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ardupilot/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFlightModes.cs

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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.Data;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using ArdupilotMega.Controls.BackstageView;
using ArdupilotMega.Utilities;
using ArdupilotMega.Controls;
namespace ArdupilotMega.GCSViews.ConfigurationView
{
public partial class ConfigFlightModes : UserControl, IActivate, IDeactivate
{
Timer timer = new Timer();
public ConfigFlightModes()
{
InitializeComponent();
}
void timer_Tick(object sender, EventArgs e)
{
try
{
MainV2.cs.UpdateCurrentSettings(currentStateBindingSource);
}
catch { }
float pwm = 0;
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane || MainV2.cs.firmware == MainV2.Firmwares.ArduRover) // APM
{
if (MainV2.comPort.param.ContainsKey("FLTMODE_CH"))
{
switch ((int)(float)MainV2.comPort.param["FLTMODE_CH"])
{
case 5:
pwm = MainV2.cs.ch5in;
break;
case 6:
pwm = MainV2.cs.ch6in;
break;
case 7:
pwm = MainV2.cs.ch7in;
break;
case 8:
pwm = MainV2.cs.ch8in;
break;
default:
break;
}
LBL_flightmodepwm.Text = MainV2.comPort.param["FLTMODE_CH"].ToString() + ": " + pwm.ToString();
}
}
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
{
pwm = MainV2.cs.ch5in;
LBL_flightmodepwm.Text = "5: " + MainV2.cs.ch5in.ToString();
}
Control[] fmodelist = new Control[] { CMB_fmode1, CMB_fmode2, CMB_fmode3, CMB_fmode4, CMB_fmode5, CMB_fmode6 };
foreach (Control ctl in fmodelist)
{
ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
}
byte no = readSwitch(pwm);
fmodelist[no].BackColor = Color.Green;
}
// from arducopter code
byte readSwitch(float inpwm)
{
int pulsewidth = (int)inpwm; // default for Arducopter
if (pulsewidth > 1230 && pulsewidth <= 1360) return 1;
if (pulsewidth > 1360 && pulsewidth <= 1490) return 2;
if (pulsewidth > 1490 && pulsewidth <= 1620) return 3;
if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual
if (pulsewidth >= 1750) return 5; // Hardware Manual
return 0;
}
private void BUT_SaveModes_Click(object sender, EventArgs e)
{
try
{
MainV2.comPort.setParam("FLTMODE1", (float)Int32.Parse(CMB_fmode1.SelectedValue.ToString()));
MainV2.comPort.setParam("FLTMODE2", (float)Int32.Parse(CMB_fmode2.SelectedValue.ToString()));
MainV2.comPort.setParam("FLTMODE3", (float)Int32.Parse(CMB_fmode3.SelectedValue.ToString()));
MainV2.comPort.setParam("FLTMODE4", (float)Int32.Parse(CMB_fmode4.SelectedValue.ToString()));
MainV2.comPort.setParam("FLTMODE5", (float)Int32.Parse(CMB_fmode5.SelectedValue.ToString()));
MainV2.comPort.setParam("FLTMODE6", (float)Int32.Parse(CMB_fmode6.SelectedValue.ToString()));
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
{
float value = (float)(CB_simple1.Checked ? (int)SimpleMode.Simple1 : 0) + (CB_simple2.Checked ? (int)SimpleMode.Simple2 : 0) + (CB_simple3.Checked ? (int)SimpleMode.Simple3 : 0)
+ (CB_simple4.Checked ? (int)SimpleMode.Simple4 : 0) + (CB_simple5.Checked ? (int)SimpleMode.Simple5 : 0) + (CB_simple6.Checked ? (int)SimpleMode.Simple6 : 0);
if (MainV2.comPort.param.ContainsKey("SIMPLE"))
MainV2.comPort.setParam("SIMPLE", value);
}
}
catch { CustomMessageBox.Show("Failed to set Flight modes"); }
BUT_SaveModes.Text = "Complete";
}
[Flags]
public enum SimpleMode
{
None = 0,
Simple1 = 1,
Simple2 = 2,
Simple3 = 4,
Simple4 = 8,
Simple5 = 16,
Simple6 = 32,
}
public void Deactivate()
{
timer.Stop();
}
public void Activate()
{
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) // APM
{
CB_simple1.Visible = false;
CB_simple2.Visible = false;
CB_simple3.Visible = false;
CB_simple4.Visible = false;
CB_simple5.Visible = false;
CB_simple6.Visible = false;
var flightModes = EnumTranslator.Translate<Common.apmmodes>();
CMB_fmode1.DataSource = flightModes.ToList();
CMB_fmode1.ValueMember = "Key";
CMB_fmode1.DisplayMember = "Value";
CMB_fmode2.DataSource = flightModes.ToList();
CMB_fmode2.ValueMember = "Key";
CMB_fmode2.DisplayMember = "Value";
CMB_fmode3.DataSource = flightModes.ToList();
CMB_fmode3.ValueMember = "Key";
CMB_fmode3.DisplayMember = "Value";
CMB_fmode4.DataSource = flightModes.ToList();
CMB_fmode4.ValueMember = "Key";
