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Mission Planner 1.2.8 

fix mjpeg stream from VLC.
add grid mode V2
fix hdop scaling
master
Michael Oborne 13 years ago
parent
8ec8fb9e4d
commit
9d3fc38580
10 changed files with 558 additions and 37 deletions
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  1. 3
      Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
  2. 14
      Tools/ArdupilotMegaPlanner/ArdupilotMega.sln
  3. 2
      Tools/ArdupilotMegaPlanner/Controls/HUD.cs
  4. 2
      Tools/ArdupilotMegaPlanner/CurrentState.cs
  5. 2
      Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
  6. 12
      Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.Designer.cs
  7. 465
      Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
  8. 24
      Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.resx
  9. 2
      Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
  10. 59
      Tools/ArdupilotMegaPlanner/Utilities/CaptureMJPEG.cs

3
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
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@ -1326,6 +1326,9 @@ @@ -1326,6 +1326,9 @@
<Install>true</Install>
</BootstrapperPackage>
</ItemGroup>
<ItemGroup>
<Folder Include="px4\" />
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
<PropertyGroup>
<PostBuildEvent>"$(TargetDir)version.exe" "$(TargetPath)" &gt; "$(TargetDir)version.txt"</PostBuildEvent>

14
Tools/ArdupilotMegaPlanner/ArdupilotMega.sln
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@ -9,6 +9,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "wix", "wix\wix.csproj", "{7 @@ -9,6 +9,8 @@ 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
@ -69,6 +71,18 @@ Global @@ -69,6 +71,18 @@ 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

2
Tools/ArdupilotMegaPlanner/Controls/HUD.cs
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@ -287,6 +287,8 @@ namespace ArdupilotMega.Controls @@ -287,6 +287,8 @@ namespace ArdupilotMega.Controls
// Console.WriteLine("hud paint");
// Console.WriteLine("ms " + (DateTime.Now.Millisecond));
if (!started)
return;

2
Tools/ArdupilotMegaPlanner/CurrentState.cs
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@ -751,7 +751,7 @@ namespace ArdupilotMega @@ -751,7 +751,7 @@ namespace ArdupilotMega
gpsstatus = gps.fix_type;
// Console.WriteLine("gpsfix {0}",gpsstatus);
gpshdop = gps.eph;
gpshdop = (float)Math.Round((double)gps.eph / 10.0,2);
satcount = gps.satellites_visible;

2
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
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@ -2020,6 +2020,8 @@ print 'Roll complete' @@ -2020,6 +2020,8 @@ print 'Roll complete'
MainV2.config["mjpeg_url"] = url;
Utilities.CaptureMJPEG.Stop();
Utilities.CaptureMJPEG.URL = url;
Utilities.CaptureMJPEG.OnNewImage += new EventHandler(CaptureMJPEG_OnNewImage);

12
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.Designer.cs generated
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@ -122,6 +122,7 @@ @@ -122,6 +122,7 @@
this.autoWPToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.createWpCircleToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.gridToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.gridV2ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.mapToolToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.ContextMeasure = new System.Windows.Forms.ToolStripMenuItem();
this.rotateMapToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
@ -591,7 +592,6 @@ @@ -591,7 +592,6 @@
this.comboBoxMapType.FormattingEnabled = true;
this.comboBoxMapType.Name = "comboBoxMapType";
this.toolTip1.SetToolTip(this.comboBoxMapType, resources.GetString("comboBoxMapType.ToolTip"));
this.comboBoxMapType.SelectedIndexChanged += new System.EventHandler(this.comboBoxMapType_SelectedValueChanged);
//
// panelMap
//
@ -836,7 +836,8 @@ @@ -836,7 +836,8 @@
//
this.autoWPToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
this.createWpCircleToolStripMenuItem,
this.gridToolStripMenuItem});
this.gridToolStripMenuItem,
this.gridV2ToolStripMenuItem});
this.autoWPToolStripMenuItem.Name = "autoWPToolStripMenuItem";
resources.ApplyResources(this.autoWPToolStripMenuItem, "autoWPToolStripMenuItem");
//
@ -852,6 +853,12 @@ @@ -852,6 +853,12 @@
resources.ApplyResources(this.gridToolStripMenuItem, "gridToolStripMenuItem");
this.gridToolStripMenuItem.Click += new System.EventHandler(this.gridToolStripMenuItem_Click);
//
// gridV2ToolStripMenuItem
//
this.gridV2ToolStripMenuItem.Name = "gridV2ToolStripMenuItem";
resources.ApplyResources(this.gridV2ToolStripMenuItem, "gridV2ToolStripMenuItem");
this.gridV2ToolStripMenuItem.Click += new System.EventHandler(this.gridV2ToolStripMenuItem_Click);
//
// mapToolToolStripMenuItem
//
this.mapToolToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
@ -1105,5 +1112,6 @@ @@ -1105,5 +1112,6 @@
private System.Windows.Forms.ToolStripMenuItem saveWPFileToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem trackerHomeToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem flyToHereToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem gridV2ToolStripMenuItem;
}
}

