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

using System;
using System.Reflection;
using System.Windows.Forms;
using ArdupilotMega.Controls.BackstageView;
using log4net;
using Transitions;

namespace ArdupilotMega.GCSViews.ConfigurationView
{
    public partial class ConfigAccelerometerCalibrationQuad : UserControl, IActivate, IDeactivate
    {
        private static readonly ILog Log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);

        private const float DisabledOpacity = 0.2F;
        private const float EnabledOpacity = 1.0F;

        public ConfigAccelerometerCalibrationQuad()
        {
            InitializeComponent();
        }

        private void BUT_levelac2_Click(object sender, EventArgs e)
        {
            try
            {
#if MAVLINK10
                Log.Info("Sending level command (mavlink 1.0)");                
                int fixme; // needs to be accel only
                MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION,1,1,1,1,1,1,1);
#else
                Log.Info("Sending level command (mavlink 0.9)");
                MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_CALIBRATE_ACC);
#endif

                BUT_levelac2.Text = "Complete";
            }
            catch(Exception ex)
            {
                Log.Error("Exception on level", ex);
                CustomMessageBox.Show("Failed to level : ac2 2.0.37+ is required");
            }
        }

        private void pictureBox_Click(object sender, EventArgs e)
        {
            if (sender == pictureBoxPlus)
                radioButton_Plus.Checked = true;
            else
                radioButton_X.Checked = true;
        }

        private void SetPlus()
        {
            FadePicBoxes(DisabledOpacity, EnabledOpacity);
            SetFrameParam(true);
        }

        private void SetX()
        {
            FadePicBoxes(EnabledOpacity, DisabledOpacity);
            SetFrameParam(false);
        }

        private void SetFrameParam(bool isPlus)
        {
            var f = isPlus ? 0f : 1f;

            try
            {
                MainV2.comPort.setParam("FRAME", f);
            }
            catch
            {
                CustomMessageBox.Show("Set frame failed", "Error", MessageBoxButtons.OK, MessageBoxIcon.Warning);
            }
        }

        private void FadePicBoxes(float xOpacity, float plusOpacity)
        {
            var fade = new Transition(new TransitionType_Linear(400));
            fade.add(pictureBoxX, "Opacity", xOpacity);
            fade.add(pictureBoxPlus, "Opacity", plusOpacity);
            fade.run();
        }

        public void Activate()
        {
            if ((float)MainV2.comPort.param["FRAME"] == 0)
            {
                this.radioButton_Plus.Checked = true;
                pictureBoxX.Opacity = DisabledOpacity;
                pictureBoxPlus.Opacity = EnabledOpacity;
            }
            else
            {
                this.radioButton_X.Checked = true;
                pictureBoxX.Opacity = EnabledOpacity;
                pictureBoxPlus.Opacity = DisabledOpacity;
            }

            radioButton_Plus.CheckedChanged += RadioButtonPlusCheckedChanged;
        }

        public void Deactivate()
        {
            radioButton_Plus.CheckedChanged -= RadioButtonPlusCheckedChanged;

        }

        void RadioButtonPlusCheckedChanged(object sender, EventArgs e)
        {
            if (radioButton_X.Checked)
                SetX();
            else
                SetPlus();
        }
    }
}