Mission Planner 1.2.23

ammend serial dispose on usb devices detach
add item currentstate item description and units
ammend battery screen for 3dr power module
add trackbar zoom to flight data
add unit desccription
ammend PREFLIGHT_REBOOT_SHUTDOWN timeout

Tools/ArdupilotMegaPlanner/Arduino/ArduinoSTK.cs

@@ -360,8 +360,12 @@ namespace ArdupilotMega.Arduino
             }
             catch { }
 
-            if (base.IsOpen)
-                base.Close();
+            try
+            {
+                if (base.IsOpen)
+                    base.Close();
+            }
+            catch { }
 
             this.DtrEnable = false;
             this.RtsEnable = false;

Tools/ArdupilotMegaPlanner/Arduino/ArduinoSTKv2.cs

@@ -2,7 +2,7 @@
 using System.Collections.Generic;
 using System.Reflection;
 using System.Text;
-using System.IO.Ports;
+using ArdupilotMega.Comms;
 using System.Threading;
 using log4net;
 
@@ -410,8 +410,12 @@ namespace ArdupilotMega.Arduino
             }
             catch { }
 
-            if (base.IsOpen)
-                base.Close();
+            try
+            {
+                if (base.IsOpen)
+                    base.Close();
+            }
+            catch { }
 
             base.DtrEnable = false;
             base.RtsEnable = false;

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -85,10 +85,10 @@
     <ManifestKeyFile>ArdupilotMega_TemporaryKey.pfx</ManifestKeyFile>
   </PropertyGroup>
   <PropertyGroup>
-    <GenerateManifests>true</GenerateManifests>
+    <GenerateManifests>false</GenerateManifests>
   </PropertyGroup>
   <PropertyGroup>
-    <SignManifests>true</SignManifests>
+    <SignManifests>false</SignManifests>
   </PropertyGroup>
   <PropertyGroup>
     <SignAssembly>false</SignAssembly>
@@ -157,7 +157,7 @@
     </Reference>
     <Reference Include="Microsoft.DirectX.DirectInput, Version=1.0.2902.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35">
       <SpecificVersion>False</SpecificVersion>
-      <Private>False</Private>
+      <Private>True</Private>
     </Reference>
     <Reference Include="Microsoft.Dynamic">
     </Reference>
@@ -381,9 +381,15 @@
     <Compile Include="Controls\ValuesControl.Designer.cs">
       <DependentUpon>ValuesControl.cs</DependentUpon>
     </Compile>
-    <None Include="Driver\arduino.cat" />
-    <None Include="Driver\px4fmu.cat" />
-    <None Include="Driver\signed.cer" />
+    <None Include="Driver\arduino.cat">
+      <CopyToOutputDirectory>Always</CopyToOutputDirectory>
+    </None>
+    <None Include="Driver\px4fmu.cat">
+      <CopyToOutputDirectory>Always</CopyToOutputDirectory>
+    </None>
+    <None Include="Driver\signed.cer">
+      <CopyToOutputDirectory>Always</CopyToOutputDirectory>
+    </None>
     <None Include="HIL\AeroSimRC.cs">
       <SubType>Code</SubType>
     </None>
@@ -1431,11 +1437,15 @@
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
     </Content>
     <Content Include="ChangeLog.txt" />
-    <Content Include="Driver\arduino.inf" />
+    <Content Include="Driver\arduino.inf">
+      <CopyToOutputDirectory>Always</CopyToOutputDirectory>
+    </Content>
     <Content Include="Driver\dpinst.xml" />
     <Content Include="Driver\DPInstx64.exe" />
     <Content Include="Driver\DPInstx86.exe" />
-    <Content Include="Driver\px4fmu.inf" />
+    <Content Include="Driver\px4fmu.inf">
+      <CopyToOutputDirectory>Always</CopyToOutputDirectory>
+    </Content>
     <Content Include="hud.html">
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
       <SubType>Designer</SubType>
@@ -1462,6 +1472,7 @@
     <None Include="Resources\frames_plus.png" />
     <None Include="Resources\frames_x.png" />
     <None Include="Resources\cameraGimalYaw.png" />
+    <None Include="Resources\BR-APMPWRDEAN-2.jpg" />
     <Content Include="Resources\MAVCmd.zh-Hans.txt" />
     <None Include="Resources\MAVParam.txt" />
     <Content Include="Resources\MAVParam.zh-Hans.txt" />

Tools/ArdupilotMegaPlanner/ArdupilotMega.sln

@@ -9,8 +9,6 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "wix", "wix\wix.csproj", "{7
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "3DRRadio", "3DRRadio\3DRRadio.csproj", "{B8943726-04B0-4477-BFDA-E156A0CD98A4}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "px4uploader", "..\px4uploader\px4uploader.csproj", "{664FC484-2A94-4B0D-808F-A71F88E06B11}"
-EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -71,18 +69,6 @@ Global
 		{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Release|Win32.ActiveCfg = Release|x86
 		{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Release|x86.ActiveCfg = Release|x86
 		{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Release|x86.Build.0 = Release|x86
-		{664FC484-2A94-4B0D-808F-A71F88E06B11}.Debug|Any CPU.ActiveCfg = Debug|x86
-		{664FC484-2A94-4B0D-808F-A71F88E06B11}.Debug|Mixed Platforms.ActiveCfg = Debug|x86
-		{664FC484-2A94-4B0D-808F-A71F88E06B11}.Debug|Mixed Platforms.Build.0 = Debug|x86
-		{664FC484-2A94-4B0D-808F-A71F88E06B11}.Debug|Win32.ActiveCfg = Debug|x86
-		{664FC484-2A94-4B0D-808F-A71F88E06B11}.Debug|x86.ActiveCfg = Debug|x86
-		{664FC484-2A94-4B0D-808F-A71F88E06B11}.Debug|x86.Build.0 = Debug|x86
-		{664FC484-2A94-4B0D-808F-A71F88E06B11}.Release|Any CPU.ActiveCfg = Release|x86
-		{664FC484-2A94-4B0D-808F-A71F88E06B11}.Release|Mixed Platforms.ActiveCfg = Release|x86
-		{664FC484-2A94-4B0D-808F-A71F88E06B11}.Release|Mixed Platforms.Build.0 = Release|x86
-		{664FC484-2A94-4B0D-808F-A71F88E06B11}.Release|Win32.ActiveCfg = Release|x86
-		{664FC484-2A94-4B0D-808F-A71F88E06B11}.Release|x86.ActiveCfg = Release|x86
-		{664FC484-2A94-4B0D-808F-A71F88E06B11}.Release|x86.Build.0 = Release|x86
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

Tools/ArdupilotMegaPlanner/ChangeLog.txt

@@ -1,4 +1,19 @@
-* Mission Planner 1.2.20
+* Mission Planner 1.2.22
+fix speed modification scale
+fix typo on antenna Tracker
+setup for ThemeManager.cs
+new auto hide menu
+
+* Mission Planner 1.2.21
+Antenna Tracker mod from William Bryan
+Scaling mods
+battery screen mods
+failsafe screen pwm checking
+remove reverse radio options when we are using a quad
+config menu reorganise
+add Ateryx stuff
+
+* Mission Planner 1.2.20
 fix airspeed error scale and min ground speed
 modify mount options
 add german lang

Tools/ArdupilotMegaPlanner/Comms/CommsSerialPort.cs

@@ -6,6 +6,7 @@ using System.IO;
 using System.Linq;
 using System.Management;
 using ArdupilotMega.Utilities;
+using System.Reflection;
 
 namespace ArdupilotMega.Comms
 {
@@ -17,6 +18,19 @@ namespace ArdupilotMega.Comms
         {
             try
             {
+                try
+                {
+                    Type mytype = typeof(System.IO.Ports.SerialPort);
+                    FieldInfo field = mytype.GetField("internalSerialStream", BindingFlags.Instance | BindingFlags.NonPublic);
+                    Stream stream = (Stream)field.GetValue(this);
+
+                    if (stream != null)
+                    {
+                        stream.Dispose();
+                    }
+                }
+                catch { }
+
                 base.Dispose(disposing);
             }
             catch { }

Tools/ArdupilotMegaPlanner/Controls/QuickView.cs

@@ -12,7 +12,20 @@ namespace ArdupilotMega.Controls
     public partial class QuickView : UserControl
     {
         [System.ComponentModel.Browsable(true)]
-        public string desc { get { return labelWithPseudoOpacity1.Text; } set { if (labelWithPseudoOpacity1.Text == value) return; labelWithPseudoOpacity1.Text = value; } }
+        public string desc
+        {
+            get
+            {
+                return labelWithPseudoOpacity1.Text;
+            }
+            set
+            {
+                if (labelWithPseudoOpacity1.Text == value)
+                    return;
+                
+                labelWithPseudoOpacity1.Text = value;
+            }
+        }
         [System.ComponentModel.Browsable(true)]
         public double number { get { return double.Parse(labelWithPseudoOpacity2.Text); } 
             set { 
@@ -23,6 +36,7 @@ namespace ArdupilotMega.Controls
                 GetFontSize();
             }
         }
+
         [System.ComponentModel.Browsable(true)]
         public Color numberColor { get { return labelWithPseudoOpacity2.ForeColor; } set { if (labelWithPseudoOpacity2.ForeColor == value) return; labelWithPseudoOpacity2.ForeColor = value; } }
 