465
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
Unescape View File

@ -343,9 +343,8 @@ namespace ArdupilotMega.GCSViews @@ -343,9 +343,8 @@ namespace ArdupilotMega.GCSViews
}
// creating a WP
Commands.Rows.Add();
selectedrow = Commands.RowCount - 1;
Commands.CurrentCell = Commands.Rows[selectedrow].Cells[Param1.Index];
selectedrow = Commands.Rows.Add();
// Commands.CurrentCell = Commands.Rows[selectedrow].Cells[Param1.Index];
setfromGE(lat, lng, alt);
}
@ -568,14 +567,14 @@ namespace ArdupilotMega.GCSViews @@ -568,14 +567,14 @@ namespace ArdupilotMega.GCSViews
if (Commands.RowCount <= 1)
{
Commands.Rows.Add();
selectedrow = Commands.Rows.Add();
}
else
{
if (Commands.RowCount == selectedrow + 1)
{
DataGridViewRow temp = Commands.Rows[selectedrow];
Commands.Rows.Add();
selectedrow = Commands.Rows.Add();
}
else
{
@ -1425,7 +1424,7 @@ namespace ArdupilotMega.GCSViews @@ -1425,7 +1424,7 @@ namespace ArdupilotMega.GCSViews
break;
if (i + 1 >= Commands.Rows.Count)
{
Commands.Rows.Add();
selectedrow = Commands.Rows.Add();
}
//if (i == 0 && temp.alt == 0) // skip 0 home
// continue;
@ -2236,7 +2235,13 @@ namespace ArdupilotMega.GCSViews @@ -2236,7 +2235,13 @@ namespace ArdupilotMega.GCSViews
private void comboBoxMapType_SelectedValueChanged(object sender, EventArgs e)
{
try
{
MainMap.MapType = (MapType)comboBoxMapType.SelectedItem;
FlightData.mymap.MapType = (MapType)comboBoxMapType.SelectedItem;
MainV2.config["MapType"] = comboBoxMapType.Text;
}
catch { CustomMessageBox.Show("Map change failed. try zomming out first."); }
}
private void Commands_EditingControlShowing(object sender, DataGridViewEditingControlShowingEventArgs e)
@ -2554,9 +2559,12 @@ namespace ArdupilotMega.GCSViews @@ -2554,9 +2559,12 @@ namespace ArdupilotMega.GCSViews
private void clearMissionToolStripMenuItem_Click(object sender, EventArgs e)
{
quickadd = true;
while (Commands.Rows.Count > 0)
Commands.Rows.RemoveAt(0);
selectedrow = 0;
quickadd = false;
writeKML();
}
@ -2578,13 +2586,13 @@ namespace ArdupilotMega.GCSViews @@ -2578,13 +2586,13 @@ namespace ArdupilotMega.GCSViews
string repeat = "5";
Common.InputBox("Jump repeat", "Number of times to Repeat", ref repeat);
int row = Commands.Rows.Add();
selectedrow = Commands.Rows.Add();
Commands.Rows[row].Cells[Command.Index].Value = MAVLink.MAV_CMD.DO_JUMP.ToString();
Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.DO_JUMP.ToString();
Commands.Rows[row].Cells[Param1.Index].Value = 1;
Commands.Rows[selectedrow].Cells[Param1.Index].Value = 1;
Commands.Rows[row].Cells[Param2.Index].Value = repeat;
Commands.Rows[selectedrow].Cells[Param2.Index].Value = repeat;
writeKML();
}
@ -2596,13 +2604,13 @@ namespace ArdupilotMega.GCSViews @@ -2596,13 +2604,13 @@ namespace ArdupilotMega.GCSViews
string repeat = "5";
Common.InputBox("Jump repeat", "Number of times to Repeat", ref repeat);
