Browse Source
add OF_LOITER add AC TUNE options fix default alt issues. make Scripts, 1 at a time. update aerosim-rc plugin. add new "follow me" mode- need a nmea gps and xbee on pc. control-F > follow memission-4.1.18
Michael Oborne
13 years ago
15 changed files with 4187 additions and 788 deletions
File diff suppressed because it is too large
Load Diff
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|
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namespace ArdupilotMega |
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{ |
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partial class SerialInput |
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{ |
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/// <summary> |
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/// Required designer variable. |
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/// </summary> |
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private System.ComponentModel.IContainer components = null; |
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|
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/// <summary> |
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/// Clean up any resources being used. |
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/// </summary> |
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/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param> |
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protected override void Dispose(bool disposing) |
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{ |
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if (disposing && (components != null)) |
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{ |
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components.Dispose(); |
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} |
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base.Dispose(disposing); |
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} |
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|
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#region Windows Form Designer generated code |
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|
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/// <summary> |
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/// Required method for Designer support - do not modify |
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/// the contents of this method with the code editor. |
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/// </summary> |
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private void InitializeComponent() |
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{ |
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System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(SerialInput)); |
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this.CMB_serialport = new System.Windows.Forms.ComboBox(); |
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this.BUT_connect = new ArdupilotMega.MyButton(); |
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this.CMB_baudrate = new System.Windows.Forms.ComboBox(); |
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this.label1 = new System.Windows.Forms.Label(); |
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this.LBL_location = new System.Windows.Forms.Label(); |
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this.textBox1 = new System.Windows.Forms.TextBox(); |
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this.SuspendLayout(); |
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// |
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// CMB_serialport |
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// |
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this.CMB_serialport.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; |
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this.CMB_serialport.FormattingEnabled = true; |
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this.CMB_serialport.Location = new System.Drawing.Point(13, 13); |
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this.CMB_serialport.Name = "CMB_serialport"; |
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this.CMB_serialport.Size = new System.Drawing.Size(121, 21); |
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this.CMB_serialport.TabIndex = 0; |
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// |
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// BUT_connect |
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// |
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this.BUT_connect.Location = new System.Drawing.Point(279, 12); |
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this.BUT_connect.Name = "BUT_connect"; |
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this.BUT_connect.Size = new System.Drawing.Size(75, 23); |
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this.BUT_connect.TabIndex = 1; |
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this.BUT_connect.Text = "Connect"; |
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this.BUT_connect.UseVisualStyleBackColor = true; |
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this.BUT_connect.Click += new System.EventHandler(this.BUT_connect_Click); |
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// |
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// CMB_baudrate |
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// |
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this.CMB_baudrate.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; |
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this.CMB_baudrate.FormattingEnabled = true; |
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this.CMB_baudrate.Items.AddRange(new object[] { |
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"4800", |
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"9600", |
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"14400", |
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"19200", |
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"28800", |
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"38400", |
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"57600", |
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"115200"}); |
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this.CMB_baudrate.Location = new System.Drawing.Point(140, 12); |
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this.CMB_baudrate.Name = "CMB_baudrate"; |
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this.CMB_baudrate.Size = new System.Drawing.Size(121, 21); |
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this.CMB_baudrate.TabIndex = 2; |
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// |
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// label1 |
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// |
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this.label1.AutoSize = true; |
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this.label1.Location = new System.Drawing.Point(90, 47); |
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this.label1.Name = "label1"; |
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this.label1.Size = new System.Drawing.Size(187, 13); |