Tools/ArdupilotMegaPlanner/CurrentState.cs

@@ -5,6 +5,7 @@ using System.Text;
 using System.ComponentModel;
 using ArdupilotMega.Utilities;
 using log4net;
+using ArdupilotMega.Attributes;
 
 namespace ArdupilotMega
 {
@@ -13,32 +14,46 @@ namespace ArdupilotMega
         private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
         // multipliers
         public float multiplierdist = 1;
+        internal string DistanceUnit = "";
         public float multiplierspeed = 1;
+        internal string SpeedUnit = "";
 
         // orientation - rads
+        [DisplayText("Roll (deg)")]
         public float roll { get; set; }
+        [DisplayText("Pitch (deg)")]
         public float pitch { get; set; }
+        [DisplayText("Yaw (deg)")]
         public float yaw { get { return _yaw; } set { if (value < 0) { _yaw = value + 360; } else { _yaw = value; } } }
         private float _yaw = 0;
 
+        [DisplayText("GroundCourse (deg)")]
         public float groundcourse { get { return _groundcourse; } set { if (value < 0) { _groundcourse = value + 360; } else { _groundcourse = value; } } }
         private float _groundcourse = 0;
 
         /// <summary>
         /// time over target in seconds
         /// </summary>
+        [DisplayText("Time over Target (sec)")]
         public int tot { get { if (groundspeed <= 0) return 0; return (int)(wp_dist / groundspeed); } }
+        [DisplayText("Dist Traveled (dist)")]
         public float distTraveled { get; set; }
+        [DisplayText("Time in Air (sec)")]
         public float timeInAir { get; set; }
 
         // speeds
+        [DisplayText("AirSpeed (speed)")]
         public float airspeed { get { return _airspeed * multiplierspeed; } set { _airspeed = value; } }
+        [DisplayText("GroundSpeed (speed)")]
         public float groundspeed { get { return _groundspeed * multiplierspeed; } set { _groundspeed = value; } }
         float _airspeed;
         float _groundspeed;
         float _verticalspeed;
-        public float verticalspeed { get { if (float.IsNaN(_verticalspeed)) _verticalspeed = 0; return _verticalspeed; } set { _verticalspeed = _verticalspeed * 0.4f + value * 0.6f; } }
+        [DisplayText("Vertical Speed (speed)")]
+        public float verticalspeed { get { if (float.IsNaN(_verticalspeed)) _verticalspeed = 0; return _verticalspeed * multiplierspeed; } set { _verticalspeed = _verticalspeed * 0.4f + value * 0.6f; } }
+        [DisplayText("Wind Direction (Deg)")]
         public float wind_dir { get; set; }
+        [DisplayText("Wind Velocity (speed)")]
         public float wind_vel { get; set; }
         /// <summary>
         /// used in wind calc
@@ -52,39 +67,59 @@ namespace ArdupilotMega
         //(alt_now - alt_then)/(time_now-time_then)
 
         // position
+        [DisplayText("Latitude (dd)")]
         public float lat { get; set; }
+        [DisplayText("Longitude (dd)")]
         public float lng { get; set; }
+        [DisplayText("Altitude (dist)")]
         public float alt { get { return (_alt - altoffsethome) * multiplierdist; } set { _alt = value; } }
         DateTime lastalt = DateTime.Now;
         float oldalt = 0;
+        [DisplayText("Alt Home Offset (dist)")]
         public float altoffsethome { get; set; }
         private float _alt = 0;
+        [DisplayText("Gps Status")]
         public float gpsstatus { get; set; }
+        [DisplayText("Gps HDOP")]
         public float gpshdop { get; set; }
+        [DisplayText("Sat Count")]
         public float satcount { get; set; }
 
         public float altd1000 { get { return (alt / 1000) % 10; } }
         public float altd100 { get { return (alt / 100) % 10; } }
 
         // accel
+        [DisplayText("Accel X")]
         public float ax { get; set; }
+        [DisplayText("Accel Y")]
         public float ay { get; set; }
+        [DisplayText("Accel Z")]
         public float az { get; set; }
         // gyro
+        [DisplayText("Gyro X")]
         public float gx { get; set; }
+        [DisplayText("Gyro Y")]
         public float gy { get; set; }
+        [DisplayText("Gyro Z")]
         public float gz { get; set; }
         // mag
+        [DisplayText("Mag X")]
         public float mx { get; set; }
+        [DisplayText("Mag Y")]
         public float my { get; set; }
+        [DisplayText("Mag Z")]
         public float mz { get; set; }
 
+        [DisplayText("Mag Field")]
         public float magfield { get { return (float)Math.Sqrt(Math.Pow(mx, 2) + Math.Pow(my, 2) + Math.Pow(mz, 2)); } }
+        [DisplayText("Accel Strength")]
         public float accelsq { get { return (float)Math.Sqrt(Math.Pow(ax, 2) + Math.Pow(ay, 2) + Math.Pow(az, 2)) / 1000.0f /*980.665f*/; } }
 
         // calced turn rate
+        [DisplayText("Turn Rate (speed)")]
         public float turnrate { get { if (groundspeed <= 1) return 0; return (roll * 9.8f) / groundspeed; } }
         // turn radius
+        [DisplayText("Turn Radius (dist)")]
         public float radius { get { if (groundspeed <= 1) return 0; return ((groundspeed * groundspeed)/(float)(9.8f*Math.Tan(roll * deg2rad))); } }
 
         public float rxrssi { get; set; }
@@ -136,82 +171,60 @@ namespace ArdupilotMega
         float _ch3percent = -1;
 
         //nav state
+        [DisplayText("Roll Target (deg)")]
         public float nav_roll { get; set; }
+        [DisplayText("Pitch Target (deg)")]
         public float nav_pitch { get; set; }
+        [DisplayText("Bearing Target (deg)")]
         public float nav_bearing { get; set; }
+        [DisplayText("Bearing Target (deg)")]
         public float target_bearing { get; set; }
+        [DisplayText("Dist to WP (dist)")]
         public float wp_dist { get { return (_wpdist * multiplierdist); } set { _wpdist = value; } }
+        [DisplayText("Altitude Error (dist)")]
         public float alt_error { get { return _alt_error * multiplierdist; } set { if (_alt_error == value) return; _alt_error = value; _targetalt = _targetalt * 0.5f + (float)Math.Round(alt + alt_error, 0) * 0.5f; } }
+        [DisplayText("Bearing Error (deg)")]
         public float ber_error { get { return (target_bearing - yaw); } set { } }
+        [DisplayText("Airspeed Error (speed)")]
         public float aspd_error { get { return _aspd_error * multiplierspeed; } set { if (_aspd_error == value) return; _aspd_error = value; _targetairspeed = _targetairspeed * 0.5f + (float)Math.Round(airspeed + aspd_error, 0) * 0.5f; } }
+        [DisplayText("Xtrack Error (m)")]
         public float xtrack_error { get; set; }
+        [DisplayText("WP No")]
         public float wpno { get; set; }
+        [DisplayText("Mode")]
         public string mode { get; set; }
-        public float climbrate { get; set; }
+        [DisplayText("ClimbRate (speed)")]
+        public float climbrate { get { return _climbrate * multiplierspeed; } set {_climbrate = value;} }
         float _wpdist;
         float _aspd_error;
         float _alt_error;
         float _targetalt;
         float _targetairspeed;
+        float _climbrate;
 
         public float targetaltd100 { get { return (_targetalt / 100) % 10; } }
         public float targetalt { get { return _targetalt; } }
 
         //airspeed_error = (airspeed_error - airspeed);
+        [DisplayText("Airspeed Target (speed)")]
         public float targetairspeed { get { return _targetairspeed; } }
 
 
         //message
-        public List<string> messages { get; set; }
-        public string message { get { if (messages.Count == 0) return ""; return messages[messages.Count - 1]; } set { } }
+        internal List<string> messages { get; set; }
+        internal string message { get { if (messages.Count == 0) return ""; return messages[messages.Count - 1]; } set { } }
 
         //battery
+        [DisplayText("Bat Voltage (V)")]
         public float battery_voltage { get { return _battery_voltage; } set { _battery_voltage = value / 1000; } }
         private float _battery_voltage;
+        [DisplayText("Bat Remaining (%)")]
         public float battery_remaining { get { return _battery_remaining; } set { _battery_remaining = value / 100; if (_battery_remaining < 0 || _battery_remaining > 1) _battery_remaining = 0; } }
         private float _battery_remaining;
+        [DisplayText("Bat Current (Amps)")]
         public float current { get { return _current; } set { _current = value / 100; } }
         private float _current;
 
