APM Planner 1.1.5

fix bat % overflow
fix tlog > kml for ac
modify georef image

Tools/ArdupilotMegaPlanner/ArduinoDetect.cs

@@ -82,7 +82,7 @@ namespace ArdupilotMega
                             ManagementObjectSearcher searcher = new ManagementObjectSearcher(query);
                             foreach (ManagementObject obj2 in searcher.Get())
                             {
-                                Console.WriteLine("Dependant : " + obj2["Dependent"]);
+                                //Console.WriteLine("Dependant : " + obj2["Dependent"]);
 
                                 if (obj2["Dependent"].ToString().Contains(@"USB\\VID_2341&PID_0010"))
                                 {

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -145,6 +145,9 @@
     <Reference Include="KMLib">
       <HintPath>..\..\..\..\..\Desktop\DIYDrones\kml-library\KmlTestbed\bin\Release\KMLib.dll</HintPath>
     </Reference>
+    <Reference Include="MetaDataExtractor">
+      <HintPath>..\..\..\..\..\Desktop\DIYDrones\myquad\MetaDataExtractorCSharp240d\bin\Release\MetaDataExtractor.dll</HintPath>
+    </Reference>
     <Reference Include="Microsoft.DirectX, Version=1.0.2902.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35">
       <SpecificVersion>False</SpecificVersion>
       <HintPath>..\..\..\..\..\..\..\Windows\Microsoft.NET\DirectX for Managed Code\1.0.2902.0\Microsoft.DirectX.dll</HintPath>

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj.user

@@ -11,6 +11,6 @@
     <UpdateUrlHistory />
   </PropertyGroup>
   <PropertyGroup>
-    <ReferencePath>C:\Users\hog\Desktop\DIYDrones\myquad\greatmaps_e1bb830a18a3\Demo.WindowsForms\bin\Debug\;C:\Users\hog\Desktop\DIYDrones\myquad\sharpkml\SharpKml\bin\Release\</ReferencePath>
+    <ReferencePath>C:\Users\hog\Desktop\DIYDrones\myquad\greatmaps_e1bb830a18a3\Demo.WindowsForms\bin\Debug\;C:\Users\hog\Desktop\DIYDrones\myquad\sharpkml\SharpKml\bin\Release\;C:\Users\hog\Desktop\DIYDrones\myquad\MetaDataExtractorCSharp240d\bin\Release\</ReferencePath>
   </PropertyGroup>
 </Project>

Tools/ArdupilotMegaPlanner/CurrentState.cs

@@ -129,7 +129,7 @@ namespace ArdupilotMega
         //battery
         public float battery_voltage { get { return _battery_voltage; } set { _battery_voltage = value / 1000; } }
         private float _battery_voltage;
-        public float battery_remaining { get { return _battery_remaining; } set { _battery_remaining = value / 1000; } }
+        public float battery_remaining { get { return _battery_remaining; } set { _battery_remaining = value / 1000; if (_battery_remaining < 0) _battery_remaining = 0; } }
         private float _battery_remaining;
 
         // HIL

Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx

@@ -123,7 +123,7 @@
   </data>
   <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="pictureBoxAPM.Location" type="System.Drawing.Point, System.Drawing">
-    <value>45, -9</value>
+    <value>7, -9</value>
   </data>
   <data name="pictureBoxAPM.Size" type="System.Drawing.Size, System.Drawing">
     <value>190, 190</value>
@@ -151,7 +151,7 @@
     <value>NoControl</value>
   </data>
   <data name="pictureBoxAPMHIL.Location" type="System.Drawing.Point, System.Drawing">
-    <value>45, 184</value>
+    <value>7, 184</value>
   </data>
   <data name="pictureBoxAPMHIL.Size" type="System.Drawing.Size, System.Drawing">
     <value>190, 190</value>
@@ -340,7 +340,7 @@
     <value>NoControl</value>
   </data>
   <data name="lbl_AP.Location" type="System.Drawing.Point, System.Drawing">
-    <value>42, 168</value>
+    <value>4, 168</value>
   </data>
   <data name="lbl_AP.Size" type="System.Drawing.Size, System.Drawing">
     <value>190, 13</value>
@@ -400,7 +400,7 @@
     <value>NoControl</value>
   </data>
   <data name="lbl_APHil.Location" type="System.Drawing.Point, System.Drawing">
-    <value>42, 361</value>
+    <value>4, 361</value>
   </data>
   <data name="lbl_APHil.Size" type="System.Drawing.Size, System.Drawing">
     <value>190, 13</value>
@@ -679,7 +679,7 @@
     <value>BUT_setup</value>
   </data>
   <data name="&gt;&gt;BUT_setup.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_setup.Parent" xml:space="preserve">
     <value>$this</value>
@@ -700,6 +700,6 @@
     <value>Firmware</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
 </root>