int row = Commands.Rows.Add();
selectedrow = Commands.Rows.Add();
Commands.Rows[row].Cells[Command.Index].Value = MAVLink.MAV_CMD.DO_JUMP.ToString();
Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.DO_JUMP.ToString();
Commands.Rows[row].Cells[Param1.Index].Value = wp;
Commands.Rows[selectedrow].Cells[Param1.Index].Value = wp;
Commands.Rows[row].Cells[Param2.Index].Value = repeat;
Commands.Rows[selectedrow].Cells[Param2.Index].Value = repeat;
writeKML();
}
@ -3184,6 +3192,382 @@ namespace ArdupilotMega.GCSViews @@ -3184,6 +3192,382 @@ namespace ArdupilotMega.GCSViews
writeKML();
}
public struct linelatlng
{
public PointLatLng p1;
public PointLatLng p2;
// used as a base for grid along line
public PointLatLng basepnt;
}
private void gridv2()
{
polygongridmode = false;
if (drawnpolygon == null || drawnpolygon.Points.Count == 0)
{
CustomMessageBox.Show("Right click the map to draw a polygon", "Area", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
return;
}
// ensure points/latlong are current
MainMap.Zoom = (int)MainMap.Zoom;
MainMap.Refresh();
GMapPolygon area = drawnpolygon;
if (area.Points[0] != area.Points[area.Points.Count - 1])
area.Points.Add(area.Points[0]); // make a full loop
RectLatLng arearect = getPolyMinMax(area);
if (area.Distance > 0)
{
PointLatLng topright = new PointLatLng(arearect.LocationTopLeft.Lat, arearect.LocationRightBottom.Lng);
PointLatLng bottomleft = new PointLatLng(arearect.LocationRightBottom.Lat, arearect.LocationTopLeft.Lng);
double diagdist = MainMap.Manager.GetDistance(arearect.LocationTopLeft, arearect.LocationRightBottom) * 1000;
double heightdist = MainMap.Manager.GetDistance(arearect.LocationTopLeft, bottomleft) * 1000;
double widthdist = MainMap.Manager.GetDistance(arearect.LocationTopLeft, topright) * 1000;
string alt = (100 * MainV2.cs.multiplierdist).ToString("0");
Common.InputBox("Altitude", "Relative Altitude", ref alt);
string distance = (50 * MainV2.cs.multiplierdist).ToString("0");
Common.InputBox("Distance", "Distance between lines", ref distance);
string wpevery = (40 * MainV2.cs.multiplierdist).ToString("0");
Common.InputBox("Every", "Put a WP every x distance (-1 for none)", ref wpevery);
string angle = (90).ToString("0");
Common.InputBox("Angle", "Enter the line direction (0-90)", ref angle);
double tryme = 0;
if (!double.TryParse(angle, out tryme))
{
CustomMessageBox.Show("Invalid Angle");
return;
}
if (!double.TryParse(alt, out tryme))
{
CustomMessageBox.Show("Invalid Alt");
return;
}
if (!double.TryParse(distance, out tryme))
{
CustomMessageBox.Show("Invalid Distance");
return;
}
if (!double.TryParse(wpevery, out tryme))
{
CustomMessageBox.Show("Invalid Waypoint spacing");
return;
}
// get x y components
double y1 = Math.Cos((double.Parse(angle)) * deg2rad); // needs to mod for long scale
double x1 = Math.Sin((double.Parse(angle)) * deg2rad);