-        // pressure
-        public float press_abs { get; set; }
-        public int press_temp { get; set; }
-
-        // sensor offsets
-        public int mag_ofs_x { get; set; }
-        public int mag_ofs_y { get; set; }
-        public int mag_ofs_z { get; set; }
-        public float mag_declination { get; set; }
-        public int raw_press { get; set; }
-        public int raw_temp { get; set; }
-        public float gyro_cal_x { get; set; }
-        public float gyro_cal_y { get; set; }
-        public float gyro_cal_z { get; set; }
-        public float accel_cal_x { get; set; }
-        public float accel_cal_y { get; set; }
-        public float accel_cal_z { get; set; }
-
-        // HIL
-        public int hilch1 { get; set; }
-        public int hilch2 { get; set; }
-        public int hilch3 { get; set; }
-        public int hilch4 { get; set; }
-        public int hilch5;
-        public int hilch6;
-        public int hilch7;
-        public int hilch8;
-
-        // rc override
-        public ushort rcoverridech1 { get; set; }
-        public ushort rcoverridech2 { get; set; }
-        public ushort rcoverridech3 { get; set; }
-        public ushort rcoverridech4 { get; set; }
-        public ushort rcoverridech5 { get; set; }
-        public ushort rcoverridech6 { get; set; }
-        public ushort rcoverridech7 { get; set; }
-        public ushort rcoverridech8 { get; set; }
-
-
         public float HomeAlt { get { return (float)HomeLocation.Alt; } set { } }
         internal PointLatLngAlt HomeLocation = new PointLatLngAlt();
 
@@ -234,6 +247,7 @@ namespace ArdupilotMega
             }
         }
 
+     [DisplayText("Elevation to Mav (deg)")]
         public float ELToMAV
         {
             get
@@ -251,6 +265,7 @@ namespace ArdupilotMega
             }
         }
 
+         [DisplayText("Bearing to Mav (deg)")]
         public float AZToMAV
         {
             get
@@ -276,6 +291,47 @@ namespace ArdupilotMega
                 return (float)bearing;
             }
         }
+
+
+        // pressure
+        public float press_abs { get; set; }
+        public int press_temp { get; set; }
+
+        // sensor offsets
+        public int mag_ofs_x { get; set; }
+        public int mag_ofs_y { get; set; }
+        public int mag_ofs_z { get; set; }
+        public float mag_declination { get; set; }
+        public int raw_press { get; set; }
+        public int raw_temp { get; set; }
+        public float gyro_cal_x { get; set; }
+        public float gyro_cal_y { get; set; }
+        public float gyro_cal_z { get; set; }
+        public float accel_cal_x { get; set; }
+        public float accel_cal_y { get; set; }
+        public float accel_cal_z { get; set; }
+
+        // HIL
+        public int hilch1 { get; set; }
+        public int hilch2 { get; set; }
+        public int hilch3 { get; set; }
+        public int hilch4 { get; set; }
+        public int hilch5;
+        public int hilch6;
+        public int hilch7;
+        public int hilch8;
+
+        // rc override
+        public ushort rcoverridech1 { get; set; }
+        public ushort rcoverridech2 { get; set; }
+        public ushort rcoverridech3 { get; set; }
+        public ushort rcoverridech4 { get; set; }
+        public ushort rcoverridech5 { get; set; }
+        public ushort rcoverridech6 { get; set; }
+        public ushort rcoverridech7 { get; set; }
+        public ushort rcoverridech8 { get; set; }
+
+
         // current firmware
         public MainV2.Firmwares firmware = MainV2.Firmwares.ArduPlane;
         public float freemem { get; set; }
@@ -368,6 +424,27 @@ namespace ArdupilotMega
         private DateTime lastsecondcounter = DateTime.Now;
         private PointLatLngAlt lastpos = new PointLatLngAlt();
 
+        public string GetNameandUnit(string name)
+        {
+            string desc = name;
+            try
+            {
+                desc = ((Attributes.DisplayTextAttribute)typeof(CurrentState).GetProperty(name).GetCustomAttributes(false)[0]).Text;
+            }
+            catch { }
+
+            if (desc.Contains("(dist)"))
+            {
+                desc = desc.Replace("(dist)", "(" + MainV2.cs.DistanceUnit + ")");
+            }
+            else if (desc.Contains("(speed)"))
+            {
+                desc = desc.Replace("(speed)", "(" + MainV2.cs.SpeedUnit + ")");
+            }
+
+            return desc;
+        }
+
         public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs)
         {
             UpdateCurrentSettings(bs, false, MainV2.comPort);
@@ -485,7 +562,7 @@ namespace ArdupilotMega
                         gotwind = true;
 
                         wind_dir = (wind.direction + 360) % 360;
-                        wind_vel = wind.speed;
+                        wind_vel = wind.speed * multiplierspeed;
 
                         //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
                     }

Tools/ArdupilotMegaPlanner/FollowMe.cs

@@ -6,7 +6,7 @@ using System.Drawing;
 using System.Linq;
 using System.Text;
 using System.Windows.Forms;
-using System.IO.Ports;
+using ArdupilotMega.Comms;
 using System.Globalization;
 
 namespace ArdupilotMega

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

@@ -53,6 +53,7 @@
             this.timer1 = new System.Windows.Forms.Timer(this.components);
             this.CMB_apmversion = new System.Windows.Forms.ComboBox();
             this.label1 = new System.Windows.Forms.Label();
+            this.label2 = new System.Windows.Forms.Label();
             this.groupBox4.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.pictureBox5)).BeginInit();
             this.SuspendLayout();
@@ -135,6 +136,7 @@
             // 
             // CMB_batmonsensortype
             // 
+            this.CMB_batmonsensortype.DropDownWidth = 150;
             this.CMB_batmonsensortype.FormattingEnabled = true;
             this.CMB_batmonsensortype.Items.AddRange(new object[] {
             resources.GetString("CMB_batmonsensortype.Items"),
@@ -182,7 +184,7 @@
             // pictureBox5
             // 
             this.pictureBox5.BackColor = System.Drawing.Color.White;
-            this.pictureBox5.BackgroundImage = global::ArdupilotMega.Properties.Resources.attocurrent;
+            this.pictureBox5.BackgroundImage = global::ArdupilotMega.Properties.Resources.BR_APMPWRDEAN_2;
             resources.ApplyResources(this.pictureBox5, "pictureBox5");
             this.pictureBox5.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
             this.pictureBox5.Name = "pictureBox5";
@@ -209,10 +211,16 @@
             resources.ApplyResources(this.label1, "label1");
             this.label1.Name = "label1";
             // 
+            // label2
+            // 
+            resources.ApplyResources(this.label2, "label2");
+            this.label2.Name = "label2";
+            // 
             // ConfigBatteryMonitoring
             // 
             resources.ApplyResources(this, "$this");
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.label2);
             this.Controls.Add(this.label1);
             this.Controls.Add(this.CMB_apmversion);
             this.Controls.Add(this.groupBox4);
@@ -257,5 +265,6 @@
         private System.Windows.Forms.Timer timer1;
         private System.Windows.Forms.ComboBox CMB_apmversion;
         private System.Windows.Forms.Label label1;
+        private System.Windows.Forms.Label label2;
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigBatteryMonitoring.resx

