APM Planner 1.1.90

3drradio save settings fix
fix mavlink10 hil scaling
fix some exceptions

Tools/ArdupilotMegaPlanner/3DRRadio/ChangeLog.txt

@@ -1,4 +1,5 @@
-0.7 - fix typos - log rssi screen to log as well
+0.8 - fix settings saving.
+0.7 - fix typos - log rssi screen to log as well
 0.6 - add terminal logging to file, fix remote radio config
 0.5 - add terminal
 0.4 - adjust erase timeout - to prevent lost bootloader sync error.

Tools/ArdupilotMegaPlanner/3DRRadio/Config.resx

@@ -1588,7 +1588,7 @@
 </value>
   </data>
   <data name="$this.Text" xml:space="preserve">
-    <value>3DRRadio Config 0.7</value>
+    <value>3DRRadio Config 0.8</value>
   </data>
   <data name="&gt;&gt;settingsToolStripMenuItem.Name" xml:space="preserve">
     <value>settingsToolStripMenuItem</value>

Tools/ArdupilotMegaPlanner/Controls/HUD.cs

@@ -1341,7 +1341,7 @@ namespace ArdupilotMega.Controls
                     gps = ("GPS: 3D Fix");
                 }
 
-                drawstring(graphicsObject, gps, font, fontsize + 2, whiteBrush, this.Width - 10 * fontsize, this.Height - 30 - fontoffset);
+                drawstring(graphicsObject, gps, font, fontsize + 2, whiteBrush, this.Width - 13 * fontsize, this.Height - 30 - fontoffset);
 
 
                 if (isNaN)

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFlightModes.cs

@@ -19,12 +19,6 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         public ConfigFlightModes()
         {
             InitializeComponent();
-
-            timer.Tick += new EventHandler(timer_Tick);
-
-            timer.Enabled = true;
-            timer.Interval = 100;
-            timer.Start();
         }
 
         void timer_Tick(object sender, EventArgs e)
@@ -284,6 +278,14 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 }
                 catch { }
             }
+
+
+
+            timer.Tick += new EventHandler(timer_Tick);
+
+            timer.Enabled = true;
+            timer.Interval = 100;
+            timer.Start();
         }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigPlanner.Designer.cs

@@ -93,7 +93,14 @@
             resources.GetString("CMB_ratesensors.Items1"),
             resources.GetString("CMB_ratesensors.Items2"),
             resources.GetString("CMB_ratesensors.Items3"),
-            resources.GetString("CMB_ratesensors.Items4")});
+            resources.GetString("CMB_ratesensors.Items4"),
+            resources.GetString("CMB_ratesensors.Items5"),
+            resources.GetString("CMB_ratesensors.Items6"),
+            resources.GetString("CMB_ratesensors.Items7"),
+            resources.GetString("CMB_ratesensors.Items8"),
+            resources.GetString("CMB_ratesensors.Items9"),
+            resources.GetString("CMB_ratesensors.Items10"),
+            resources.GetString("CMB_ratesensors.Items11")});
             resources.ApplyResources(this.CMB_ratesensors, "CMB_ratesensors");
             this.CMB_ratesensors.Name = "CMB_ratesensors";
             this.CMB_ratesensors.SelectedIndexChanged += new System.EventHandler(this.CMB_ratesensors_SelectedIndexChanged);
@@ -206,7 +213,14 @@
             resources.GetString("CMB_raterc.Items"),
             resources.GetString("CMB_raterc.Items1"),
             resources.GetString("CMB_raterc.Items2"),
-            resources.GetString("CMB_raterc.Items3")});
+            resources.GetString("CMB_raterc.Items3"),
+            resources.GetString("CMB_raterc.Items4"),
+            resources.GetString("CMB_raterc.Items5"),
+            resources.GetString("CMB_raterc.Items6"),
+            resources.GetString("CMB_raterc.Items7"),
+            resources.GetString("CMB_raterc.Items8"),
+            resources.GetString("CMB_raterc.Items9"),
+            resources.GetString("CMB_raterc.Items10")});
             resources.ApplyResources(this.CMB_raterc, "CMB_raterc");
             this.CMB_raterc.Name = "CMB_raterc";
             this.CMB_raterc.SelectedIndexChanged += new System.EventHandler(this.CMB_raterc_SelectedIndexChanged);
@@ -239,7 +253,14 @@
             resources.GetString("CMB_ratestatus.Items"),
             resources.GetString("CMB_ratestatus.Items1"),
             resources.GetString("CMB_ratestatus.Items2"),
-            resources.GetString("CMB_ratestatus.Items3")});
+            resources.GetString("CMB_ratestatus.Items3"),
+            resources.GetString("CMB_ratestatus.Items4"),
+            resources.GetString("CMB_ratestatus.Items5"),
+            resources.GetString("CMB_ratestatus.Items6"),
+            resources.GetString("CMB_ratestatus.Items7"),
+            resources.GetString("CMB_ratestatus.Items8"),
+            resources.GetString("CMB_ratestatus.Items9"),
+            resources.GetString("CMB_ratestatus.Items10")});
             resources.ApplyResources(this.CMB_ratestatus, "CMB_ratestatus");
             this.CMB_ratestatus.Name = "CMB_ratestatus";
             this.CMB_ratestatus.SelectedIndexChanged += new System.EventHandler(this.CMB_ratestatus_SelectedIndexChanged);
@@ -252,7 +273,14 @@
             resources.GetString("CMB_rateposition.Items"),
             resources.GetString("CMB_rateposition.Items1"),
             resources.GetString("CMB_rateposition.Items2"),
-            resources.GetString("CMB_rateposition.Items3")});
+            resources.GetString("CMB_rateposition.Items3"),
+            resources.GetString("CMB_rateposition.Items4"),
+            resources.GetString("CMB_rateposition.Items5"),
+            resources.GetString("CMB_rateposition.Items6"),
+            resources.GetString("CMB_rateposition.Items7"),
+            resources.GetString("CMB_rateposition.Items8"),
+            resources.GetString("CMB_rateposition.Items9"),
+            resources.GetString("CMB_rateposition.Items10")});
             resources.ApplyResources(this.CMB_rateposition, "CMB_rateposition");
             this.CMB_rateposition.Name = "CMB_rateposition";
             this.CMB_rateposition.SelectedIndexChanged += new System.EventHandler(this.CMB_rateposition_SelectedIndexChanged);
@@ -265,7 +293,14 @@
             resources.GetString("CMB_rateattitude.Items"),
             resources.GetString("CMB_rateattitude.Items1"),
             resources.GetString("CMB_rateattitude.Items2"),
-            resources.GetString("CMB_rateattitude.Items3")});
+            resources.GetString("CMB_rateattitude.Items3"),
+            resources.GetString("CMB_rateattitude.Items4"),
+            resources.GetString("CMB_rateattitude.Items5"),
+            resources.GetString("CMB_rateattitude.Items6"),
+            resources.GetString("CMB_rateattitude.Items7"),
+            resources.GetString("CMB_rateattitude.Items8"),
+            resources.GetString("CMB_rateattitude.Items9"),
+            resources.GetString("CMB_rateattitude.Items10")});
             resources.ApplyResources(this.CMB_rateattitude, "CMB_rateattitude");
             this.CMB_rateattitude.Name = "CMB_rateattitude";
             this.CMB_rateattitude.SelectedIndexChanged += new System.EventHandler(this.CMB_rateattitude_SelectedIndexChanged);