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.Designer.cs

@@ -8,8 +8,8 @@
         {
             this.components = new System.ComponentModel.Container();
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FlightData));
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle3 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle4 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle();
             this.contextMenuStrip1 = new System.Windows.Forms.ContextMenuStrip(this.components);
             this.goHereToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.pointCameraHereToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
@@ -1213,8 +1213,8 @@
             // 
             // dataGridViewImageColumn1
             // 
-            dataGridViewCellStyle3.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
-            this.dataGridViewImageColumn1.DefaultCellStyle = dataGridViewCellStyle3;
+            dataGridViewCellStyle1.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
+            this.dataGridViewImageColumn1.DefaultCellStyle = dataGridViewCellStyle1;
             resources.ApplyResources(this.dataGridViewImageColumn1, "dataGridViewImageColumn1");
             this.dataGridViewImageColumn1.Image = global::ArdupilotMega.Properties.Resources.up;
             this.dataGridViewImageColumn1.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@@ -1222,8 +1222,8 @@
             // 
             // dataGridViewImageColumn2
             // 
-            dataGridViewCellStyle4.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
-            this.dataGridViewImageColumn2.DefaultCellStyle = dataGridViewCellStyle4;
+            dataGridViewCellStyle2.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
+            this.dataGridViewImageColumn2.DefaultCellStyle = dataGridViewCellStyle2;
             resources.ApplyResources(this.dataGridViewImageColumn2, "dataGridViewImageColumn2");
             this.dataGridViewImageColumn2.Image = global::ArdupilotMega.Properties.Resources.down;
             this.dataGridViewImageColumn2.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

@@ -1078,6 +1078,11 @@ namespace ArdupilotMega.GCSViews
 
         private void BUT_log2kml_Click(object sender, EventArgs e)
         {
+            if (DialogResult.Cancel == Common.MessageShowAgain("Tlog to KML Firmware Version", "When converting logs, ensure your Firmware version is set correctly.\n(Near your com port selection.)"))
+            {
+                return;
+            }
+
             Form frm = new MavlinkLog();
             MainV2.fixtheme(frm);
             frm.ShowDialog();

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs

@@ -2609,7 +2609,7 @@ namespace ArdupilotMega.GCSViews
             }
             else
             {
-                MessageBox.Show("Please Connect/wait for lock, and click here to set your home to your current location");
+                MessageBox.Show("If you're at the field, connect to your APM and wait for GPS lock. Then click 'Home Location' link to set home to your location");
             }
         }
 
@@ -2865,7 +2865,7 @@ namespace ArdupilotMega.GCSViews
 
         private void BUT_zoomto_Click(object sender, EventArgs e)
         {
-            string place = "Perth, Australia";
+            string place = "Perth Airport, Australia";
             if (DialogResult.OK == Common.InputBox("Location", "Enter your location", ref place))
             {
 
@@ -2932,6 +2932,9 @@ namespace ArdupilotMega.GCSViews
             {
                 routes.Markers.Clear();
 
+                if (MainV2.cs.lat == 0 || MainV2.cs.lng == 0)
+                    return;
+
                 PointLatLng currentloc = new PointLatLng(MainV2.cs.lat, MainV2.cs.lng);
 
                 if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)

Tools/ArdupilotMegaPlanner/MAVLink.cs

@@ -2073,7 +2073,7 @@ namespace ArdupilotMega
 
             if (bpstime.Second != DateTime.Now.Second && !logreadmode)
             {
-                Console.WriteLine("bps {0} loss {1} left {2} mem {3}", bps1, synclost, BaseStream.BytesToRead, System.GC.GetTotalMemory(false));
+                Console.Write("bps {0} loss {1} left {2} mem {3}      \n", bps1, synclost, BaseStream.BytesToRead, System.GC.GetTotalMemory(false));
                 bps2 = bps1; // prev sec
                 bps1 = 0; // current sec
                 bpstime = DateTime.Now;