@@ -427,7 +427,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;groupBox4.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>3</value>
   </data>
   <data name="label47.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -454,7 +454,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label47.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>4</value>
   </data>
   <data name="CMB_batmonsensortype.Items" xml:space="preserve">
     <value>0: Other</value>
@@ -469,7 +469,7 @@
     <value>3: AttoPilot 180A</value>
   </data>
   <data name="CMB_batmonsensortype.Items4" xml:space="preserve">
-    <value>4: 3DR IV Sensor</value>
+    <value>4: 3DR Power Module</value>
   </data>
   <data name="CMB_batmonsensortype.Location" type="System.Drawing.Point, System.Drawing">
     <value>160, 68</value>
@@ -490,7 +490,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CMB_batmonsensortype.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>5</value>
   </data>
   <data name="textBox3.Font" type="System.Drawing.Font, System.Drawing">
     <value>Microsoft Sans Serif, 8.25pt</value>
@@ -526,7 +526,7 @@ Then subtract 0.3v from that value and enter it in field #1 at left.
     <value>$this</value>
   </data>
   <data name="&gt;&gt;textBox3.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>6</value>
   </data>
   <data name="label29.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -535,16 +535,16 @@ Then subtract 0.3v from that value and enter it in field #1 at left.
     <value>NoControl</value>
   </data>
   <data name="label29.Location" type="System.Drawing.Point, System.Drawing">
-    <value>288, 45</value>
+    <value>287, 44</value>
   </data>
   <data name="label29.Size" type="System.Drawing.Size, System.Drawing">
-    <value>48, 13</value>
+    <value>84, 13</value>
   </data>
   <data name="label29.TabIndex" type="System.Int32, mscorlib">
     <value>43</value>
   </data>
   <data name="label29.Text" xml:space="preserve">
-    <value>Capacity</value>
+    <value>Battery Capacity</value>
   </data>
   <data name="&gt;&gt;label29.Name" xml:space="preserve">
     <value>label29</value>
@@ -556,7 +556,7 @@ Then subtract 0.3v from that value and enter it in field #1 at left.
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label29.ZOrder" xml:space="preserve">
-    <value>6</value>
+    <value>7</value>
   </data>
   <data name="label30.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -583,17 +583,20 @@ Then subtract 0.3v from that value and enter it in field #1 at left.
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label30.ZOrder" xml:space="preserve">
-    <value>7</value>
+    <value>8</value>
   </data>
   <data name="TXT_battcapacity.Location" type="System.Drawing.Point, System.Drawing">
-    <value>349, 42</value>
+    <value>377, 41</value>
   </data>
   <data name="TXT_battcapacity.Size" type="System.Drawing.Size, System.Drawing">
-    <value>83, 20</value>
+    <value>50, 20</value>
   </data>
   <data name="TXT_battcapacity.TabIndex" type="System.Int32, mscorlib">
     <value>45</value>
   </data>
+  <data name="TXT_battcapacity.Text" xml:space="preserve">
+    <value>2200</value>
+  </data>
   <data name="&gt;&gt;TXT_battcapacity.Name" xml:space="preserve">
     <value>TXT_battcapacity</value>
   </data>
@@ -604,7 +607,7 @@ Then subtract 0.3v from that value and enter it in field #1 at left.
     <value>$this</value>
   </data>
   <data name="&gt;&gt;TXT_battcapacity.ZOrder" xml:space="preserve">
-    <value>8</value>
+    <value>9</value>
   </data>
   <data name="CMB_batmontype.Items" xml:space="preserve">
     <value>0: Disabled</value>
@@ -634,7 +637,7 @@ Then subtract 0.3v from that value and enter it in field #1 at left.
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CMB_batmontype.ZOrder" xml:space="preserve">
-    <value>9</value>
+    <value>10</value>
   </data>
   <data name="pictureBox5.BackgroundImageLayout" type="System.Windows.Forms.ImageLayout, System.Windows.Forms">
     <value>Zoom</value>
@@ -643,10 +646,10 @@ Then subtract 0.3v from that value and enter it in field #1 at left.
     <value>NoControl</value>
   </data>
   <data name="pictureBox5.Location" type="System.Drawing.Point, System.Drawing">
-    <value>14, 16</value>
+    <value>3, 41</value>
   </data>
   <data name="pictureBox5.Size" type="System.Drawing.Size, System.Drawing">
-    <value>75, 75</value>
+    <value>97, 75</value>
   </data>
   <data name="pictureBox5.TabIndex" type="System.Int32, mscorlib">
     <value>42</value>
@@ -661,7 +664,7 @@ Then subtract 0.3v from that value and enter it in field #1 at left.
     <value>$this</value>
   </data>
   <data name="&gt;&gt;pictureBox5.ZOrder" xml:space="preserve">
-    <value>10</value>
+    <value>11</value>
   </data>
   <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>17, 17</value>
@@ -694,7 +697,7 @@ Then subtract 0.3v from that value and enter it in field #1 at left.
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CMB_apmversion.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>2</value>
   </data>
   <data name="label1.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -721,6 +724,36 @@ Then subtract 0.3v from that value and enter it in field #1 at left.
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label1.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="label2.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="label2.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="label2.Location" type="System.Drawing.Point, System.Drawing">
+    <value>433, 44</value>
+  </data>
+  <data name="label2.Size" type="System.Drawing.Size, System.Drawing">
+    <value>28, 13</value>
+  </data>
+  <data name="label2.TabIndex" type="System.Int32, mscorlib">
+    <value>53</value>
+  </data>
+  <data name="label2.Text" xml:space="preserve">
+    <value>mAh</value>
+  </data>
+  <data name="&gt;&gt;label2.Name" xml:space="preserve">
+    <value>label2</value>
+  </data>
+  <data name="&gt;&gt;label2.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label2.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;label2.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
   <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Setup.cs

@@ -112,7 +112,7 @@ If you are just setting up 3DR radios, you may continue without connecting.");
                 AddBackstageViewPage(configpanel, "ArduCopter Pids", standardpage);
 
                 AddBackstageViewPage(new ConfigArducopter(), "ArduCopter Config", standardpage);
-               // AddBackstageViewPage(new ConfigAP_Limits(), "GeoFence");
+                AddBackstageViewPage(new ConfigAP_Limits(), "GeoFence");
             }
                 /****************************** ArduPlane **************************/
             else if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)

Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs

@@ -2,11 +2,11 @@
 using System.Collections.Generic;
 using System.Reflection;
 using System.Windows.Forms;
-using System.IO.Ports;
 using System.IO;
 using System.Xml;
 using System.Net;
 using log4net;
+using ArdupilotMega.Comms;
 using ArdupilotMega.Arduino;
 using ArdupilotMega.Utilities;
 using System.Text.RegularExpressions;
@@ -491,8 +491,8 @@ namespace ArdupilotMega.GCSViews
                            };
             }
             port.DataBits = 8;
-            port.StopBits = StopBits.One;
-            port.Parity = Parity.None;
+            port.StopBits = System.IO.Ports.StopBits.One;
+            port.Parity = System.IO.Ports.Parity.None;
             port.DtrEnable = true;
 
             try
@@ -606,7 +606,11 @@ namespace ArdupilotMega.GCSViews
             {
                 lbl_status.Text = "Failed upload"; 
                 CustomMessageBox.Show("Check port settings or Port in use? " + ex);
-                port.Close();
+                try
+                {
+                    port.Close();
+                }
+                catch { }
             }
             flashing = false;
             MainV2.giveComport = false;