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigPlanner.resx

@@ -154,12 +154,33 @@
     <value>1</value>
   </data>
   <data name="CMB_ratesensors.Items2" xml:space="preserve">
-    <value>3</value>
+    <value>2</value>
   </data>
   <data name="CMB_ratesensors.Items3" xml:space="preserve">
-    <value>10</value>
+    <value>3</value>
   </data>
   <data name="CMB_ratesensors.Items4" xml:space="preserve">
+    <value>4</value>
+  </data>
+  <data name="CMB_ratesensors.Items5" xml:space="preserve">
+    <value>5</value>
+  </data>
+  <data name="CMB_ratesensors.Items6" xml:space="preserve">
+    <value>6</value>
+  </data>
+  <data name="CMB_ratesensors.Items7" xml:space="preserve">
+    <value>7</value>
+  </data>
+  <data name="CMB_ratesensors.Items8" xml:space="preserve">
+    <value>8</value>
+  </data>
+  <data name="CMB_ratesensors.Items9" xml:space="preserve">
+    <value>9</value>
+  </data>
+  <data name="CMB_ratesensors.Items10" xml:space="preserve">
+    <value>10</value>
+  </data>
+  <data name="CMB_ratesensors.Items11" xml:space="preserve">
     <value>50</value>
   </data>
   <data name="CMB_ratesensors.Location" type="System.Drawing.Point, System.Drawing">
@@ -532,9 +553,30 @@
     <value>1</value>
   </data>
   <data name="CMB_raterc.Items2" xml:space="preserve">
-    <value>3</value>
+    <value>2</value>
   </data>
   <data name="CMB_raterc.Items3" xml:space="preserve">
+    <value>3</value>
+  </data>
+  <data name="CMB_raterc.Items4" xml:space="preserve">
+    <value>4</value>
+  </data>
+  <data name="CMB_raterc.Items5" xml:space="preserve">
+    <value>5</value>
+  </data>
+  <data name="CMB_raterc.Items6" xml:space="preserve">
+    <value>6</value>
+  </data>
+  <data name="CMB_raterc.Items7" xml:space="preserve">
+    <value>7</value>
+  </data>
+  <data name="CMB_raterc.Items8" xml:space="preserve">
+    <value>8</value>
+  </data>
+  <data name="CMB_raterc.Items9" xml:space="preserve">
+    <value>9</value>
+  </data>
+  <data name="CMB_raterc.Items10" xml:space="preserve">
     <value>10</value>
   </data>
   <data name="CMB_raterc.Location" type="System.Drawing.Point, System.Drawing">
@@ -673,9 +715,30 @@
     <value>1</value>
   </data>
   <data name="CMB_ratestatus.Items2" xml:space="preserve">
-    <value>3</value>
+    <value>2</value>
   </data>
   <data name="CMB_ratestatus.Items3" xml:space="preserve">
+    <value>3</value>
+  </data>
+  <data name="CMB_ratestatus.Items4" xml:space="preserve">
+    <value>4</value>
+  </data>
+  <data name="CMB_ratestatus.Items5" xml:space="preserve">
+    <value>5</value>
+  </data>
+  <data name="CMB_ratestatus.Items6" xml:space="preserve">
+    <value>6</value>
+  </data>
+  <data name="CMB_ratestatus.Items7" xml:space="preserve">
+    <value>7</value>
+  </data>
+  <data name="CMB_ratestatus.Items8" xml:space="preserve">
+    <value>8</value>
+  </data>
+  <data name="CMB_ratestatus.Items9" xml:space="preserve">
+    <value>9</value>
+  </data>
+  <data name="CMB_ratestatus.Items10" xml:space="preserve">
     <value>10</value>
   </data>
   <data name="CMB_ratestatus.Location" type="System.Drawing.Point, System.Drawing">
@@ -706,9 +769,30 @@
     <value>1</value>
   </data>
   <data name="CMB_rateposition.Items2" xml:space="preserve">
-    <value>3</value>
+    <value>2</value>
   </data>
   <data name="CMB_rateposition.Items3" xml:space="preserve">
+    <value>3</value>
+  </data>
+  <data name="CMB_rateposition.Items4" xml:space="preserve">
+    <value>4</value>
+  </data>
+  <data name="CMB_rateposition.Items5" xml:space="preserve">
+    <value>5</value>
+  </data>
+  <data name="CMB_rateposition.Items6" xml:space="preserve">
+    <value>6</value>
+  </data>
+  <data name="CMB_rateposition.Items7" xml:space="preserve">
+    <value>7</value>
+  </data>
+  <data name="CMB_rateposition.Items8" xml:space="preserve">
+    <value>8</value>
+  </data>
+  <data name="CMB_rateposition.Items9" xml:space="preserve">
+    <value>9</value>
+  </data>
+  <data name="CMB_rateposition.Items10" xml:space="preserve">
     <value>10</value>
   </data>
   <data name="CMB_rateposition.Location" type="System.Drawing.Point, System.Drawing">
@@ -739,9 +823,30 @@
     <value>1</value>
   </data>
   <data name="CMB_rateattitude.Items2" xml:space="preserve">
-    <value>3</value>
+    <value>2</value>
   </data>
   <data name="CMB_rateattitude.Items3" xml:space="preserve">
+    <value>3</value>
+  </data>
+  <data name="CMB_rateattitude.Items4" xml:space="preserve">
+    <value>4</value>
+  </data>
+  <data name="CMB_rateattitude.Items5" xml:space="preserve">
+    <value>5</value>
+  </data>
+  <data name="CMB_rateattitude.Items6" xml:space="preserve">
+    <value>6</value>
+  </data>
+  <data name="CMB_rateattitude.Items7" xml:space="preserve">
+    <value>7</value>
+  </data>
+  <data name="CMB_rateattitude.Items8" xml:space="preserve">
+    <value>8</value>
+  </data>
+  <data name="CMB_rateattitude.Items9" xml:space="preserve">
+    <value>9</value>
+  </data>
+  <data name="CMB_rateattitude.Items10" xml:space="preserve">
     <value>10</value>
   </data>
   <data name="CMB_rateattitude.Location" type="System.Drawing.Point, System.Drawing">
@@ -1268,7 +1373,7 @@
     <value>BUT_Joystick</value>
   </data>
   <data name="&gt;&gt;BUT_Joystick.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4513.13745, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4534.12553, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_Joystick.Parent" xml:space="preserve">
     <value>$this</value>
@@ -1295,7 +1400,7 @@
     <value>BUT_videostop</value>
   </data>
   <data name="&gt;&gt;BUT_videostop.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4513.13745, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4534.12553, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_videostop.Parent" xml:space="preserve">
     <value>$this</value>
@@ -1322,7 +1427,7 @@
     <value>BUT_videostart</value>
   </data>
   <data name="&gt;&gt;BUT_videostart.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4513.13745, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4534.12553, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_videostart.Parent" xml:space="preserve">
     <value>$this</value>
@@ -1397,6 +1502,6 @@
     <value>ConfigPlanner</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.BackstageView.BackStageViewContentPanel, ArdupilotMegaPlanner, Version=1.1.4513.13745, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.BackstageView.BackStageViewContentPanel, ArdupilotMegaPlanner, Version=1.1.4534.12553, Culture=neutral, PublicKeyToken=null</value>
   </data>
 </root>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.cs