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this.label1.TabIndex = 3; |
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this.label1.Text = "Pick the Nmea gps port and baud rate\r\n"; |
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// |
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// LBL_location |
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// |
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this.LBL_location.AutoSize = true; |
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this.LBL_location.Font = new System.Drawing.Font("Microsoft Sans Serif", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); |
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this.LBL_location.Location = new System.Drawing.Point(9, 78); |
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this.LBL_location.Name = "LBL_location"; |
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this.LBL_location.Size = new System.Drawing.Size(50, 24); |
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this.LBL_location.TabIndex = 4; |
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this.LBL_location.Text = "0,0,0"; |
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// |
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// textBox1 |
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// |
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this.textBox1.Enabled = false; |
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this.textBox1.Location = new System.Drawing.Point(19, 126); |
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this.textBox1.Multiline = true; |
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this.textBox1.Name = "textBox1"; |
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this.textBox1.Size = new System.Drawing.Size(335, 133); |
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this.textBox1.TabIndex = 5; |
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this.textBox1.Text = resources.GetString("textBox1.Text"); |
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// |
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// SerialInput |
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// |
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this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); |
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this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; |
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this.ClientSize = new System.Drawing.Size(369, 300); |
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this.Controls.Add(this.textBox1); |
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this.Controls.Add(this.LBL_location); |
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this.Controls.Add(this.label1); |
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this.Controls.Add(this.CMB_baudrate); |
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this.Controls.Add(this.BUT_connect); |
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this.Controls.Add(this.CMB_serialport); |
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this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon"))); |
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this.Name = "SerialInput"; |
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this.Text = "Follow Me"; |
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this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.SerialOutput_FormClosing); |
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this.ResumeLayout(false); |
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this.PerformLayout(); |
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|
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} |
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|
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#endregion |
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|
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private System.Windows.Forms.ComboBox CMB_serialport; |
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private MyButton BUT_connect; |
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private System.Windows.Forms.ComboBox CMB_baudrate; |
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private System.Windows.Forms.Label label1; |
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private System.Windows.Forms.Label LBL_location; |
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private System.Windows.Forms.TextBox textBox1; |
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} |
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} |
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@ -0,0 +1,224 @@
@@ -0,0 +1,224 @@
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using System; |
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using System.Collections.Generic; |
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using System.ComponentModel; |
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using System.Data; |
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using System.Drawing; |
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using System.Linq; |
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using System.Text; |
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using System.Windows.Forms; |
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using System.IO.Ports; |
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|
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namespace ArdupilotMega |
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{ |
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public partial class SerialInput : Form |
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{ |
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System.Threading.Thread t12; |
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static bool threadrun = false; |
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static internal SerialPort comPort = new SerialPort(); |
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static internal PointLatLngAlt lastgotolocation = new PointLatLngAlt(0, 0, 0, "Goto last"); |
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static internal PointLatLngAlt gotolocation = new PointLatLngAlt(0, 0, 0, "Goto"); |
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static internal int intalt = 100; |
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|
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public SerialInput() |
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{ |
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InitializeComponent(); |
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|
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CMB_serialport.DataSource = SerialPort.GetPortNames(); |
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|
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if (threadrun) |
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{ |
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BUT_connect.Text = "Stop"; |
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} |
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} |
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|
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private void BUT_connect_Click(object sender, EventArgs e) |