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.Designer.cs

@@ -8,8 +8,8 @@
         {
             this.components = new System.ComponentModel.Container();
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FlightData));
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle7 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle8 = new System.Windows.Forms.DataGridViewCellStyle();
             this.contextMenuStripMap = new System.Windows.Forms.ContextMenuStrip(this.components);
             this.goHereToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.flyToHereAltToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
@@ -70,11 +70,12 @@
             this.tableMap = new System.Windows.Forms.TableLayoutPanel();
             this.splitContainer1 = new System.Windows.Forms.SplitContainer();
             this.zg1 = new ZedGraph.ZedGraphControl();
+            this.gMapControl1 = new ArdupilotMega.Controls.myGMAP();
+            this.TRK_zoom = new ArdupilotMega.Controls.MyTrackBar();
             this.lbl_winddir = new ArdupilotMega.Controls.MyLabel();
             this.lbl_windvel = new ArdupilotMega.Controls.MyLabel();
             this.lbl_hdop = new ArdupilotMega.Controls.MyLabel();
             this.lbl_sats = new ArdupilotMega.Controls.MyLabel();
-            this.gMapControl1 = new ArdupilotMega.Controls.myGMAP();
             this.panel1 = new System.Windows.Forms.Panel();
             this.TXT_lat = new ArdupilotMega.Controls.MyLabel();
             this.Zoomlevel = new System.Windows.Forms.NumericUpDown();
@@ -87,8 +88,6 @@
             this.dataGridViewImageColumn2 = new System.Windows.Forms.DataGridViewImageColumn();
             this.ZedGraphTimer = new System.Windows.Forms.Timer(this.components);
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
-            this.contextMenuStripDockContainer = new System.Windows.Forms.ContextMenuStrip(this.components);
-            this.resetToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.contextMenuStripMap.SuspendLayout();
             this.MainH.Panel1.SuspendLayout();
             this.MainH.Panel2.SuspendLayout();
@@ -109,9 +108,9 @@
             this.splitContainer1.Panel1.SuspendLayout();
             this.splitContainer1.Panel2.SuspendLayout();
             this.splitContainer1.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.TRK_zoom)).BeginInit();
             this.panel1.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.Zoomlevel)).BeginInit();
-            this.contextMenuStripDockContainer.SuspendLayout();
             this.SuspendLayout();
             // 
             // contextMenuStripMap
@@ -1117,11 +1116,12 @@
             // splitContainer1.Panel2
             // 
             this.splitContainer1.Panel2.ContextMenuStrip = this.contextMenuStripMap;
+            this.splitContainer1.Panel2.Controls.Add(this.gMapControl1);
+            this.splitContainer1.Panel2.Controls.Add(this.TRK_zoom);
             this.splitContainer1.Panel2.Controls.Add(this.lbl_winddir);
             this.splitContainer1.Panel2.Controls.Add(this.lbl_windvel);
             this.splitContainer1.Panel2.Controls.Add(this.lbl_hdop);
             this.splitContainer1.Panel2.Controls.Add(this.lbl_sats);
-            this.splitContainer1.Panel2.Controls.Add(this.gMapControl1);
             // 
             // zg1
             // 
@@ -1136,6 +1136,44 @@
             this.zg1.ScrollMinY2 = 0D;
             this.zg1.DoubleClick += new System.EventHandler(this.zg1_DoubleClick);
             // 
+            // gMapControl1
+            // 
+            this.gMapControl1.Bearing = 0F;
+            this.gMapControl1.CanDragMap = true;
+            this.gMapControl1.ContextMenuStrip = this.contextMenuStripMap;
+            resources.ApplyResources(this.gMapControl1, "gMapControl1");
+            this.gMapControl1.GrayScaleMode = false;
+            this.gMapControl1.LevelsKeepInMemmory = 5;
+            this.gMapControl1.MarkersEnabled = true;
+            this.gMapControl1.MaxZoom = 2;
+            this.gMapControl1.MinZoom = 2;
+            this.gMapControl1.MouseWheelZoomType = GMap.NET.MouseWheelZoomType.MousePositionAndCenter;
+            this.gMapControl1.Name = "gMapControl1";
+            this.gMapControl1.NegativeMode = false;
+            this.gMapControl1.PolygonsEnabled = true;
+            this.gMapControl1.RetryLoadTile = 0;
+            this.gMapControl1.RoutesEnabled = true;
+            this.gMapControl1.ShowTileGridLines = false;
+            this.gMapControl1.streamjpg = ((System.IO.MemoryStream)(resources.GetObject("gMapControl1.streamjpg")));
+            this.gMapControl1.Zoom = 0D;
+            this.gMapControl1.Click += new System.EventHandler(this.gMapControl1_Click);
+            this.gMapControl1.MouseDown += new System.Windows.Forms.MouseEventHandler(this.gMapControl1_MouseDown);
+            this.gMapControl1.MouseLeave += new System.EventHandler(this.gMapControl1_MouseLeave);
+            this.gMapControl1.MouseMove += new System.Windows.Forms.MouseEventHandler(this.gMapControl1_MouseMove);
+            // 
+            // TRK_zoom
+            // 
+            resources.ApplyResources(this.TRK_zoom, "TRK_zoom");
+            this.TRK_zoom.LargeChange = 100;
+            this.TRK_zoom.Maximum = 18D;
+            this.TRK_zoom.Minimum = 1D;
+            this.TRK_zoom.Name = "TRK_zoom";
+            this.TRK_zoom.SmallChange = 50;
+            this.TRK_zoom.TickFrequency = 100;
+            this.TRK_zoom.TickStyle = System.Windows.Forms.TickStyle.Both;
+            this.TRK_zoom.Value = 10D;
+            this.TRK_zoom.Scroll += new System.EventHandler(this.TRK_zoom_Scroll);
+            // 
             // lbl_winddir
             // 
             this.lbl_winddir.DataBindings.Add(new System.Windows.Forms.Binding("Text", this.bindingSource1, "wind_dir", true, System.Windows.Forms.DataSourceUpdateMode.OnValidation, null, "Dir: 0"));
@@ -1168,32 +1206,6 @@
             this.lbl_sats.resize = true;
             this.toolTip1.SetToolTip(this.lbl_sats, resources.GetString("lbl_sats.ToolTip"));
             // 
-            // gMapControl1
-            // 
-            this.gMapControl1.BackColor = System.Drawing.Color.Transparent;
-            this.gMapControl1.Bearing = 0F;
-            this.gMapControl1.CanDragMap = true;
-            this.gMapControl1.ContextMenuStrip = this.contextMenuStripMap;
-            resources.ApplyResources(this.gMapControl1, "gMapControl1");
-            this.gMapControl1.GrayScaleMode = false;
-            this.gMapControl1.LevelsKeepInMemmory = 5;
-            this.gMapControl1.MarkersEnabled = true;
-            this.gMapControl1.MaxZoom = 2;
-            this.gMapControl1.MinZoom = 2;
-            this.gMapControl1.MouseWheelZoomType = GMap.NET.MouseWheelZoomType.MousePositionAndCenter;
-            this.gMapControl1.Name = "gMapControl1";
-            this.gMapControl1.NegativeMode = false;
-            this.gMapControl1.PolygonsEnabled = true;
-            this.gMapControl1.RetryLoadTile = 0;
-            this.gMapControl1.RoutesEnabled = true;
-            this.gMapControl1.ShowTileGridLines = false;
-            this.gMapControl1.streamjpg = ((System.IO.MemoryStream)(resources.GetObject("gMapControl1.streamjpg")));
-            this.gMapControl1.Zoom = 0D;
-            this.gMapControl1.Click += new System.EventHandler(this.gMapControl1_Click);
-            this.gMapControl1.MouseDown += new System.Windows.Forms.MouseEventHandler(this.gMapControl1_MouseDown);
-            this.gMapControl1.MouseLeave += new System.EventHandler(this.gMapControl1_MouseLeave);
-            this.gMapControl1.MouseMove += new System.Windows.Forms.MouseEventHandler(this.gMapControl1_MouseMove);
-            // 
             // panel1
             // 
             this.panel1.Controls.Add(this.TXT_lat);
@@ -1281,8 +1293,8 @@
             // 
             // dataGridViewImageColumn1
             // 
-            dataGridViewCellStyle1.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
-            this.dataGridViewImageColumn1.DefaultCellStyle = dataGridViewCellStyle1;
+            dataGridViewCellStyle7.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
+            this.dataGridViewImageColumn1.DefaultCellStyle = dataGridViewCellStyle7;
             resources.ApplyResources(this.dataGridViewImageColumn1, "dataGridViewImageColumn1");
             this.dataGridViewImageColumn1.Image = global::ArdupilotMega.Properties.Resources.up;
             this.dataGridViewImageColumn1.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@@ -1290,8 +1302,8 @@
             // 
             // dataGridViewImageColumn2
             // 
-            dataGridViewCellStyle2.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
-            this.dataGridViewImageColumn2.DefaultCellStyle = dataGridViewCellStyle2;
+            dataGridViewCellStyle8.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
+            this.dataGridViewImageColumn2.DefaultCellStyle = dataGridViewCellStyle8;
             resources.ApplyResources(this.dataGridViewImageColumn2, "dataGridViewImageColumn2");
             this.dataGridViewImageColumn2.Image = global::ArdupilotMega.Properties.Resources.down;
             this.dataGridViewImageColumn2.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@@ -1306,19 +1318,6 @@
             this.toolTip1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(205)))), ((int)(((byte)(226)))), ((int)(((byte)(150)))));
             this.toolTip1.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(121)))), ((int)(((byte)(148)))), ((int)(((byte)(41)))));
             // 
-            // contextMenuStripDockContainer
-            // 
-            this.contextMenuStripDockContainer.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
-            this.resetToolStripMenuItem});
-            this.contextMenuStripDockContainer.Name = "contextMenuStripDockContainer";
-            resources.ApplyResources(this.contextMenuStripDockContainer, "contextMenuStripDockContainer");
-            // 
-            // resetToolStripMenuItem
-            // 
-            this.resetToolStripMenuItem.Name = "resetToolStripMenuItem";
-            resources.ApplyResources(this.resetToolStripMenuItem, "resetToolStripMenuItem");
-            this.resetToolStripMenuItem.Click += new System.EventHandler(this.resetToolStripMenuItem_Click);
-            // 
             // FlightData
             // 
             resources.ApplyResources(this, "$this");
@@ -1350,11 +1349,12 @@
             this.tableMap.ResumeLayout(false);
             this.splitContainer1.Panel1.ResumeLayout(false);
             this.splitContainer1.Panel2.ResumeLayout(false);
+            this.splitContainer1.Panel2.PerformLayout();
             this.splitContainer1.ResumeLayout(false);
+            ((System.ComponentModel.ISupportInitialize)(this.TRK_zoom)).EndInit();
             this.panel1.ResumeLayout(false);
             this.panel1.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.Zoomlevel)).EndInit();
-            this.contextMenuStripDockContainer.ResumeLayout(false);
             this.ResumeLayout(false);
 
         }
@@ -1433,12 +1433,11 @@
         private System.Windows.Forms.ToolStripMenuItem flightPlannerToolStripMenuItem;
         private System.Windows.Forms.ToolStripMenuItem userItemsToolStripMenuItem;
         //private Crom.Controls.Docking.DockContainer dockContainer1;
-        private System.Windows.Forms.ContextMenuStrip contextMenuStripDockContainer;
-        private System.Windows.Forms.ToolStripMenuItem resetToolStripMenuItem;
         private Controls.MyButton BUT_ARM;
         private Controls.ModifyandSet modifyandSetAlt;
         private Controls.ModifyandSet modifyandSetSpeed;
         private System.Windows.Forms.ToolStripMenuItem triggerCameraToolStripMenuItem;
+        private Controls.MyTrackBar TRK_zoom;
 
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

@@ -140,24 +140,6 @@ namespace ArdupilotMega.GCSViews
                 chk_box_CheckedChanged((object)(new CheckBox() { Name = "nav_pitch", Checked = true }), new EventArgs());
             }
 
-            for (int f = 1; f < 10; f++)
-            {
-                // load settings
-                if (MainV2.config["quickView" + f] != null)
-                {
-                    Control[] ctls = this.Controls.Find("quickView" + f, true);
-                    if (ctls.Length > 0)
-                    {
-                        // set description
-                        ((QuickView)ctls[0]).desc = MainV2.config["quickView" + f].ToString();
-
-                        // set databinding for value
-                        ((QuickView)ctls[0]).DataBindings.Clear();
-                        ((QuickView)ctls[0]).DataBindings.Add(new System.Windows.Forms.Binding("number", this.bindingSource1, MainV2.config["quickView" + f].ToString(), true));
-                    }
-                }
-            }
-
             foreach (string item in MainV2.config.Keys)
             {
                 if (item.StartsWith("hud1_useritem_"))
@@ -345,6 +327,24 @@ namespace ArdupilotMega.GCSViews
                 hud1.Dock = DockStyle.Fill;
             }
 
+            for (int f = 1; f < 10; f++)
+            {
+                // load settings
+                if (MainV2.config["quickView" + f] != null)
+                {
+                    Control[] ctls = this.Controls.Find("quickView" + f, true);
+                    if (ctls.Length > 0)
+                    {
+                        // set description
+                        ((QuickView)ctls[0]).desc = MainV2.cs.GetNameandUnit(MainV2.config["quickView" + f].ToString());
+
+                        // set databinding for value
+                        ((QuickView)ctls[0]).DataBindings.Clear();
+                        ((QuickView)ctls[0]).DataBindings.Add(new System.Windows.Forms.Binding("number", this.bindingSource1, MainV2.config["quickView" + f].ToString(), true));
+                    }
+                }
+            }
+
             if (MainV2.comPort.param.ContainsKey("BATT_MONITOR") && (float)MainV2.comPort.param["BATT_MONITOR"] != 0)
             {
                 hud1.batteryon = true;
@@ -396,6 +396,7 @@ namespace ArdupilotMega.GCSViews
 
         void gMapControl1_OnMapZoomChanged()
         {
+            TRK_zoom.Value = gMapControl1.Zoom;
             Zoomlevel.Value = Convert.ToDecimal(gMapControl1.Zoom);
         }
 