@@ -63,7 +63,12 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                     continue;
 
                 string name = items[0];
-                float value = float.Parse(items[1], new System.Globalization.CultureInfo("en-US"));
+                float value = 0;
+                try
+                {
+                    value = float.Parse(items[1], System.Globalization.CultureInfo.InvariantCulture);// new System.Globalization.CultureInfo("en-US"));
+                }
+                catch (Exception ex) { log.Error(ex); throw new FormatException("Invalid number on param " + name + " : " + items[1].ToString()); }
 
                 MAVLink.modifyParamForDisplay(true, name, ref value);
 

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.Designer.cs

@@ -21,6 +21,7 @@
             this.stopRecordToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.setMJPEGSourceToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.setAspectRatioToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.displayBatteryInfoToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.bindingSource1 = new System.Windows.Forms.BindingSource(this.components);
             this.tabControl1 = new System.Windows.Forms.TabControl();
             this.tabActions = new System.Windows.Forms.TabPage();
@@ -216,7 +217,8 @@
             this.recordHudToAVIToolStripMenuItem,
             this.stopRecordToolStripMenuItem,
             this.setMJPEGSourceToolStripMenuItem,
-            this.setAspectRatioToolStripMenuItem});
+            this.setAspectRatioToolStripMenuItem,
+            this.displayBatteryInfoToolStripMenuItem});
             this.contextMenuStrip2.Name = "contextMenuStrip2";
             resources.ApplyResources(this.contextMenuStrip2, "contextMenuStrip2");
             // 
@@ -244,6 +246,12 @@
             resources.ApplyResources(this.setAspectRatioToolStripMenuItem, "setAspectRatioToolStripMenuItem");
             this.setAspectRatioToolStripMenuItem.Click += new System.EventHandler(this.setAspectRatioToolStripMenuItem_Click);
             // 
+            // displayBatteryInfoToolStripMenuItem
+            // 
+            this.displayBatteryInfoToolStripMenuItem.Name = "displayBatteryInfoToolStripMenuItem";
+            resources.ApplyResources(this.displayBatteryInfoToolStripMenuItem, "displayBatteryInfoToolStripMenuItem");
+            this.displayBatteryInfoToolStripMenuItem.Click += new System.EventHandler(this.displayBatteryInfoToolStripMenuItem_Click);
+            // 
             // bindingSource1
             // 
             this.bindingSource1.DataSource = typeof(ArdupilotMega.CurrentState);
@@ -1247,5 +1255,6 @@
         private Controls.MyLabel lbl_playbackspeed;
         private System.Windows.Forms.ToolStripMenuItem setMJPEGSourceToolStripMenuItem;
         private System.Windows.Forms.ToolStripMenuItem setAspectRatioToolStripMenuItem;
+        private System.Windows.Forms.ToolStripMenuItem displayBatteryInfoToolStripMenuItem;
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

@@ -1868,15 +1868,21 @@ print 'Roll complete'
         {
             string url = MainV2.config["mjpeg_url"] != null ? MainV2.config["mjpeg_url"].ToString() : @"http://127.0.0.1:56781/map.jpg";
 
-            Common.InputBox("Mjpeg url", "Enter the url to the mjpeg source url", ref url);
+            if (DialogResult.OK == Common.InputBox("Mjpeg url", "Enter the url to the mjpeg source url", ref url))
+            {
 