// get x y step amount in lat lng from m
double latdiff = arearect.HeightLat / ((heightdist / (double.Parse(distance) * (x1) / MainV2.cs.multiplierdist)));
double lngdiff = arearect.WidthLng / ((widthdist / (double.Parse(distance) * (y1) / MainV2.cs.multiplierdist)));
double latlngdiff = Math.Sqrt(latdiff * latdiff + lngdiff * lngdiff);
double latlngdiff2 = Math.Sqrt(arearect.HeightLat * arearect.HeightLat + arearect.WidthLng * arearect.WidthLng);
double fulllatdiff = arearect.HeightLat * x1 * 2;
double fulllngdiff = arearect.WidthLng * y1 * 2;
int altitude = (int)(double.Parse(alt) / MainV2.cs.multiplierdist);
// draw a grid
double x = bottomleft.Lng - 0.00001;
double y = bottomleft.Lat;
newpos(ref y, ref x, double.Parse(angle) - 90, diagdist);
List<linelatlng> grid = new List<linelatlng>();
int lines = 0;
y1 = Math.Cos((double.Parse(angle) + 90) * deg2rad); // needs to mod for long scale
x1 = Math.Sin((double.Parse(angle) + 90) * deg2rad);
// get x y step amount in lat lng from m
latdiff = arearect.HeightLat / ((heightdist / (double.Parse(distance) * (y1) / MainV2.cs.multiplierdist)));
lngdiff = arearect.WidthLng / ((widthdist / (double.Parse(distance) * (x1) / MainV2.cs.multiplierdist)));
quickadd = true;
while (lines * double.Parse(distance) < diagdist * 3) //x < topright.Lat && y < topright.Lng)
{
//callMe(y, x, 0);
double nx = x;
double ny = y;
newpos(ref ny, ref nx, double.Parse(angle), diagdist);
//callMe(ny, nx, 0);
linelatlng line = new linelatlng();
line.p1 = new PointLatLng(y, x);
line.p2 = new PointLatLng(ny, nx);
line.basepnt = new PointLatLng(y, x);
grid.Add(line);
x += lngdiff;
y += latdiff;
lines++;
}
// callMe(x, y, 0);
quickadd = false;
// return;
// find intersections
List<linelatlng> remove = new List<linelatlng>();
int gridno = grid.Count;
for (int a = 0; a < gridno; a++)
{
double noc = double.MaxValue;
double nof = double.MinValue;
PointLatLng closestlatlong = PointLatLng.Zero;
PointLatLng farestlatlong = PointLatLng.Zero;
List<PointLatLng> matchs = new List<PointLatLng>();
int b = -1;
int crosses = 0;
PointLatLng newlatlong = PointLatLng.Zero;
foreach (PointLatLng pnt in area.Points)
{
b++;
if (b == 0)
{
continue;
}
newlatlong = FindLineIntersection(area.Points[b - 1], area.Points[b], grid[a].p1, grid[a].p2);
if (!newlatlong.IsZero)
{
crosses++;
matchs.Add(newlatlong);
if (noc > MainMap.Manager.GetDistance(grid[a].p1, newlatlong))
{
closestlatlong.Lat = newlatlong.Lat;
closestlatlong.Lng = newlatlong.Lng;
noc = MainMap.Manager.GetDistance(grid[a].p1, newlatlong);
}
if (nof < MainMap.Manager.GetDistance(grid[a].p1, newlatlong))
{
farestlatlong.Lat = newlatlong.Lat;
farestlatlong.Lng = newlatlong.Lng;
nof = MainMap.Manager.GetDistance(grid[a].p1, newlatlong);
}
}
}
if (crosses == 0)
{
if (!PointInPolygon(grid[a].p1, area.Points) && !PointInPolygon(grid[a].p2, area.Points))