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{ |
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if (comPort.IsOpen) |
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{ |
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threadrun = false; |
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comPort.Close(); |
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BUT_connect.Text = "Connect"; |
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} |
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else |
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{ |
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try |
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{ |
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comPort.PortName = CMB_serialport.Text; |
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} |
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catch { MessageBox.Show("Invalid PortName"); return; } |
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try { |
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comPort.BaudRate = int.Parse(CMB_baudrate.Text); |
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} catch {MessageBox.Show("Invalid BaudRate"); return;} |
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try { |
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comPort.Open(); |
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} catch {MessageBox.Show("Error Connecting\nif using com0com please rename the ports to COM??"); return;} |
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|
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|
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string alt = "100"; |
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|
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) |
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{ |
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alt = (10 * MainV2.cs.multiplierdist).ToString("0"); |
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} |
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else |
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{ |
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alt = (100 * MainV2.cs.multiplierdist).ToString("0"); |
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} |
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if (DialogResult.Cancel == Common.InputBox("Enter Alt", "Enter Alt", ref alt)) |
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return; |
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|
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intalt = (int)(100 * MainV2.cs.multiplierdist); |
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if (!int.TryParse(alt, out intalt)) |
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{ |
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MessageBox.Show("Bad Alt"); |
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return; |
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} |
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|
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t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop)) |
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{ |
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IsBackground = true, |
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Name = "Nmea Input" |
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}; |
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t12.Start(); |
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|
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BUT_connect.Text = "Stop"; |
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} |
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} |
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|
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void mainloop() |
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{ |
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|
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|
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threadrun = true; |
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int counter = 0; |
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while (threadrun) |
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{ |
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try |
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{ |
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string line = comPort.ReadLine(); |
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|
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|
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//string line = string.Format("$GP{0},{1:HHmmss},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},", "GGA", DateTime.Now.ToUniversalTime(), Math.Abs(lat * 100), MainV2.cs.lat < 0 ? "S" : "N", Math.Abs(lng * 100), MainV2.cs.lng < 0 ? "W" : "E", MainV2.cs.gpsstatus, MainV2.cs.satcount, MainV2.cs.gpshdop, MainV2.cs.alt, "M", 0, "M", ""); |
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if (line.StartsWith("$GPGGA")) // |
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{ |
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int c1 = line.IndexOf(',',0)+ 1; |
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int c2 = line.IndexOf(',', c1) + 1; |
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int c3 = line.IndexOf(',', c2) + 1; |
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int c4 = line.IndexOf(',', c3 ) + 1; |
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int c5 = line.IndexOf(',', c4 ) + 1; |
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int c6 = line.IndexOf(',', c5 ) + 1; |
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int c7 = line.IndexOf(',', c6 ) + 1; |
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int c8 = line.IndexOf(',', c7 ) + 1; |
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int c9 = line.IndexOf(',', c8 ) + 1; |
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int c10 = line.IndexOf(',', c9 ) + 1; |
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int c11 = line.IndexOf(',', c10 ) + 1; |
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int c12 = line.IndexOf(',', c11) + 1; |
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|
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gotolocation.Lat = double.Parse(line.Substring(c2, c3 - c2 - 1)) / 100.0; |
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|
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gotolocation.Lat = (int)gotolocation.Lat + ((gotolocation.Lat - (int)gotolocation.Lat) / 0.60); |
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|
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if (line.Substring(c3, c4 - c3 - 1) == "S") |
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gotolocation.Lat *= -1; |
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|
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gotolocation.Lng = double.Parse(line.Substring(c4, c5 - c4 - 1)) / 100.0; |
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|
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gotolocation.Lng = (int)gotolocation.Lng + ((gotolocation.Lng - (int)gotolocation.Lng) / 0.60); |