-            MainV2.config["mjpeg_url"] = url;
+                MainV2.config["mjpeg_url"] = url;
 
-            Utilities.CaptureMJPEG.URL = url;
+                Utilities.CaptureMJPEG.URL = url;
 
-            Utilities.CaptureMJPEG.OnNewImage += new EventHandler(CaptureMJPEG_OnNewImage);
+                Utilities.CaptureMJPEG.OnNewImage += new EventHandler(CaptureMJPEG_OnNewImage);
 
-            Utilities.CaptureMJPEG.runAsync();
+                Utilities.CaptureMJPEG.runAsync();
+            }
+            else
+            {
+                Utilities.CaptureMJPEG.Stop();
+            }
         }
 
         void CaptureMJPEG_OnNewImage(object sender, EventArgs e)
@@ -1890,5 +1896,10 @@ print 'Roll complete'
             // force a redraw
             SubMainHT_Panel1_Resize(null, null);
         }
+
+        private void displayBatteryInfoToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            hud1.batteryon = !hud1.batteryon;
+        }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.resx

@@ -168,31 +168,37 @@
     <value>542, 17</value>
   </metadata>
   <data name="recordHudToAVIToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>172, 22</value>
+    <value>176, 22</value>
   </data>
   <data name="recordHudToAVIToolStripMenuItem.Text" xml:space="preserve">
     <value>Record Hud to AVI</value>
   </data>
   <data name="stopRecordToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>172, 22</value>
+    <value>176, 22</value>
   </data>
   <data name="stopRecordToolStripMenuItem.Text" xml:space="preserve">
     <value>Stop Record</value>
   </data>
   <data name="setMJPEGSourceToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>172, 22</value>
+    <value>176, 22</value>
   </data>
   <data name="setMJPEGSourceToolStripMenuItem.Text" xml:space="preserve">
     <value>Set MJPEG source</value>
   </data>
   <data name="setAspectRatioToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>172, 22</value>
+    <value>176, 22</value>
   </data>
   <data name="setAspectRatioToolStripMenuItem.Text" xml:space="preserve">
     <value>Set Aspect Ratio</value>
   </data>
+  <data name="displayBatteryInfoToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>176, 22</value>
+  </data>
+  <data name="displayBatteryInfoToolStripMenuItem.Text" xml:space="preserve">
+    <value>Display Battery Info</value>
+  </data>
   <data name="contextMenuStrip2.Size" type="System.Drawing.Size, System.Drawing">
-    <value>173, 92</value>
+    <value>177, 136</value>
   </data>
   <data name="&gt;&gt;contextMenuStrip2.Name" xml:space="preserve">
     <value>contextMenuStrip2</value>
@@ -220,7 +226,7 @@
     <value>hud1</value>
   </data>
   <data name="&gt;&gt;hud1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.HUD, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.HUD, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;hud1.Parent" xml:space="preserve">
     <value>SubMainLeft.Panel1</value>
@@ -259,7 +265,7 @@
     <value>BUT_script</value>
   </data>
   <data name="&gt;&gt;BUT_script.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_script.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -292,7 +298,7 @@
     <value>BUT_joystick</value>
   </data>
   <data name="&gt;&gt;BUT_joystick.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_joystick.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -322,7 +328,7 @@
     <value>BUT_quickmanual</value>
   </data>
   <data name="&gt;&gt;BUT_quickmanual.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_quickmanual.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -352,7 +358,7 @@
     <value>BUT_quickrtl</value>
   </data>
   <data name="&gt;&gt;BUT_quickrtl.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_quickrtl.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -382,7 +388,7 @@
     <value>BUT_quickauto</value>
   </data>
   <data name="&gt;&gt;BUT_quickauto.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_quickauto.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -436,7 +442,7 @@
     <value>BUT_setwp</value>
   </data>
   <data name="&gt;&gt;BUT_setwp.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_setwp.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -487,7 +493,7 @@
     <value>BUT_setmode</value>
   </data>
   <data name="&gt;&gt;BUT_setmode.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_setmode.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -517,7 +523,7 @@
     <value>BUT_clear_track</value>
   </data>
   <data name="&gt;&gt;BUT_clear_track.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_clear_track.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -568,7 +574,7 @@
     <value>BUT_Homealt</value>
   </data>
   <data name="&gt;&gt;BUT_Homealt.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_Homealt.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -598,7 +604,7 @@
     <value>BUT_RAWSensor</value>
   </data>
   <data name="&gt;&gt;BUT_RAWSensor.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_RAWSensor.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -628,7 +634,7 @@
     <value>BUTrestartmission</value>
   </data>
   <data name="&gt;&gt;BUTrestartmission.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUTrestartmission.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -658,7 +664,7 @@
     <value>BUTactiondo</value>
   </data>
   <data name="&gt;&gt;BUTactiondo.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUTactiondo.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -712,7 +718,7 @@
     <value>Gvspeed</value>
   </data>
   <data name="&gt;&gt;Gvspeed.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;Gvspeed.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -742,7 +748,7 @@
     <value>Gheading</value>
   </data>
   <data name="&gt;&gt;Gheading.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.HSI, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.HSI, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;Gheading.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -772,7 +778,7 @@
     <value>Galt</value>
   </data>
   <data name="&gt;&gt;Galt.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;Galt.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -805,7 +811,7 @@
     <value>Gspeed</value>
   </data>
   <data name="&gt;&gt;Gspeed.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;Gspeed.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -889,7 +895,7 @@
     <value>lbl_playbackspeed</value>
   </data>
   <data name="&gt;&gt;lbl_playbackspeed.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_playbackspeed.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -916,7 +922,7 @@
     <value>lbl_logpercent</value>
   </data>
   <data name="&gt;&gt;lbl_logpercent.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_logpercent.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -943,7 +949,7 @@
     <value>NUM_playbackspeed</value>
   </data>
   <data name="&gt;&gt;NUM_playbackspeed.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;NUM_playbackspeed.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -970,7 +976,7 @@
     <value>BUT_log2kml</value>
   </data>
   <data name="&gt;&gt;BUT_log2kml.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_log2kml.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1024,7 +1030,7 @@
     <value>BUT_playlog</value>
   </data>
   <data name="&gt;&gt;BUT_playlog.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_playlog.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1051,7 +1057,7 @@
     <value>BUT_loadtelem</value>
   </data>
   <data name="&gt;&gt;BUT_loadtelem.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_loadtelem.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1240,7 +1246,7 @@
     <value>lbl_hdop</value>
   </data>
   <data name="&gt;&gt;lbl_hdop.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_hdop.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1273,7 +1279,7 @@
     <value>lbl_sats</value>
   </data>
   <data name="&gt;&gt;lbl_sats.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_sats.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1303,7 +1309,7 @@
     <value>lbl_winddir</value>
   </data>
   <data name="&gt;&gt;lbl_winddir.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_winddir.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1333,7 +1339,7 @@
     <value>lbl_windvel</value>
   </data>
   <data name="&gt;&gt;lbl_windvel.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_windvel.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1505,7 +1511,7 @@
     <value>gMapControl1</value>
   </data>
   <data name="&gt;&gt;gMapControl1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;gMapControl1.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1568,7 +1574,7 @@
     <value>TXT_lat</value>
   </data>
   <data name="&gt;&gt;TXT_lat.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_lat.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1625,7 +1631,7 @@
     <value>label1</value>
   </data>
   <data name="&gt;&gt;label1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label1.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1655,7 +1661,7 @@
     <value>TXT_long</value>
   </data>
   <data name="&gt;&gt;TXT_long.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_long.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1685,7 +1691,7 @@
     <value>TXT_alt</value>
   </data>
   <data name="&gt;&gt;TXT_alt.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_alt.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1886,7 +1892,7 @@
     <value>label6</value>
   </data>
   <data name="&gt;&gt;label6.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label6.Parent" xml:space="preserve">
     <value>$this</value>
@@ -1942,6 +1948,12 @@
   <data name="&gt;&gt;setAspectRatioToolStripMenuItem.Type" xml:space="preserve">
     <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
+  <data name="&gt;&gt;displayBatteryInfoToolStripMenuItem.Name" xml:space="preserve">
+    <value>displayBatteryInfoToolStripMenuItem</value>
+  </data>
+  <data name="&gt;&gt;displayBatteryInfoToolStripMenuItem.Type" xml:space="preserve">
+    <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
   <data name="&gt;&gt;bindingSource1.Name" xml:space="preserve">
     <value>bindingSource1</value>
   </data>
@@ -1976,6 +1988,6 @@
     <value>FlightData</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.1.4532.32583, Culture=neutral, PublicKeyToken=null</value>
+    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.1.4533.36755, Culture=neutral, PublicKeyToken=null</value>
   </data>
 </root>