remove.Add(grid[a]);
}
else if (crosses == 1)
{
}
else if (crosses == 2)
{
linelatlng line = grid[a];
line.p1 = closestlatlong;
line.p2 = farestlatlong;
grid[a] = line;
}/*
else if (crosses == 4)
{
linelatlng line = grid[a];
line.p1 = closestlatlong;
PointLatLng far = farestlatlong;
matchs.Remove(closestlatlong);
matchs.Remove(farestlatlong);
farestlatlong = findClosestPoint(line.p1, matchs);
matchs.Remove(farestlatlong);
line.p2 = farestlatlong;
grid[a] = line;
grid.Add(new linelatlng() { p1 = matchs[0], p2 = far, basepnt = line.basepnt });
}*/
else
{
linelatlng line = grid[a];
remove.Add(line);
/*
// set new start point
line.p1 = findClosestPoint(line.basepnt, matchs); ;
matchs.Remove(line.p1);
line.p2 = findClosestPoint(line.basepnt, matchs);
matchs.Remove(line.p2);
grid[a] = line;
callMe(line.basepnt.Lat, line.basepnt.Lng, altitude);
callMe(line.p1.Lat, line.p1.Lng, altitude);
callMe(line.p2.Lat, line.p2.Lng, altitude);
continue;
*/
while (matchs.Count > 1)
{
linelatlng newline = new linelatlng();
closestlatlong = findClosestPoint(closestlatlong, matchs);
newline.p1 = closestlatlong;
matchs.Remove(closestlatlong);
closestlatlong = findClosestPoint(closestlatlong, matchs);
newline.p2 = closestlatlong;
matchs.Remove(closestlatlong);
newline.basepnt = line.basepnt;
grid.Add(newline);
}
if (a > 150)
break;
}
}
// return;
foreach (linelatlng line in remove)
{
grid.Remove(line);
}
quickadd = true;
linelatlng closest = findClosestLine(MainV2.cs.HomeLocation.Point(),grid);
PointLatLng lastpnt = closest.p1;
while (grid.Count > 0)
{
if (MainMap.Manager.GetDistance(closest.p1, lastpnt) < MainMap.Manager.GetDistance(closest.p2, lastpnt))
{
callMe(closest.p1.Lat, closest.p1.Lng, altitude);
if (double.Parse(wpevery) > 0)
{
for (int d = (int)(double.Parse(wpevery) - ((MainMap.Manager.GetDistance(closest.basepnt, closest.p1) * 1000) % double.Parse(wpevery))); d < (MainMap.Manager.GetDistance(closest.p1, closest.p2) * 1000); d += (int)double.Parse(wpevery))
{
double ax = closest.p1.Lat;
double ay = closest.p1.Lng;
newpos(ref ax, ref ay, double.Parse(angle), d);
callMe(ax, ay, altitude);
}
}
callMe(closest.p2.Lat, closest.p2.Lng, altitude);
lastpnt = closest.p2;
grid.Remove(closest);
if (grid.Count == 0)
break;
closest = findClosestLine(closest.p2, grid);
}
else
{
callMe(closest.p2.Lat, closest.p2.Lng, altitude);
if (double.Parse(wpevery) > 0)
{
for (int d = (int)((MainMap.Manager.GetDistance(closest.basepnt, closest.p2) * 1000) % double.Parse(wpevery)); d < (MainMap.Manager.GetDistance(closest.p1, closest.p2) * 1000); d += (int)double.Parse(wpevery))
{
double ax = closest.p2.Lat;
double ay = closest.p2.Lng;
newpos(ref ax, ref ay, double.Parse(angle), -d);
callMe(ax, ay, altitude);
}
}
callMe(closest.p1.Lat, closest.p1.Lng, altitude);
lastpnt = closest.p1;
grid.Remove(closest);