@@ -410,6 +411,10 @@ namespace ArdupilotMega.GCSViews
             t11.Start();
             //MainH.threads.Add(t11);
 
+            TRK_zoom.Minimum = gMapControl1.MinZoom;
+            TRK_zoom.Maximum = gMapControl1.MaxZoom + 1;
+            TRK_zoom.Value = gMapControl1.Zoom;
+
             Zoomlevel.Minimum = gMapControl1.MinZoom;
             Zoomlevel.Maximum = gMapControl1.MaxZoom + 1;
             Zoomlevel.Value = Convert.ToDecimal(gMapControl1.Zoom);
@@ -2308,7 +2313,7 @@ print 'Roll complete'
 
                 CheckBox chk_box = new CheckBox();
 
-                if (((QuickView)sender).desc == field.Name)
+                if (((QuickView)sender).Tag == field.Name)
                     chk_box.Checked = true;
 
                 chk_box.Text = field.Name;
@@ -2345,7 +2350,12 @@ print 'Roll complete'
                 MainV2.config[((QuickView)((CheckBox)sender).Tag).Name] = ((CheckBox)sender).Name;
 
                 // set description
-                ((QuickView)((CheckBox)sender).Tag).desc = ((CheckBox)sender).Name;
+                string desc = ((CheckBox)sender).Name;
+                ((QuickView)((CheckBox)sender).Tag).Tag = desc;
+
+                desc = MainV2.cs.GetNameandUnit(desc);
+
+                ((QuickView)((CheckBox)sender).Tag).desc = desc;
 
                 // set databinding for value
                 ((QuickView)((CheckBox)sender).Tag).DataBindings.Clear();
@@ -2562,5 +2572,22 @@ print 'Roll complete'
             }
             catch { CustomMessageBox.Show("Error sending command"); }
         }
+
+        private void TRK_zoom_Scroll(object sender, EventArgs e)
+        {
+            try
+            {
+                if (gMapControl1.MaxZoom + 1 == (double)TRK_zoom.Value)
+                {
+                    gMapControl1.Zoom = (double)TRK_zoom.Value - .1;
+                }
+                else
+                {
+                    gMapControl1.Zoom = (double)TRK_zoom.Value;
+                }
+            }
+            catch { }
+        }
+
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs

@@ -1038,7 +1038,7 @@ namespace ArdupilotMega.GCSViews
 
             //            comPort.sendPacket(oldgps);
 
-            comPort.sendPacket(new MAVLink.mavlink_vfr_hud_t() { airspeed = (float)sitldata.airspeed } );
+            //comPort.sendPacket(new MAVLink.mavlink_vfr_hud_t() { airspeed = (float)sitldata.airspeed } );
 
             MAVLink.mavlink_raw_pressure_t pres = new MAVLink.mavlink_raw_pressure_t();
             double calc = (101325 * Math.Pow(1 - 2.25577 * Math.Pow(10, -5) * sitldata.altitude, 5.25588)); // updated from valid gps

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -249,6 +249,8 @@ namespace ArdupilotMega
                 }
             }
 
+            ChangeUnits();
+
             try
             {
                 FlightData = new GCSViews.FlightData();
@@ -275,8 +277,6 @@ namespace ArdupilotMega
             if (MainV2.config["CHK_GDIPlus"] != null)
                 GCSViews.FlightData.myhud.UseOpenGL = !bool.Parse(MainV2.config["CHK_GDIPlus"].ToString());
 
-            ChangeUnits();
-
             try
             {
                 if (config["MainLocX"] != null && config["MainLocY"] != null)
@@ -2258,12 +2258,19 @@ namespace ArdupilotMega
                     {
                         case Common.distances.Meters:
                             MainV2.cs.multiplierdist = 1;
+                            MainV2.cs.DistanceUnit = "Meters";
                             break;
                         case Common.distances.Feet:
                             MainV2.cs.multiplierdist = 3.2808399f;
+                            MainV2.cs.DistanceUnit = "Feet";
                             break;
                     }
                 }
+                else
+                {
+                    MainV2.cs.multiplierdist = 1;
+                    MainV2.cs.DistanceUnit = "Meters";
+                }
 
                 // speed
                 if (MainV2.config["speedunits"] != null)
@@ -2272,21 +2279,31 @@ namespace ArdupilotMega
                     {
                         case Common.speeds.ms:
                             MainV2.cs.multiplierspeed = 1;
+                            MainV2.cs.SpeedUnit = "m/s";
                             break;
                         case Common.speeds.fps:
                             MainV2.cs.multiplierdist = 3.2808399f;
+                            MainV2.cs.SpeedUnit = "fps";
                             break;
                         case Common.speeds.kph:
                             MainV2.cs.multiplierspeed = 3.6f;
+                            MainV2.cs.SpeedUnit = "kph";
                             break;
                         case Common.speeds.mph:
                             MainV2.cs.multiplierspeed = 2.23693629f;
+                            MainV2.cs.SpeedUnit = "mph";
                             break;
                         case Common.speeds.knots:
                             MainV2.cs.multiplierspeed = 1.94384449f;
+                            MainV2.cs.SpeedUnit = "knots";
                             break;
                     }
                 }
+                else
+                {
+                    MainV2.cs.multiplierspeed = 1;
+                    MainV2.cs.SpeedUnit = "m/s";
+                }
             }
             catch { }
 
@@ -2337,10 +2354,9 @@ namespace ArdupilotMega
         {
             this.SuspendLayout();
             panel1.Location = new Point(0,0);
-            panel1.Visible = true;
             panel1.Width = menu.Width;
             panel1.BringToFront();
-
+            panel1.Visible = true;
             this.ResumeLayout();
         }
     }

Tools/ArdupilotMegaPlanner/Mavlink/MAVLink.cs

@@ -1073,6 +1073,9 @@ namespace ArdupilotMega
             {
                 retrys = 1;
                 timeout = 25000;
+            } else if (actionid == MAV_CMD.PREFLIGHT_REBOOT_SHUTDOWN) {
+                generatePacket(MAVLINK_MSG_ID_COMMAND_LONG, req);
+                return true;
             }
 
             while (true)

Tools/ArdupilotMegaPlanner/MavlinkLog.cs

@@ -1289,19 +1289,20 @@ namespace ArdupilotMega
 
                 foreach (string logfile in openFileDialog1.FileNames)
                 {
-
-                    MAVLink mine = new MAVLink();
                     try
                     {
-                        mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
-                    }
-                    catch (Exception ex) { log.Debug(ex.ToString()); CustomMessageBox.Show("Log Can not be opened. Are you still connected?"); return; }
+                        MAVLink mine = new MAVLink();
+                        try
+                        {
+                            mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
+                        }
+                        catch (Exception ex) { log.Debug(ex.ToString()); CustomMessageBox.Show("Log Can not be opened. Are you still connected?"); return; }
 
-                    mine.logreadmode = true;
+                        mine.logreadmode = true;
 
-                    mine.packets.Initialize(); // clear
+                        mine.packets.Initialize(); // clear
 
-                    StreamWriter sw = new StreamWriter(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(logfile) + ".param");
+                        StreamWriter sw = new StreamWriter(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(logfile) + ".param");
 
                         // bar moves to 100 % in this step
                         progressBar1.Value = (int)((float)mine.logplaybackfile.BaseStream.Position / (float)mine.logplaybackfile.BaseStream.Length * 100.0f / 1.0f);
@@ -1316,15 +1317,17 @@ namespace ArdupilotMega
                             sw.WriteLine(item + "\t" + mine.param[item]);
                         }
 
-                    sw.Close();
+                        sw.Close();
 
-                    progressBar1.Value = 100;
+                        progressBar1.Value = 100;
 
-                    mine.logreadmode = false;
-                    mine.logplaybackfile.Close();
-                    mine.logplaybackfile = null;
+                        mine.logreadmode = false;
+                        mine.logplaybackfile.Close();
+                        mine.logplaybackfile = null;
 
-                    CustomMessageBox.Show("File Saved with log file");
+                        CustomMessageBox.Show("File Saved with log file");
+                    }
+                    catch { CustomMessageBox.Show("Error Extracting params"); }
                 }
             }
         }

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" xmlns:iis='http://schemas.microsoft.com/wix/IIsExtension' >
 
 
-    <Product Id="*" Name="Mission Planner" Language="1033" Version="1.2.21" Manufacturer="Michael Oborne" UpgradeCode="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
+    <Product Id="*" Name="Mission Planner" Language="1033" Version="1.2.22" Manufacturer="Michael Oborne" UpgradeCode="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
 
         <Package Description="Mission Planner Installer" Comments="Mission Planner Installer" Manufacturer="Michael Oborne" InstallerVersion="200" Compressed="yes" />
 