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs

@@ -1006,11 +1006,11 @@ namespace ArdupilotMega.GCSViews
 #else
                 imu.usec = ((ulong)DateTime.Now.ToBinary());
 #endif
-                imu.xgyro = (short)(fdm.phidot); // roll - yes
+                imu.xgyro = (short)(fdm.phidot * 1000); // roll - yes
                 //imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
-                imu.ygyro = (short)(fdm.thetadot); // pitch - yes
+                imu.ygyro = (short)(fdm.thetadot * 1000); // pitch - yes
                 //imu.ymag = (short)(Math.Cos(head * deg2rad) * 1000);
-                imu.zgyro = (short)(fdm.psidot);
+                imu.zgyro = (short)(fdm.psidot * 1000);
                 imu.zmag = 0;
 
                 imu.xacc = (Int16)Math.Min(Int16.MaxValue, Math.Max(Int16.MinValue, (fdm.A_X_pilot * 9808 / 32.2))); // pitch
@@ -1019,7 +1019,7 @@ namespace ArdupilotMega.GCSViews
 
                 //Console.WriteLine("ax " + imu.xacc + " ay " + imu.yacc + " az " + imu.zacc);
 #if MAVLINK10
-                gps.alt = ((int)(fdm.altitude * ft2m * 1000));
+                gps.alt = ((int)(fdm.altitude * 1000));
                 gps.fix_type = 3;
                 gps.cog = (ushort)((((Math.Atan2(fdm.v_east, fdm.v_north) * rad2deg) + 360) % 360) * 100);
                 gps.lat = (int)(fdm.latitude * rad2deg * 1.0e7);
@@ -1027,7 +1027,7 @@ namespace ArdupilotMega.GCSViews
                 gps.time_usec = ((ulong)DateTime.Now.Ticks);
                 gps.vel = (ushort)(Math.Sqrt((fdm.v_north * fdm.v_north) + (fdm.v_east * fdm.v_east)) * ft2m * 100);
 #else
-                gps.alt = ((float)(fdm.altitude * ft2m));
+                gps.alt = ((float)(fdm.altitude));
                 gps.fix_type = 3;
                 gps.hdg = (float)(((Math.Atan2(fdm.v_east, fdm.v_north) * rad2deg) + 360) % 360);
                 //Console.WriteLine(gps.hdg);
@@ -1037,7 +1037,7 @@ namespace ArdupilotMega.GCSViews
                 gps.v = ((float)Math.Sqrt((fdm.v_north * fdm.v_north) + (fdm.v_east * fdm.v_east)) * ft2m);
 
 #endif
-                asp.airspeed = fdm.vcas * ft2m;
+                asp.airspeed = fdm.vcas * 0.5144444f;//  knots to m/s
             }
             else
             {