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|
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if (line.Substring(c5, c6 - c5 - 1) == "W") |
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gotolocation.Lng *= -1; |
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|
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gotolocation.Alt = intalt; // double.Parse(line.Substring(c9, c10 - c9 - 1)) + |
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|
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} |
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|
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|
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if (counter % 10 == 0 && gotolocation.Lat != 0 && gotolocation.Lng != 0 && gotolocation.Alt != 0) // 200 * 10 = 2 sec /// lastgotolocation != gotolocation && |
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{ |
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Console.WriteLine("Sending follow wp " +DateTime.Now.ToString("h:MM:ss")+" "+ gotolocation.Lat + " " + gotolocation.Lng + " " +gotolocation.Alt); |
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lastgotolocation = new PointLatLngAlt(gotolocation); |
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|
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Locationwp gotohere = new Locationwp(); |
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|
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gotohere.id = (byte)MAVLink.MAV_CMD.WAYPOINT; |
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gotohere.alt = (float)(gotolocation.Alt); |
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gotohere.lat = (float)(gotolocation.Lat); |
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gotohere.lng = (float)(gotolocation.Lng); |
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|
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try |
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{ |
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updateLocationLabel(gotohere); |
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} |
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catch { } |
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|
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if (MainV2.comPort.BaseStream.IsOpen && MainV2.givecomport == false) |
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{ |
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try |
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{ |
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MainV2.givecomport = true; |
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|
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MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2); |
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|
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MainV2.givecomport = false; |
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} |
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catch { MainV2.givecomport = false; } |
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} |
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} |
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|
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System.Threading.Thread.Sleep(200); |
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counter++; |
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} |
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catch { System.Threading.Thread.Sleep(2000); } |
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} |
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} |
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|
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private void updateLocationLabel(Locationwp plla) |
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{ |
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this.BeginInvoke((MethodInvoker)delegate |
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{ |
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LBL_location.Text = gotolocation.Lat + " " + gotolocation.Lng + " " + gotolocation.Alt; |
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} |
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); |
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|
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} |
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|
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private void SerialOutput_FormClosing(object sender, FormClosingEventArgs e) |
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{ |
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} |
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|
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// Calculates the checksum for a sentence |
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string GetChecksum(string sentence) |
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{ |
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// Loop through all chars to get a checksum |
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int Checksum = 0; |
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foreach (char Character in sentence.ToCharArray()) |
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{ |
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switch (Character) |
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{ |
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case '$': |
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// Ignore the dollar sign |
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break; |
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case '*': |
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// Stop processing before the asterisk |
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continue; |
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default: |
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// Is this the first value for the checksum? |
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if (Checksum == 0) |
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{ |
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// Yes. Set the checksum to the value |
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Checksum = Convert.ToByte(Character); |
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} |
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else |
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{ |
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// No. XOR the checksum with this character's value |
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Checksum = Checksum ^ Convert.ToByte(Character); |
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} |
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break; |
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} |
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} |
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// Return the checksum formatted as a two-character hexadecimal |
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return Checksum.ToString("X2"); |
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} |
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|