 
 <Upgrade Id="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
-    <UpgradeVersion OnlyDetect="yes" Minimum="1.2.21" Property="NEWERVERSIONDETECTED" IncludeMinimum="no" />
-    <UpgradeVersion OnlyDetect="no" Maximum="1.2.21" Property="OLDERVERSIONBEINGUPGRADED" IncludeMaximum="no" />
+    <UpgradeVersion OnlyDetect="yes" Minimum="1.2.22" Property="NEWERVERSIONDETECTED" IncludeMinimum="no" />
+    <UpgradeVersion OnlyDetect="no" Maximum="1.2.22" Property="OLDERVERSIONBEINGUPGRADED" IncludeMaximum="no" />
 </Upgrade>
 
 <InstallExecuteSequence>
@@ -31,7 +31,7 @@
                             <Permission User="Everyone" GenericAll="yes" /> 
                         </CreateFolder>
                     </Component>
-<Component Id="_comp1" Guid="e654b084-6bd9-4884-ae1c-6d559ee7ccb1">
+<Component Id="_comp1" Guid="ed64115d-7954-4054-b1fe-074419886510">
 <File Id="_2" Source="..\bin\release\.gdbinit" />
 <File Id="_3" Source="..\bin\release\.gitignore" />
 <File Id="_4" Source="..\bin\release\aerosim3.91.txt" />
@@ -107,11 +107,11 @@
 <File Id="_74" Source="..\bin\release\ZedGraph.dll" />
 </Component>
 <Directory Id="aircraft74" Name="aircraft">
-<Component Id="_comp75" Guid="402ad9db-624b-454f-a630-ff9bed2b575f">
+<Component Id="_comp75" Guid="7dec8f4d-d8f9-4ee0-a8cb-c039a58da002">
 <File Id="_76" Source="..\bin\release\aircraft\placeholder.txt" />
 </Component>
 <Directory Id="arducopter76" Name="arducopter">
-<Component Id="_comp77" Guid="82fcb803-f38c-4044-944e-ea93fce2a74b">
+<Component Id="_comp77" Guid="4853c92d-b285-4698-95e0-97e33339266f">
 <File Id="_78" Source="..\bin\release\aircraft\arducopter\arducopter-set.xml" />
 <File Id="_79" Source="..\bin\release\aircraft\arducopter\arducopter.jpg" />
 <File Id="_80" Source="..\bin\release\aircraft\arducopter\arducopter.xml" />
@@ -122,20 +122,20 @@
 <File Id="_85" Source="..\bin\release\aircraft\arducopter\README" />
 </Component>
 <Directory Id="data85" Name="data">
-<Component Id="_comp86" Guid="474c8cf9-8968-4ca4-93db-5cd15bf81761">
+<Component Id="_comp86" Guid="6aae134a-5ac6-4390-864d-c8d340a53f8f">
 <File Id="_87" Source="..\bin\release\aircraft\arducopter\data\arducopter_half_step.txt" />
 <File Id="_88" Source="..\bin\release\aircraft\arducopter\data\arducopter_step.txt" />
 <File Id="_89" Source="..\bin\release\aircraft\arducopter\data\rw_generic_pylon.ac" />
 </Component>
 </Directory>
 <Directory Id="Engines89" Name="Engines">
-<Component Id="_comp90" Guid="06035b0f-d4e9-4ebc-8f82-a4e553fa37e5">
+<Component Id="_comp90" Guid="e3037f26-5c51-4a89-9814-a664d0c5c11c">
 <File Id="_91" Source="..\bin\release\aircraft\arducopter\Engines\a2830-12.xml" />
 <File Id="_92" Source="..\bin\release\aircraft\arducopter\Engines\prop10x4.5.xml" />
 </Component>
 </Directory>
 <Directory Id="Models92" Name="Models">
-<Component Id="_comp93" Guid="4c664b73-72df-4090-b352-89db61bc37ac">
+<Component Id="_comp93" Guid="a26a9c6a-9a1c-4207-b250-41eafeab728a">
 <File Id="_94" Source="..\bin\release\aircraft\arducopter\Models\arducopter.ac" />
 <File Id="_95" Source="..\bin\release\aircraft\arducopter\Models\arducopter.xml" />
 <File Id="_96" Source="..\bin\release\aircraft\arducopter\Models\plus_quad.ac" />
@@ -149,7 +149,7 @@
 </Directory>
 </Directory>
 <Directory Id="Rascal102" Name="Rascal">
-<Component Id="_comp103" Guid="f7d470c1-3384-4300-8e96-56a8efb94b8a">
+<Component Id="_comp103" Guid="f993262f-465f-4089-9514-1b8cb3d38309">
 <File Id="_104" Source="..\bin\release\aircraft\Rascal\Rascal-keyboard.xml" />
 <File Id="_105" Source="..\bin\release\aircraft\Rascal\Rascal-submodels.xml" />
 <File Id="_106" Source="..\bin\release\aircraft\Rascal\Rascal.xml" />
@@ -161,13 +161,13 @@
 <File Id="_112" Source="..\bin\release\aircraft\Rascal\thumbnail.jpg" />
 </Component>
 <Directory Id="Engines112" Name="Engines">
-<Component Id="_comp113" Guid="1f3dd3f3-232a-41ff-b06f-97630eedc0ec">
+<Component Id="_comp113" Guid="077e7060-483b-44af-9f2c-4d4f7734c8fa">
 <File Id="_114" Source="..\bin\release\aircraft\Rascal\Engines\18x8.xml" />
 <File Id="_115" Source="..\bin\release\aircraft\Rascal\Engines\Zenoah_G-26A.xml" />
 </Component>
 </Directory>
 <Directory Id="Models115" Name="Models">
-<Component Id="_comp116" Guid="64abc35f-12ca-4a30-b88c-8de846019468">
+<Component Id="_comp116" Guid="60f00e28-eb29-4c72-862a-ff822e5088c1">
 <File Id="_117" Source="..\bin\release\aircraft\Rascal\Models\Rascal.rgb" />
 <File Id="_118" Source="..\bin\release\aircraft\Rascal\Models\Rascal110-000-013.ac" />
 <File Id="_119" Source="..\bin\release\aircraft\Rascal\Models\Rascal110.xml" />
@@ -178,7 +178,7 @@
 </Component>
 </Directory>
 <Directory Id="Systems123" Name="Systems">
-<Component Id="_comp124" Guid="36cfe164-6ce3-4eae-982f-a482941e89bd">
+<Component Id="_comp124" Guid="a8d3716a-b64c-4bb2-ba69-b94ec3490a28">
 <File Id="_125" Source="..\bin\release\aircraft\Rascal\Systems\110-autopilot.xml" />
 <File Id="_126" Source="..\bin\release\aircraft\Rascal\Systems\airdata.nas" />
 <File Id="_127" Source="..\bin\release\aircraft\Rascal\Systems\electrical.xml" />
@@ -189,36 +189,36 @@
 </Directory>
 </Directory>
 <Directory Id="de_DE129" Name="de-DE">
-<Component Id="_comp130" Guid="f5739022-37df-4486-a284-29b93ec703a8">
+<Component Id="_comp130" Guid="dbcfdd03-4dcc-44f1-aaca-8a6fbfbcce43">
 <File Id="_131" Source="..\bin\release\de-DE\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="es_ES131" Name="es-ES">
-<Component Id="_comp132" Guid="e55869ea-8d23-478b-b4ec-d84f3ed1eb3f">
+<Component Id="_comp132" Guid="897caaa2-e049-4fa9-be8c-89b8656f52d3">
 <File Id="_133" Source="..\bin\release\es-ES\ArdupilotMegaPlanner.resources.dll" />
 <File Id="_134" Source="..\bin\release\es-ES\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="fr134" Name="fr">
-<Component Id="_comp135" Guid="9b707a6d-40a4-4301-9acd-7a57f53d5821">
+<Component Id="_comp135" Guid="d494e179-b6f2-42f2-bddc-a223f77742f4">
 <File Id="_136" Source="..\bin\release\fr\ArdupilotMegaPlanner.resources.dll" />
 <File Id="_137" Source="..\bin\release\fr\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="it_IT137" Name="it-IT">
-<Component Id="_comp138" Guid="62191055-4ad4-4169-9f7a-786df342ba6e">
+<Component Id="_comp138" Guid="c68bce4d-099f-424c-ad2a-9094648efbaf">
 <File Id="_139" Source="..\bin\release\it-IT\ArdupilotMegaPlanner.resources.dll" />
 <File Id="_140" Source="..\bin\release\it-IT\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="jsbsim140" Name="jsbsim">
-<Component Id="_comp141" Guid="32ea63dc-d4c0-4ccd-b873-94ec4dedd5c4">
+<Component Id="_comp141" Guid="239bbd79-fcc1-42f3-b241-045fd041c7b5">
 <File Id="_142" Source="..\bin\release\jsbsim\fgout.xml" />
 <File Id="_143" Source="..\bin\release\jsbsim\rascal_test.xml" />
 </Component>
 </Directory>
 <Directory Id="m3u143" Name="m3u">
-<Component Id="_comp144" Guid="22b935c4-97b5-49dd-a9ac-4340af9148d1">
+<Component Id="_comp144" Guid="85bb1087-b3ed-40d1-af47-3fde8192c4de">
 <File Id="_145" Source="..\bin\release\m3u\both.m3u" />
 <File Id="_146" Source="..\bin\release\m3u\GeoRefnetworklink.kml" />
 <File Id="_147" Source="..\bin\release\m3u\hud.m3u" />
@@ -227,31 +227,31 @@
 </Component>
 </Directory>
 <Directory Id="pl149" Name="pl">
-<Component Id="_comp150" Guid="6a1b1941-9ca8-40a5-8b02-fe1803ddc4c8">
+<Component Id="_comp150" Guid="1c46e22d-f8a3-4600-ac9c-46a55c0d4983">
 <File Id="_151" Source="..\bin\release\pl\ArdupilotMegaPlanner.resources.dll" />
 <File Id="_152" Source="..\bin\release\pl\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="Resources152" Name="Resources">
-<Component Id="_comp153" Guid="b02671a3-8a3e-4d48-822f-1a61600528b7">
+<Component Id="_comp153" Guid="4843608a-23a2-40bd-b177-ccde23bdcd33">
 <File Id="_154" Source="..\bin\release\Resources\MAVCmd.txt" />
 <File Id="_155" Source="..\bin\release\Resources\Welcome_to_Michael_Oborne.rtf" />
 </Component>
 </Directory>
 <Directory Id="ru_RU155" Name="ru-RU">
-<Component Id="_comp156" Guid="af9baa42-5893-4a93-916b-5fb2c2b54e73">
+<Component Id="_comp156" Guid="e5da998d-4ea8-410f-8d1e-e6d400c17fb5">
 <File Id="_157" Source="..\bin\release\ru-RU\ArdupilotMegaPlanner.resources.dll" />
 <File Id="_158" Source="..\bin\release\ru-RU\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="zh_Hans158" Name="zh-Hans">
-<Component Id="_comp159" Guid="a574c1ec-207c-4d11-aefb-db1122cfc397">
+<Component Id="_comp159" Guid="24c4ecba-7660-4a98-bac1-70f73ecf1eb1">
 <File Id="_160" Source="..\bin\release\zh-Hans\ArdupilotMegaPlanner.resources.dll" />
 <File Id="_161" Source="..\bin\release\zh-Hans\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="zh_TW161" Name="zh-TW">
-<Component Id="_comp162" Guid="25e014cf-d4c7-44d9-a028-ac231129a956">
+<Component Id="_comp162" Guid="dc78168c-2aad-42db-8f0c-3269be35282c">
 <File Id="_163" Source="..\bin\release\zh-TW\ArdupilotMegaPlanner.resources.dll" />
 <File Id="_164" Source="..\bin\release\zh-TW\ArdupilotMegaPlanner10.resources.dll" />
 </Component>