Tools/ArdupilotMegaPlanner/HIL/QuadCopter.cs

@@ -215,23 +215,23 @@ namespace ArdupilotMega.HIL
 
             foreach (var i in range((self.motors.Length)))
             {
-                roll_accel += -5000.0 * sin(radians(self.motors[i].angle)) * m[i];
-                pitch_accel += 5000.0 * cos(radians(self.motors[i].angle)) * m[i];
+                roll_accel += (-5000.0 * deg2rad) * sin(radians(self.motors[i].angle)) * m[i];
+                pitch_accel += (5000.0 * deg2rad) * cos(radians(self.motors[i].angle)) * m[i];
                 if (self.motors[i].clockwise)
                 {
-                    yaw_accel -= m[i] * 400.0;
+                    yaw_accel -= m[i] * 400.0 * deg2rad;
                 }
                 else
                 {
-                    yaw_accel += m[i] * 400.0;
+                    yaw_accel += m[i] * 400.0 * deg2rad;
                 }
                 thrust += m[i] * self.thrust_scale; // newtons
             }
 
             // rotational resistance
-            roll_accel -= (self.pDeg / self.terminal_rotation_rate) * 5000.0;
-            pitch_accel -= (self.qDeg / self.terminal_rotation_rate) * 5000.0;
-            yaw_accel -= (self.rDeg / self.terminal_rotation_rate) * 400.0;
+            roll_accel -= (self.pDeg / self.terminal_rotation_rate) * (5000.0 * deg2rad);
+            pitch_accel -= (self.qDeg / self.terminal_rotation_rate) * (5000.0 * deg2rad);
+            yaw_accel -= (self.rDeg / self.terminal_rotation_rate) * (400.0 * deg2rad);
 
             //Console.WriteLine("roll {0} {1} {2}", roll_accel, roll_rate, roll);
 
@@ -250,9 +250,9 @@ namespace ArdupilotMega.HIL
             self.pitch_rate = answer.Item2;
             self.yaw_rate = answer.Item3;
 
-            //self.roll_rate = pDeg;
-            //self.pitch_rate = qDeg;
-            //self.yaw_rate = rDeg;
+           // self.roll_rate = pDeg;
+           // self.pitch_rate = qDeg;
+           // self.yaw_rate = rDeg;
 
             //# update rotation
             roll += roll_rate * delta_time.TotalSeconds;

Tools/ArdupilotMegaPlanner/MavlinkLog.cs

@@ -375,6 +375,12 @@ namespace ArdupilotMega
 
             if (openFileDialog1.ShowDialog() == DialogResult.OK)
             {
+                if (MainV2.comPort.logplaybackfile != null)
+                {
+                    MainV2.comPort.logreadmode = false;
+                    MainV2.comPort.logplaybackfile.Close();
+                }
+
                 foreach (string logfile in openFileDialog1.FileNames)
                 {
 
@@ -537,6 +543,12 @@ namespace ArdupilotMega
 
             if (openFileDialog1.ShowDialog() == DialogResult.OK)
             {
+                if (MainV2.comPort.logplaybackfile != null)
+                {
+                    MainV2.comPort.logreadmode = false;
+                    MainV2.comPort.logplaybackfile.Close();
+                }
+
                 foreach (string logfile in openFileDialog1.FileNames)
                 {
 
@@ -599,6 +611,12 @@ namespace ArdupilotMega
 
             if (openFileDialog1.ShowDialog() == DialogResult.OK)
             {
+                if (MainV2.comPort.logplaybackfile != null)
+                {
+                    MainV2.comPort.logreadmode = false;
+                    MainV2.comPort.logplaybackfile.Close();
+                }
+
                 List<string> fields = GetLogFileValidFields(openFileDialog1.FileName);
 
                 zg1.GraphPane.CurveList.Clear();

Tools/ArdupilotMegaPlanner/Msi/installer.wxs

@@ -2,14 +2,14 @@
 <Wix xmlns="http://schemas.microsoft.com/wix/2006/wi" xmlns:netfx="http://schemas.microsoft.com/wix/NetFxExtension" xmlns:difx="http://schemas.microsoft.com/wix/DifxAppExtension">
 
 
-    <Product Id="*" Name="APM Planner" Language="1033" Version="1.1.88" Manufacturer="Michael Oborne" UpgradeCode="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
+    <Product Id="*" Name="APM Planner" Language="1033" Version="1.1.89" Manufacturer="Michael Oborne" UpgradeCode="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
 
         <Package Description="APM Planner Installer" Comments="Apm Planner Installer" Manufacturer="Michael Oborne" InstallerVersion="200" Compressed="yes" />
 
 
 <Upgrade Id="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
-    <UpgradeVersion OnlyDetect="yes" Minimum="1.1.88" Property="NEWERVERSIONDETECTED" IncludeMinimum="no" />
-    <UpgradeVersion OnlyDetect="no" Maximum="1.1.88" Property="OLDERVERSIONBEINGUPGRADED" IncludeMaximum="no" />
+    <UpgradeVersion OnlyDetect="yes" Minimum="1.1.89" Property="NEWERVERSIONDETECTED" IncludeMinimum="no" />
+    <UpgradeVersion OnlyDetect="no" Maximum="1.1.89" Property="OLDERVERSIONBEINGUPGRADED" IncludeMaximum="no" />
 </Upgrade>
 