if (grid.Count == 0)
break;
closest = findClosestLine(closest.p1, grid);
}
}
foreach (linelatlng line in grid)
{
// callMe(line.p1.Lat, line.p1.Lng, 0);
// callMe(line.p2.Lat, line.p2.Lng, 0);
}
quickadd = false;
writeKML();
}
}
PointLatLng findClosestPoint(PointLatLng start, List<PointLatLng> list)
{
PointLatLng answer = PointLatLng.Zero;
double currentbest = double.MaxValue;
foreach (PointLatLng pnt in list)
{
double dist1 = MainMap.Manager.GetDistance(start, pnt);
if (dist1 < currentbest)
{
answer = pnt;
currentbest = dist1;
}
}
return answer;
}
linelatlng findClosestLine(PointLatLng start, List<linelatlng> list)
{
linelatlng answer = list[0];
double shortest = double.MaxValue;
foreach (linelatlng line in list)
{
double ans1 = MainMap.Manager.GetDistance(start, line.p1);
double ans2 = MainMap.Manager.GetDistance(start, line.p2);
PointLatLng shorterpnt = ans1 < ans2 ? line.p1 : line.p2;
if (shortest > MainMap.Manager.GetDistance(start, shorterpnt))
{
answer = line;
shortest = MainMap.Manager.GetDistance(start, shorterpnt);
}
}
return answer;
}
private void gridToolStripMenuItem_Click(object sender, EventArgs e)
{
polygongridmode = false;
@ -3290,6 +3674,8 @@ namespace ArdupilotMega.GCSViews @@ -3290,6 +3674,8 @@ namespace ArdupilotMega.GCSViews
log.InfoFormat("{0} < {1} {2} < {3}", x, (topright.Lat), y, (topright.Lng));
quickadd = true;
while (x < (topright.Lat + Math.Abs(latlngdiff)) && y < (topright.Lng + Math.Abs(latlngdiff)))
{
if (double.Parse(angle) < 45)
@ -3450,11 +3836,55 @@ namespace ArdupilotMega.GCSViews @@ -3450,11 +3836,55 @@ namespace ArdupilotMega.GCSViews
//drawnpolygon.Points.Clear();
//drawnpolygons.Markers.Clear();
quickadd = false;
writeKML();
MainMap.Refresh();
}
}
bool PointInPolygon(PointLatLng p, List<PointLatLng> poly)
{
PointLatLng p1, p2;
bool inside = false;
if (poly.Count < 3)
{
return inside;
}
PointLatLng oldPoint = new PointLatLng(
poly[poly.Count - 1].Lat, poly[poly.Count - 1].Lng);
for (int i = 0; i < poly.Count; i++)
{
PointLatLng newPoint = new PointLatLng(poly[i].Lat, poly[i].Lng);
if (newPoint.Lat > oldPoint.Lat)
{
p1 = oldPoint;
p2 = newPoint;
}
else
{
p1 = newPoint;
p2 = oldPoint;
}
if ((newPoint.Lat < p.Lat) == (p.Lat <= oldPoint.Lat)
&& ((double)p.Lng - (double)p1.Lng) * (double)(p2.Lat - p1.Lat)
< ((double)p2.Lng - (double)p1.Lng) * (double)(p.Lat - p1.Lat))
{
inside = !inside;
}
oldPoint = newPoint;
}
return inside;
}
void newpos(ref double lat, ref double lon, double bearing, double distance)
{
// '''extrapolate latitude/longitude given a heading and distance
@ -3692,5 +4122,10 @@ namespace ArdupilotMega.GCSViews @@ -3692,5 +4122,10 @@ namespace ArdupilotMega.GCSViews
{
MainV2.cs.TrackerLocation = new PointLatLngAlt(end) { Alt = MainV2.cs.HomeAlt };
}
private void gridV2ToolStripMenuItem_Click(object sender, EventArgs e)
{
gridv2();
}
}
}