Tools/ArdupilotMegaPlanner/Program.cs

@@ -22,6 +22,8 @@ namespace ArdupilotMega
         static void Main()
         {
 
+            Console.WriteLine("If your error is about Microsoft.DirectX.DirectInput, please install the latest directx redist from here http://www.microsoft.com/en-us/download/details.aspx?id=35 \n\n");
+
             Application.EnableVisualStyles();
             XmlConfigurator.Configure();
             log.Info("******************* Logging Configured *******************");
@@ -131,14 +133,10 @@ namespace ArdupilotMega
             }
             catch (Exception ex)
             {
-                if (ex.GetType() == typeof(FileNotFoundException))
-                {
-                    Console.WriteLine("If your error is about Microsoft.DirectX.DirectInput, please install the latest directx redist from here http://www.microsoft.com/en-us/download/details.aspx?id=35 \n\n");
-                }
-
                 log.Fatal("Fatal app exception", ex);
                 Console.WriteLine(ex.ToString());
 
+                Console.WriteLine("\nPress any key to exit!");
                 Console.ReadLine();
             }
         }

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("1.2.22")]
+[assembly: AssemblyFileVersion("1.2.23")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/Properties/Resources.Designer.cs

@@ -1,7 +1,7 @@
 //------------------------------------------------------------------------------
 // <auto-generated>
 //     This code was generated by a tool.
-//     Runtime Version:4.0.30319.269
+//     Runtime Version:4.0.30319.296
 //
 //     Changes to this file may cause incorrect behavior and will be lost if
 //     the code is regenerated.
@@ -123,6 +123,13 @@ namespace ArdupilotMega.Properties {
             }
         }
         
+        public static System.Drawing.Bitmap BR_APMPWRDEAN_2 {
+            get {
+                object obj = ResourceManager.GetObject("BR-APMPWRDEAN-2", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
         public static System.Drawing.Bitmap cameraGimalPitch1 {
             get {
                 object obj = ResourceManager.GetObject("cameraGimalPitch1", resourceCulture);

Tools/ArdupilotMegaPlanner/Properties/Resources.resx

@@ -118,71 +118,137 @@
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
   <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
-  <data name="down" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Resources\down.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="cameraGimalYaw" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\cameraGimalYaw.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="up" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Resources\up.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="APM_airframes_001" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\APM_airframes_001.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
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-    <value>..\Resources\bg.jpg;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="APM_airframes_07" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\APM_airframes-07.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
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-    <value>..\Resources\configuration.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="octov" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\new frames-06.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
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-    <value>..\Resources\data.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="attocurrent" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\09028-01.jpg;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="iconWarning48" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\iconWarning48.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="quadx" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\frames-04.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="MAVParam" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\MAVParam.txt;System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089;Windows-1252</value>
+  </data>
+  <data name="terminal" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\terminal.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="rover" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\car.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="hilquad" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\new frames-12.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
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     <value>..\Resources\firmware.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
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-    <value>..\Resources\planner.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="hilplane" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\new frames-11.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="airspeed" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\BR-0004-03-2.jpg;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="help" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\help.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="hilheli" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\new frames-13.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="y6" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\y6.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="APM_rover_firmware" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\APM_rover-firmware.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="data" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\data.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="sonar" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\AC-0004-11-2.jpg;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="hil" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\new frames-10.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="iconWarning32" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\iconWarning32.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="quadicon" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\quad2.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="compass" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\BR-HMC5883-01-2.jpg;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="APM_airframes_002" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\APM_airframes_002.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="cameraGimalPitch1" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\cameraGimalPitch1.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
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     <value>..\Resources\simulation.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
+  <data name="apm2" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\apm2.ico;System.Drawing.Icon, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="frames_plus" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\frames_plus.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="up" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\up.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
   <data name="connect" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\connect.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
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-    <value>..\Resources\disconnect.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="planeicon" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\planetracker.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
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-    <value>..\Resources\help.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="octo" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\new frames-05.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
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-    <value>..\Resources\terminal.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="octox" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\octox.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="APM_airframes_001" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Resources\APM_airframes_001.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="hexa" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\frames-07.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
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-    <value>..\Resources\APM_airframes_002.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="disconnect" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\disconnect.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="APM_airframes_07" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Resources\APM_airframes-07.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="planner" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\planner.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="APM_airframes_08" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Resources\APM_airframes-08.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="configuration" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\configuration.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
   <data name="quad" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\frames-03.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
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-    <value>..\Resources\frames-04.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
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     <value>..\Resources\frames-05.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
+  <data name="down" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\down.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="opticalflow" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\BR-0016-01-3T.jpg;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
   <data name="frames_06" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\frames-06.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
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-    <value>..\Resources\planetracker.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="cameraGimalRoll1" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\cameraGimalRoll1.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
   <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="Gaugebg" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -1180,80 +1246,17 @@
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-    <value>..\Resources\cameraGimalRoll1.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="APM_airframes_08" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\APM_airframes-08.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
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-    <value>..\Resources\frames_plus.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="bg" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\bg.jpg;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
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-    <value>..\Resources\APM_rover-firmware.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
-  </data>
   <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
-  <data name="apm2" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\apm2.ico;System.Drawing.Icon, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="BR-APMPWRDEAN-2" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\BR-APMPWRDEAN-2.jpg;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
 </root>

Tools/ArdupilotMegaPlanner/Radio/Uploader.cs

@@ -1,5 +1,5 @@
 using System;
-using System.IO.Ports;
+using ArdupilotMega.Comms;
 using System.Collections.Generic;
 
 namespace uploader

Tools/ArdupilotMegaPlanner/SerialOutput.cs

@@ -6,7 +6,7 @@ using System.Drawing;
 using System.Linq;
 using System.Text;
 using System.Windows.Forms;
-using System.IO.Ports;
+using ArdupilotMega.Comms;
 
 namespace ArdupilotMega
 {

Tools/ArdupilotMegaPlanner/SerialOutput2.cs

@@ -6,7 +6,7 @@ using System.Drawing;
 using System.Linq;
 using System.Text;
 using System.Windows.Forms;
-using System.IO.Ports;
+using ArdupilotMega.Comms;
 
 namespace ArdupilotMega
 {

Tools/ArdupilotMegaPlanner/Splash.Designer.cs

@@ -74,7 +74,7 @@
             this.MinimumSize = new System.Drawing.Size(600, 375);
             this.Name = "Splash";
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
-            this.Text = "APM Planner";
+            this.Text = "Mission Planner";
             this.TopMost = true;
             this.ResumeLayout(false);
             this.PerformLayout();