 <InstallExecuteSequence>
@@ -31,7 +31,7 @@
                             <Permission User="Everyone" GenericAll="yes" /> 
                         </CreateFolder>
                     </Component>
-<Component Id="_comp1" Guid="7b772021-f9da-46e0-8c89-33d78e27a4b9">
+<Component Id="_comp1" Guid="3cd5b44e-a6fd-4003-bd94-a090b1836683">
 <File Id="_2" Source="..\bin\release\.gdbinit" />
 <File Id="_3" Source="..\bin\release\.gitignore" />
 <File Id="_4" Source="..\bin\release\aerosim3.91.txt" />
@@ -94,11 +94,11 @@
 <File Id="_61" Source="..\bin\release\ZedGraph.dll" />
 </Component>
 <Directory Id="aircraft61" Name="aircraft">
-<Component Id="_comp62" Guid="a0b0aadb-89e4-4b93-bfaa-4ca305e4cea8">
+<Component Id="_comp62" Guid="6c67b6d9-880e-46c4-9bfc-b0a354998fd8">
 <File Id="_63" Source="..\bin\release\aircraft\placeholder.txt" />
 </Component>
 <Directory Id="arducopter63" Name="arducopter">
-<Component Id="_comp64" Guid="fba01bf1-8e4c-4e34-89f8-40bcf0c97fb5">
+<Component Id="_comp64" Guid="10303db5-3b6c-4965-b62b-783efb2a1d45">
 <File Id="_65" Source="..\bin\release\aircraft\arducopter\arducopter-set.xml" />
 <File Id="_66" Source="..\bin\release\aircraft\arducopter\arducopter.jpg" />
 <File Id="_67" Source="..\bin\release\aircraft\arducopter\arducopter.xml" />
@@ -109,20 +109,20 @@
 <File Id="_72" Source="..\bin\release\aircraft\arducopter\README" />
 </Component>
 <Directory Id="data72" Name="data">
-<Component Id="_comp73" Guid="f667fdc3-9e59-46ef-bb97-37f4998a5103">
+<Component Id="_comp73" Guid="bf66bb0b-2b6f-44f7-8008-928d0964458f">
 <File Id="_74" Source="..\bin\release\aircraft\arducopter\data\arducopter_half_step.txt" />
 <File Id="_75" Source="..\bin\release\aircraft\arducopter\data\arducopter_step.txt" />
 <File Id="_76" Source="..\bin\release\aircraft\arducopter\data\rw_generic_pylon.ac" />
 </Component>
 </Directory>
 <Directory Id="Engines76" Name="Engines">
-<Component Id="_comp77" Guid="44265e1e-101e-4122-b568-99cc32cf0ae2">
+<Component Id="_comp77" Guid="12124f43-e105-4f1b-ab86-38da6acfd4ae">
 <File Id="_78" Source="..\bin\release\aircraft\arducopter\Engines\a2830-12.xml" />
 <File Id="_79" Source="..\bin\release\aircraft\arducopter\Engines\prop10x4.5.xml" />
 </Component>
 </Directory>
 <Directory Id="Models79" Name="Models">
-<Component Id="_comp80" Guid="ac90adc6-7721-4ac5-9cd2-4b146a0105d5">
+<Component Id="_comp80" Guid="3374ea5b-d56c-4765-99ac-5ea1042be4f1">
 <File Id="_81" Source="..\bin\release\aircraft\arducopter\Models\arducopter.ac" />
 <File Id="_82" Source="..\bin\release\aircraft\arducopter\Models\arducopter.xml" />
 <File Id="_83" Source="..\bin\release\aircraft\arducopter\Models\plus_quad.ac" />
@@ -136,7 +136,7 @@
 </Directory>
 </Directory>
 <Directory Id="Rascal89" Name="Rascal">
-<Component Id="_comp90" Guid="33963f7a-b0b3-49af-b652-a69024eeaf9c">
+<Component Id="_comp90" Guid="3cc57396-3827-453e-b69b-8a63eaba0847">
 <File Id="_91" Source="..\bin\release\aircraft\Rascal\Rascal-keyboard.xml" />
 <File Id="_92" Source="..\bin\release\aircraft\Rascal\Rascal-submodels.xml" />
 <File Id="_93" Source="..\bin\release\aircraft\Rascal\Rascal.xml" />
@@ -148,13 +148,13 @@
 <File Id="_99" Source="..\bin\release\aircraft\Rascal\thumbnail.jpg" />
 </Component>
 <Directory Id="Engines99" Name="Engines">
-<Component Id="_comp100" Guid="e45895c9-ff1f-4644-a45a-6b891fabc992">
+<Component Id="_comp100" Guid="45ceafec-aa86-4622-a1fd-1ec6a72bc9fc">
 <File Id="_101" Source="..\bin\release\aircraft\Rascal\Engines\18x8.xml" />
 <File Id="_102" Source="..\bin\release\aircraft\Rascal\Engines\Zenoah_G-26A.xml" />
 </Component>
 </Directory>
 <Directory Id="Models102" Name="Models">
-<Component Id="_comp103" Guid="3d3b5259-f2a4-4113-93c2-b7f6a519590e">
+<Component Id="_comp103" Guid="49d7a440-4ea5-4b7f-813b-557ce3c68a39">
 <File Id="_104" Source="..\bin\release\aircraft\Rascal\Models\Rascal.rgb" />
 <File Id="_105" Source="..\bin\release\aircraft\Rascal\Models\Rascal110-000-013.ac" />
 <File Id="_106" Source="..\bin\release\aircraft\Rascal\Models\Rascal110.xml" />
@@ -165,7 +165,7 @@
 </Component>
 </Directory>
 <Directory Id="Systems110" Name="Systems">
-<Component Id="_comp111" Guid="56b5bbe3-9d75-4f84-91ac-47169e4109e7">
+<Component Id="_comp111" Guid="97a83a4b-3b89-4a85-a9a3-f395604d0e98">
 <File Id="_112" Source="..\bin\release\aircraft\Rascal\Systems\110-autopilot.xml" />
 <File Id="_113" Source="..\bin\release\aircraft\Rascal\Systems\airdata.nas" />
 <File Id="_114" Source="..\bin\release\aircraft\Rascal\Systems\electrical.xml" />
@@ -176,33 +176,33 @@
 </Directory>
 </Directory>
 <Directory Id="Driver116" Name="Driver">
-<Component Id="_comp117" Guid="f3778579-8196-434f-9f5f-d9d8075abee2">
+<Component Id="_comp117" Guid="9987d045-e5db-47d6-b788-143824acf461">
 <File Id="_118" Source="..\bin\release\Driver\Arduino MEGA 2560.inf" />
 </Component>
 </Directory>
 <Directory Id="es_ES118" Name="es-ES">
-<Component Id="_comp119" Guid="3a270408-0af5-4ca2-a525-5b38c6dcd856">
+<Component Id="_comp119" Guid="705efc21-be62-4058-89c7-dac6b818d4d7">
 <File Id="_120" Source="..\bin\release\es-ES\ArdupilotMegaPlanner.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="fr120" Name="fr">
-<Component Id="_comp121" Guid="cec87cdc-ec29-40d6-967a-0001d84e7782">
+<Component Id="_comp121" Guid="77b4e169-7b32-4b46-b119-f3395c43e64c">
 <File Id="_122" Source="..\bin\release\fr\ArdupilotMegaPlanner.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="it_IT122" Name="it-IT">
-<Component Id="_comp123" Guid="aa29f463-75b8-4f58-ace1-ffee2a9b268f">
+<Component Id="_comp123" Guid="4d7b06d8-37a9-403b-9511-c29f1802137c">
 <File Id="_124" Source="..\bin\release\it-IT\ArdupilotMegaPlanner.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="jsbsim124" Name="jsbsim">
-<Component Id="_comp125" Guid="a5f80393-6533-4e8e-b442-5b0dbfc45242">
+<Component Id="_comp125" Guid="7280be57-2c86-49ea-be0e-b5a2ba667da8">
 <File Id="_126" Source="..\bin\release\jsbsim\fgout.xml" />
 <File Id="_127" Source="..\bin\release\jsbsim\rascal_test.xml" />
 </Component>
 </Directory>
 <Directory Id="m3u127" Name="m3u">
-<Component Id="_comp128" Guid="47ff46f9-08f7-47f2-877b-f91ca8a6f13c">
+<Component Id="_comp128" Guid="dc638622-945c-44b0-9775-4b0ec00eaad3">
 <File Id="_129" Source="..\bin\release\m3u\both.m3u" />
 <File Id="_130" Source="..\bin\release\m3u\GeoRefnetworklink.kml" />
 <File Id="_131" Source="..\bin\release\m3u\hud.m3u" />
@@ -211,28 +211,28 @@
 </Component>
 </Directory>
 <Directory Id="pl133" Name="pl">
-<Component Id="_comp134" Guid="3d4b0a71-e1de-4b6d-b024-188b7a0915dc">
+<Component Id="_comp134" Guid="205b236f-1c19-4cd1-b238-e9636d49d292">
 <File Id="_135" Source="..\bin\release\pl\ArdupilotMegaPlanner.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="Resources135" Name="Resources">
-<Component Id="_comp136" Guid="c60b9532-c2a3-441d-95c8-c2f061bb36a5">
+<Component Id="_comp136" Guid="23394318-8b80-4ad4-80c7-76c290349614">
 <File Id="_137" Source="..\bin\release\Resources\MAVCmd.txt" />
 <File Id="_138" Source="..\bin\release\Resources\Welcome_to_Michael_Oborne.rtf" />
 </Component>
 </Directory>
 <Directory Id="ru_RU138" Name="ru-RU">
-<Component Id="_comp139" Guid="8b109f93-ed39-4524-a282-2501b0dbcf1b">
+<Component Id="_comp139" Guid="9673ea0c-6aaf-44db-80ac-e84fbc858071">
 <File Id="_140" Source="..\bin\release\ru-RU\ArdupilotMegaPlanner.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="zh_Hans140" Name="zh-Hans">
-<Component Id="_comp141" Guid="e4f7226f-1800-46cc-bd04-1ee041af3537">
+<Component Id="_comp141" Guid="d7a7a784-6ddd-4dd3-96cf-36fb1b8e4c7d">
 <File Id="_142" Source="..\bin\release\zh-Hans\ArdupilotMegaPlanner.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="zh_TW142" Name="zh-TW">
-<Component Id="_comp143" Guid="17ea54cb-40ee-4e91-b435-e9cbaaf0038b">
+<Component Id="_comp143" Guid="c7a53d2e-f88d-48ae-8686-5f9ed74c925d">
 <File Id="_144" Source="..\bin\release\zh-TW\ArdupilotMegaPlanner.resources.dll" />
 </Component>
 </Directory>

