BaseStream.toggleDTR();
+                    // removed because of apc220 units
+                    //BaseStream.toggleDTR();
 
                     Thread.Sleep(1000);
                 }

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -261,37 +261,55 @@ namespace ArdupilotMega
 
         private string[] GetPortNames()
         {
-            string[] devs = new string[0];
+            string[] monoDevs = new string[0];
 
-
+            log.Debug("Getting Comports");
-            log.Debug("Geting Comports");
 
             if (MONO)
             {
                 if (Directory.Exists("/dev/"))
                 {
                     if (Directory.Exists("/dev/serial/by-id/"))
-                        devs = Directory.GetFiles("/dev/serial/by-id/", "*");
+                        monoDevs = Directory.GetFiles("/dev/serial/by-id/", "*");
-                    devs = Directory.GetFiles("/dev/", "*ACM*");
+                    monoDevs = Directory.GetFiles("/dev/", "*ACM*");
-                    devs = Directory.GetFiles("/dev/", "ttyUSB*");
+                    monoDevs = Directory.GetFiles("/dev/", "ttyUSB*");
                 }
             }
 
-            string[] ports = SerialPort.GetPortNames();
+            string[] ports = SerialPort.GetPortNames()
+                .Select(p=>p.TrimEnd())
+                .Select(FixBlueToothPortNameBug)
+                .ToArray();
 
-            for (int a = 0; a < ports.Length; a++)
+            string[] allPorts = new string[monoDevs.Length + ports.Length];
-            {
-                ports[a] = ports[a].TrimEnd();
-            }
 
-            string[] all = new string[devs.Length + ports.Length];
+            monoDevs.CopyTo(allPorts, 0);
+            ports.CopyTo(allPorts, monoDevs.Length);
 
-            devs.CopyTo(all, 0);
+            return allPorts;
-            ports.CopyTo(all, devs.Length);
-
-            return all;
         }
 
+         // .NET bug: sometimes bluetooth ports are enumerated with bogus characters 
+         // eg 'COM10' becomes 'COM10c' - one workaround is to remove the non numeric  
+         // char. Annoyingly, sometimes a numeric char is added, which means this 
+         // does not work in all cases. 
+         // See http://connect.microsoft.com/VisualStudio/feedback/details/236183/system-io-ports-serialport-getportnames-error-with-bluetooth 
+         private string FixBlueToothPortNameBug(string portName) 
+         { 
+             if (!portName.StartsWith("COM")) 
+                 return portName; 
+             var newPortName = "COM";                                // Start over with "COM" 
+             foreach (var portChar in portName.Substring(3).ToCharArray())  //  Remove "COM", put the rest in a character array 
+             { 
+                 if (char.IsDigit(portChar)) 
+                     newPortName += portChar.ToString(); // Good character, append to portName 
+                 else 
+                     log.WarnFormat("Bad (Non Numeric) character in port name '{0}' - removing", portName); 
+             } 
+ 
+             return newPortName; 
+         } 
+
         internal void ScreenShot()
         {
             Rectangle bounds = Screen.GetBounds(Point.Empty);
@@ -526,11 +544,12 @@ namespace ArdupilotMega
                 comPort.BaseStream.StopBits = (StopBits)Enum.Parse(typeof(StopBits), "1");
                 comPort.BaseStream.Parity = (Parity)Enum.Parse(typeof(Parity), "None");
 
-                comPort.BaseStream.DtrEnable = false;
-
                 if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
                     comPort.BaseStream.toggleDTR();
 
+                comPort.BaseStream.DtrEnable = false;
+                comPort.BaseStream.RtsEnable = false;
+
                 try
                 {
                     if (comPort.logfile != null)

Tools/ArdupilotMegaPlanner/Program.cs

@@ -31,7 +31,7 @@ namespace ArdupilotMega
 
             Application.Idle += Application_Idle;
 
-            CodeGen.runCode("Sin(0.55)");
+            //CodeGen.runCode("Sin(0.55)");
 
             int wt = 0, ct = 0;
             ThreadPool.GetMaxThreads(out wt, out ct);

Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs

@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.1.50")]
+[assembly: AssemblyFileVersion("1.1.51")]
 [assembly: NeutralResourcesLanguageAttribute("")]