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} |
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} |
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@ -0,0 +1,208 @@
@@ -0,0 +1,208 @@
|
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<?xml version="1.0" encoding="utf-8"?> |
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<root> |
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<!-- |
||||
Microsoft ResX Schema |
||||
|
||||
Version 2.0 |
||||
|
||||
The primary goals of this format is to allow a simple XML format |
||||
that is mostly human readable. The generation and parsing of the |
||||
various data types are done through the TypeConverter classes |
||||
associated with the data types. |
||||
|
||||
Example: |
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|
||||
... ado.net/XML headers & schema ... |
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<resheader name="resmimetype">text/microsoft-resx</resheader> |
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<resheader name="version">2.0</resheader> |
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<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader> |
||||
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader> |
||||
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data> |
||||
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data> |
||||
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64"> |
||||
<value>[base64 mime encoded serialized .NET Framework object]</value> |
||||
</data> |
||||
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64"> |
||||
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value> |
||||
<comment>This is a comment</comment> |
||||
</data> |
||||
|
||||
There are any number of "resheader" rows that contain simple |
||||
name/value pairs. |
||||
|
||||
Each data row contains a name, and value. The row also contains a |
||||
type or mimetype. Type corresponds to a .NET class that support |
||||
text/value conversion through the TypeConverter architecture. |
||||
Classes that don't support this are serialized and stored with the |
||||
mimetype set. |
||||
|
||||
The mimetype is used for serialized objects, and tells the |
||||
ResXResourceReader how to depersist the object. This is currently not |
||||
extensible. For a given mimetype the value must be set accordingly: |
||||
|
||||
Note - application/x-microsoft.net.object.binary.base64 is the format |
||||
that the ResXResourceWriter will generate, however the reader can |
||||
read any of the formats listed below. |
||||
|
||||
mimetype: application/x-microsoft.net.object.binary.base64 |
||||
value : The object must be serialized with |
||||
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter |
||||
: and then encoded with base64 encoding. |
||||
|
||||
mimetype: application/x-microsoft.net.object.soap.base64 |
||||
value : The object must be serialized with |
||||
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter |
||||
: and then encoded with base64 encoding. |
||||
|
||||
mimetype: application/x-microsoft.net.object.bytearray.base64 |
||||
value : The object must be serialized into a byte array |
||||
: using a System.ComponentModel.TypeConverter |
||||
: and then encoded with base64 encoding. |
||||
--> |
||||
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata"> |
||||
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" /> |
||||
<xsd:element name="root" msdata:IsDataSet="true"> |
||||
<xsd:complexType> |
||||
<xsd:choice maxOccurs="unbounded"> |
||||
<xsd:element name="metadata"> |
||||
<xsd:complexType> |
||||
<xsd:sequence> |
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" /> |
||||
</xsd:sequence> |
||||
<xsd:attribute name="name" use="required" type="xsd:string" /> |
||||
<xsd:attribute name="type" type="xsd:string" /> |
||||
<xsd:attribute name="mimetype" type="xsd:string" /> |
||||
<xsd:attribute ref="xml:space" /> |
||||
</xsd:complexType> |
||||
</xsd:element> |
||||
<xsd:element name="assembly"> |
||||
<xsd:complexType> |
||||
<xsd:attribute name="alias" type="xsd:string" /> |
||||
<xsd:attribute name="name" type="xsd:string" /> |
||||
</xsd:complexType> |
||||
</xsd:element> |
||||
<xsd:element name="data"> |
||||
<xsd:complexType> |
||||
<xsd:sequence> |
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" /> |
||||
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" /> |
||||
</xsd:sequence> |
||||
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" /> |
||||
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" /> |
||||
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" /> |
||||
<xsd:attribute ref="xml:space" /> |
||||
</xsd:complexType> |
||||
</xsd:element> |
||||
<xsd:element name="resheader"> |
||||
<xsd:complexType> |
||||
<xsd:sequence> |
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" /> |
||||
</xsd:sequence> |
||||
<xsd:attribute name="name" type="xsd:string" use="required" /> |
||||
</xsd:complexType> |
||||
</xsd:element> |
||||
</xsd:choice> |
||||
</xsd:complexType> |
||||
</xsd:element> |
||||
</xsd:schema> |
||||
<resheader name="resmimetype"> |
||||
<value>text/microsoft-resx</value> |
||||
</resheader> |
||||
<resheader name="version"> |
||||
<value>2.0</value> |
||||
</resheader> |
||||
<resheader name="reader"> |
||||
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value> |
||||
</resheader> |
||||
<resheader name="writer"> |
||||
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value> |
||||
</resheader> |
||||
<data name="textBox1.Text" xml:space="preserve"> |
||||
<value>What this does. |
||||
1. gets the current gps coords from a nmea gps. |
||||
2. sends a guided mode WP to the AP every 2 seconds. |
||||
|
||||
How to use it |
||||
1. connect to ap. |
||||
2. take off, test guided mode is working. |
||||
3. open this and pick your comport, and baud rate for your nmea gps. |
||||
4. it should now be following you.</value> |
||||
</data> |
||||
<assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" /> |
||||
<data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64"> |
||||
<value> |
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||||
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||||
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||||
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||||
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||||
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||||
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||||
AAAAAAAAAAAAAAAAAAAato8wFKN/zxCScv8RnHn/DbqM/wjIlP8GyZT/BsaS/wbFkf8GxZH/B8WR/wfH |
||||
k/8IypX/DMmV/xG3jP8WoX3/Fph2/xqkgs8ft5EwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA////AAAA |
||||
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAJVvYACGZM8Aelr/AHlZ/wCFX/8AiWL/AJlr/wCb |
||||
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||||
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||||
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||||
AAAAAAAAAAAAAP///wD///8A////AP///wD///8A////AP///wD///8A////AP///wD///8A////AP// |
||||
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||||
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||||
AACAAAAAgAAAAIAAAACAAAAAgAAAAIAAAACAAAAAgAAAAIAAAACAAAAAwAAAAcAAAAHgAAAD4AAAA/AA |
||||
AAf4AAAP/AAAH/4AAD//gAD//+AD//////8= |
||||
</value> |
||||
</data> |
||||
</root> |
||||
Loading…
Reference in new issue