Tools/ArdupilotMegaPlanner/Program.cs

@@ -43,14 +43,6 @@ namespace ArdupilotMega
 
             //Console.WriteLine(srtm.getAltitude(-35.115676879882812, 117.94178754638671,20));
 
-            PointLatLngAlt plla = new PointLatLngAlt(54.0359, 5.4253, 0, "");
-            PointLatLngAlt plla2 = new PointLatLngAlt(54.3838, 3.0412, 0, "");
-
-            Console.WriteLine(plla.GetDistance(plla2));
-            Console.WriteLine(plla.GetDistance2(plla2));
-
-
-
             if (System.Diagnostics.Debugger.IsAttached)
             {
                 // testing

Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs

@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.1.*")]
-[assembly: AssemblyFileVersion("1.1.89")]
+[assembly: AssemblyFileVersion("1.1.90")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/Radio/3DRradio.cs

@@ -278,7 +278,7 @@ namespace ArdupilotMega
 
                             if (values.Length == 3)
                             {
-                                Control[] controls = this.Controls.Find("R" + values[0].Trim(), false);
+                                Control[] controls = this.Controls.Find("R" + values[0].Trim(), true);
 
                                 if (controls.Length > 0)
                                 {
@@ -345,7 +345,7 @@ namespace ArdupilotMega
 
                             if (values.Length == 3)
                             {
-                                Control[] controls = this.Controls.Find(values[0].Trim(), false);
+                                Control[] controls = this.Controls.Find(values[0].Trim(), true);
 
                                 if (controls.Length > 0)
                                 {

Tools/ArdupilotMegaPlanner/Utilities/CaptureMJPEG.cs

@@ -41,6 +41,11 @@ namespace ArdupilotMega.Utilities
             asyncthread.Start();
         }
 
+        public static void Stop()
+        {
+            running = false;
+        }
+
         static void getUrl()
         {
 
@@ -116,7 +121,11 @@ namespace ArdupilotMega.Utilities
                 }
                 catch (Exception ex) { log.Info(ex); break; }
             }
-            
+
+            // clear last image
+            if (OnNewImage != null)
+                OnNewImage(null, new EventArgs());
+
             dataStream.Close();
             response.Close();