Tools/ArdupilotMegaPlanner/MavlinkLog.cs

@@ -39,12 +39,22 @@ namespace ArdupilotMega
 
         private void writeKML(string filename)
         {
+            SharpKml.Dom.AltitudeMode altmode = SharpKml.Dom.AltitudeMode.Absolute;
+
+            if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
+            {
+                altmode = SharpKml.Dom.AltitudeMode.Absolute;
+            }
+            else if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
+            {
+                altmode = SharpKml.Dom.AltitudeMode.RelativeToGround;
+            }
+
             Color[] colours = { Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo, Color.Violet, Color.Pink };
 
             Document kml = new Document();
 
-            Tour tour = new Tour();
-            tour.Name = "First Person View";
+            Tour tour = new Tour() { Name = "First Person View" };
             Playlist tourplaylist = new Playlist();
 
             AddNamespace(kml, "gx", "http://www.google.com/kml/ext/2.2");
@@ -64,10 +74,12 @@ namespace ArdupilotMega
             Style stylet = new Style();
             stylet.Id = "track";
             SharpKml.Dom.IconStyle ico = new SharpKml.Dom.IconStyle();
+            LabelStyle lst = new LabelStyle();
+            lst.Scale = 0;
             stylet.Icon = ico;
             ico.Icon = new IconStyle.IconLink(new Uri("http://earth.google.com/images/kml-icons/track-directional/track-none.png"));
             stylet.Icon.Scale = 0.5;
-            //stylet.Label.Scale = 0;
+            stylet.Label = lst;
 
             kml.AddStyle(stylet);
 
@@ -110,7 +122,7 @@ namespace ArdupilotMega
                     c++;
 
                     LineString ls = new LineString();
-                    ls.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
+                    ls.AltitudeMode = altmode;
                     ls.Extrude = true;
 
                     ls.Coordinates = coords;
@@ -154,7 +166,7 @@ namespace ArdupilotMega
 
                 flyto.Mode = FlyToMode.Smooth;
                 SharpKml.Dom.Camera cam = new SharpKml.Dom.Camera();
-                cam.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
+                cam.AltitudeMode = altmode;
                 cam.Latitude = cs.lat;
                 cam.Longitude = cs.lng;
                 cam.Altitude = cs.alt;
@@ -203,7 +215,7 @@ namespace ArdupilotMega
                 Model model = new Model();
                 model.Location = loc;
                 model.Orientation = ori;
-                model.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
+                model.AltitudeMode = altmode;
                 model.Scale = sca;
 
                 try
@@ -236,7 +248,7 @@ namespace ArdupilotMega
                 Placemark pmt = new Placemark();
 
                 SharpKml.Dom.Point pnt = new SharpKml.Dom.Point();
-                pnt.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
+                pnt.AltitudeMode = altmode;
                 pnt.Coordinate = new Vector(cs.lat,cs.lng,cs.alt);
 
                 pmt.Name = "" + a;

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("1.1.4")]
+[assembly: AssemblyFileVersion("1.1.5")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/georefimage.cs

@@ -6,6 +6,8 @@ using System.Drawing;
 using System.Drawing.Imaging;
 using System.IO;
 using System.Windows.Forms;
+using com.drew.imaging.jpg;
+using com.drew.metadata;
 
 namespace ArdupilotMega
 {
@@ -21,6 +23,7 @@ namespace ArdupilotMega
         private FolderBrowserDialog folderBrowserDialog1;
         private Label label1;
         private TextBox TXT_outputlog;
+        private MyButton BUT_estoffset;
 
         internal georefimage() {
             InitializeComponent();
@@ -32,6 +35,38 @@ namespace ArdupilotMega
 
             try
             {
+                
+                Metadata lcMetadata = null;
+                try
+                {
+                    FileInfo lcImgFile = new FileInfo(fn);
+                    // Loading all meta data
+                    lcMetadata = JpegMetadataReader.ReadMetadata(lcImgFile);
+                }
+                catch (JpegProcessingException e)
+                {
+                    Console.Error.WriteLine(e.Message);
+                    return dtaken;
+                }
+
+                foreach (AbstractDirectory lcDirectory in lcMetadata)
+                {
+
+                    if (lcDirectory.ContainsTag(0x9003))
+                    {
+                        dtaken = lcDirectory.GetDate(0x9003);
+                        Console.WriteLine("does " + lcDirectory.GetTagName(0x9003) + " " + dtaken);
+                        break;
+                    }
+
+                }
+
+
+                
+
+
+                ////// old method, works, just slow
+                /*
                 Image myImage = Image.FromFile(fn);
                 PropertyItem propItem = myImage.GetPropertyItem(36867); // 36867  // 306
 