CMB_fmode4.DisplayMember = "Value";
CMB_fmode5.DataSource = flightModes.ToList();
CMB_fmode5.ValueMember = "Key";
CMB_fmode5.DisplayMember = "Value";
CMB_fmode6.DataSource = flightModes.ToList();
CMB_fmode6.ValueMember = "Key";
CMB_fmode6.DisplayMember = "Value";
try
{
CMB_fmode1.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE1"].ToString()));
CMB_fmode2.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE2"].ToString()));
CMB_fmode3.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE3"].ToString()));
CMB_fmode4.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE4"].ToString()));
CMB_fmode5.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE5"].ToString()));
CMB_fmode6.Text = Common.apmmodes.MANUAL.ToString();
CMB_fmode6.Enabled = false;
}
catch { }
}
else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover) // APM
{
CB_simple1.Visible = false;
CB_simple2.Visible = false;
CB_simple3.Visible = false;
CB_simple4.Visible = false;
CB_simple5.Visible = false;
CB_simple6.Visible = false;
var flightModes = EnumTranslator.Translate<Common.aprovermodes>();
CMB_fmode1.DataSource = flightModes.ToList();
CMB_fmode1.ValueMember = "Key";
CMB_fmode1.DisplayMember = "Value";
CMB_fmode2.DataSource = flightModes.ToList();
CMB_fmode2.ValueMember = "Key";
CMB_fmode2.DisplayMember = "Value";
CMB_fmode3.DataSource = flightModes.ToList();
CMB_fmode3.ValueMember = "Key";
CMB_fmode3.DisplayMember = "Value";
CMB_fmode4.DataSource = flightModes.ToList();
CMB_fmode4.ValueMember = "Key";
CMB_fmode4.DisplayMember = "Value";
CMB_fmode5.DataSource = flightModes.ToList();
CMB_fmode5.ValueMember = "Key";
CMB_fmode5.DisplayMember = "Value";
CMB_fmode6.DataSource = flightModes.ToList();
CMB_fmode6.ValueMember = "Key";
CMB_fmode6.DisplayMember = "Value";
try
{
CMB_fmode1.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.param["FLTMODE1"].ToString()));
CMB_fmode2.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.param["FLTMODE2"].ToString()));
CMB_fmode3.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.param["FLTMODE3"].ToString()));
CMB_fmode4.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.param["FLTMODE4"].ToString()));
CMB_fmode5.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.param["FLTMODE5"].ToString()));
CMB_fmode6.Text = Common.aprovermodes.MANUAL.ToString();
CMB_fmode6.Enabled = false;
}
catch { }
} else if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
{
var flightModes = EnumTranslator.Translate<Common.ac2modes>();
CMB_fmode1.DataSource = flightModes.ToList();
CMB_fmode1.ValueMember = "Key";
CMB_fmode1.DisplayMember = "Value";
CMB_fmode2.DataSource = flightModes.ToList();
CMB_fmode2.ValueMember = "Key";
CMB_fmode2.DisplayMember = "Value";
CMB_fmode3.DataSource = flightModes.ToList();
CMB_fmode3.ValueMember = "Key";
CMB_fmode3.DisplayMember = "Value";
CMB_fmode4.DataSource = flightModes.ToList();
CMB_fmode4.ValueMember = "Key";
CMB_fmode4.DisplayMember = "Value";
CMB_fmode5.DataSource = flightModes.ToList();
CMB_fmode5.ValueMember = "Key";
CMB_fmode5.DisplayMember = "Value";
CMB_fmode6.DataSource = flightModes.ToList();
CMB_fmode6.ValueMember = "Key";
CMB_fmode6.DisplayMember = "Value";
try
{
CMB_fmode1.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE1"].ToString()));
CMB_fmode2.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE2"].ToString()));
CMB_fmode3.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE3"].ToString()));
CMB_fmode4.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE4"].ToString()));
CMB_fmode5.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE5"].ToString()));
CMB_fmode6.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE6"].ToString()));
CMB_fmode6.Enabled = true;
int simple = int.Parse(MainV2.comPort.param["SIMPLE"].ToString());
CB_simple1.Checked = ((simple >> 0 & 1) == 1);
CB_simple2.Checked = ((simple >> 1 & 1) == 1);
CB_simple3.Checked = ((simple >> 2 & 1) == 1);
CB_simple4.Checked = ((simple >> 3 & 1) == 1);
CB_simple5.Checked = ((simple >> 4 & 1) == 1);
CB_simple6.Checked = ((simple >> 5 & 1) == 1);
}
catch { }
}
timer.Tick += new EventHandler(timer_Tick);
timer.Enabled = true;
timer.Interval = 100;
timer.Start();
}
}
}