@@ -44,6 +79,7 @@ namespace ArdupilotMega
                 dtaken = DateTime.Parse(sdate);
 
                 myImage.Dispose();
+                 */
             }
             catch { }
 
@@ -81,7 +117,7 @@ namespace ArdupilotMega
             return list;
         }
 
-        public void dowork(string logFile, string dirWithImages, float offsetseconds)
+        public void dowork(string logFile, string dirWithImages, float offsetseconds,bool dooffset)
         {
             DateTime localmin = DateTime.MaxValue;
             DateTime localmax = DateTime.MinValue;
@@ -104,6 +140,7 @@ namespace ArdupilotMega
             sw.WriteLine("#name	utc	longitude	latitude	height");
 
             int first = 0;
+            int matchs = 0;
 
             foreach (string file in files)
             {
@@ -133,7 +170,7 @@ namespace ArdupilotMega
 
                     foreach (string[] arr in list)
                     {
-                        Application.DoEvents();
+                        //Application.DoEvents();
 
                         DateTime crap = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
 
@@ -144,15 +181,20 @@ namespace ArdupilotMega
 
                                 TXT_outputlog.AppendText("offset should be about " + (dt  -crap).TotalSeconds + "\r\n");
 
+                                if (dooffset)
+                                    return;
+
                                 first++;
                             }
 
-                        Console.Write("ph " + dt + " log " + crap + "         \r");
+                        //Console.Write("ph " + dt + " log " + crap + "         \r");
 
                         if (dt.Equals(crap))
                         {
                             TXT_outputlog.AppendText("MATCH Photo " + Path.GetFileNameWithoutExtension(file) + " " + dt + "\r\n");
 
+                            matchs++;
+
                             sw2.WriteLine(Path.GetFileNameWithoutExtension(file) + " " + arr[5] + " " + arr[4] + " " + arr[7]);
                             sw.WriteLine(Path.GetFileNameWithoutExtension(file) + "\t" + crap.ToString("yyyy:MM:dd HH:mm:ss") +"\t"+ arr[5] + "\t" + arr[4] + "\t" + arr[7]);
                             sw.Flush();
@@ -170,7 +212,7 @@ namespace ArdupilotMega
             sw2.Close();
             sw.Close();
 
-            MessageBox.Show("Done");
+            MessageBox.Show("Done " + matchs + " matchs");
 
         }
 
@@ -186,6 +228,7 @@ namespace ArdupilotMega
             this.folderBrowserDialog1 = new System.Windows.Forms.FolderBrowserDialog();
             this.TXT_outputlog = new System.Windows.Forms.TextBox();
             this.label1 = new System.Windows.Forms.Label();
+            this.BUT_estoffset = new ArdupilotMega.MyButton();
             this.SuspendLayout();
             // 
             // openFileDialog1
@@ -268,9 +311,20 @@ namespace ArdupilotMega
             this.label1.TabIndex = 7;
             this.label1.Text = "Seconds offset";
             // 
+            // BUT_estoffset
+            // 
+            this.BUT_estoffset.Location = new System.Drawing.Point(286, 67);
+            this.BUT_estoffset.Name = "BUT_estoffset";
+            this.BUT_estoffset.Size = new System.Drawing.Size(75, 23);
+            this.BUT_estoffset.TabIndex = 8;
+            this.BUT_estoffset.Text = "Estimate Offset";
+            this.BUT_estoffset.UseVisualStyleBackColor = true;
+            this.BUT_estoffset.Click += new System.EventHandler(this.BUT_estoffset_Click);
+            // 
             // georefimage
             // 
             this.ClientSize = new System.Drawing.Size(453, 299);
+            this.Controls.Add(this.BUT_estoffset);
             this.Controls.Add(this.label1);
             this.Controls.Add(this.TXT_outputlog);
             this.Controls.Add(this.BUT_doit);
@@ -319,10 +373,15 @@ namespace ArdupilotMega
             BUT_doit.Enabled = false;
             try
             {
-                dowork(TXT_logfile.Text, TXT_jpgdir.Text, seconds);
+                dowork(TXT_logfile.Text, TXT_jpgdir.Text, seconds, false);
             }
             catch { }
             BUT_doit.Enabled = true;
         }
+
+        private void BUT_estoffset_Click(object sender, EventArgs e)
+        {
+            dowork(TXT_logfile.Text, TXT_jpgdir.Text, 0, true);
+        }
     }
 }