24
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.resx
Unescape View File

@ -556,7 +556,7 @@ @@ -556,7 +556,7 @@
<value>BUT_write</value>
</data>
<data name="&gt;&gt;BUT_write.Type" xml:space="preserve">
<value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4613.14163, Culture=neutral, PublicKeyToken=null</value>
<value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4615.38724, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_write.Parent" xml:space="preserve">
<value>panel5</value>
@ -583,7 +583,7 @@ @@ -583,7 +583,7 @@
<value>BUT_read</value>
</data>
<data name="&gt;&gt;BUT_read.Type" xml:space="preserve">
<value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4613.14163, Culture=neutral, PublicKeyToken=null</value>
<value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4615.38724, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_read.Parent" xml:space="preserve">
<value>panel5</value>
@ -1147,7 +1147,7 @@ @@ -1147,7 +1147,7 @@
<value>BUT_Add</value>
</data>
<data name="&gt;&gt;BUT_Add.Type" xml:space="preserve">
<value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4613.14163, Culture=neutral, PublicKeyToken=null</value>
<value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4615.38724, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_Add.Parent" xml:space="preserve">
<value>panelWaypoints</value>
@ -1488,6 +1488,12 @@ @@ -1488,6 +1488,12 @@
<data name="gridToolStripMenuItem.Text" xml:space="preserve">
<value>Grid</value>
</data>
<data name="gridV2ToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>162, 22</value>
</data>
<data name="gridV2ToolStripMenuItem.Text" xml:space="preserve">
<value>GridV2</value>
</data>
<data name="autoWPToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>152, 22</value>
</data>
@ -1742,7 +1748,7 @@ @@ -1742,7 +1748,7 @@
<value>MainMap</value>
</data>
<data name="&gt;&gt;MainMap.Type" xml:space="preserve">
<value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner10, Version=1.1.4613.14163, Culture=neutral, PublicKeyToken=null</value>
<value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner10, Version=1.1.4615.38724, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;MainMap.Parent" xml:space="preserve">
<value>panelMap</value>
@ -1772,7 +1778,7 @@ @@ -1772,7 +1778,7 @@
<value>trackBar1</value>
</data>
<data name="&gt;&gt;trackBar1.Type" xml:space="preserve">
<value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4613.14163, Culture=neutral, PublicKeyToken=null</value>
<value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4615.38724, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;trackBar1.Parent" xml:space="preserve">
<value>panelMap</value>
@ -2125,6 +2131,12 @@ @@ -2125,6 +2131,12 @@
<data name="&gt;&gt;gridToolStripMenuItem.Type" xml:space="preserve">
<value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;gridV2ToolStripMenuItem.Name" xml:space="preserve">
<value>gridV2ToolStripMenuItem</value>
</data>
<data name="&gt;&gt;gridV2ToolStripMenuItem.Type" xml:space="preserve">
<value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;mapToolToolStripMenuItem.Name" xml:space="preserve">
<value>mapToolToolStripMenuItem</value>
</data>
@ -2219,6 +2231,6 @@ @@ -2219,6 +2231,6 @@
<value>FlightPlanner</value>
</data>
<data name="&gt;&gt;$this.Type" xml:space="preserve">
<value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner10, Version=1.1.4613.14163, Culture=neutral, PublicKeyToken=null</value>
<value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner10, Version=1.1.4615.38724, Culture=neutral, PublicKeyToken=null</value>
</data>
</root>

2
Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
Unescape View File

@ -34,5 +34,5 @@ using System.Resources; @@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.1.*")]
[assembly: AssemblyFileVersion("1.2.7")]
[assembly: AssemblyFileVersion("1.2.8")]
[assembly: NeutralResourcesLanguageAttribute("")]

59
Tools/ArdupilotMegaPlanner/Utilities/CaptureMJPEG.cs
Unescape View File

@ -26,7 +26,7 @@ namespace ArdupilotMega.Utilities @@ -26,7 +26,7 @@ namespace ArdupilotMega.Utilities
public static void runAsync()
{
while (running && asyncthread != null && asyncthread.IsAlive)
while (asyncthread != null && asyncthread.IsAlive)
{
running = false;
}
@ -46,6 +46,22 @@ namespace ArdupilotMega.Utilities @@ -46,6 +46,22 @@ namespace ArdupilotMega.Utilities
running = false;
}
public static string ReadLine(BinaryReader br)
{
StringBuilder sb = new StringBuilder();
while (true) {
byte by = br.ReadByte();
sb.Append((char)by);
if (by == '\n')
break;
}
sb = sb.Replace("\r\n", "");
return sb.ToString();
}
static void getUrl()
{
@ -69,21 +85,37 @@ namespace ArdupilotMega.Utilities @@ -69,21 +85,37 @@ namespace ArdupilotMega.Utilities
// Get the stream containing content returned by the server.
Stream dataStream = response.GetResponseStream();
StreamReader sr = new StreamReader(dataStream);
BinaryReader br = new BinaryReader(dataStream);
// get boundary header
string mpheader = response.Headers["Content-Type"];
if (mpheader.IndexOf("boundary=") == -1) {
ReadLine(br); // this is a blank line
string line = "proxyline";
while (line.Length > 2)
{
line = ReadLine(br);
if (line.StartsWith("--")) {
mpheader = line;
break;
}
}
}
else
{
int startboundary = mpheader.IndexOf("boundary=") + 9;
int endboundary = mpheader.Length;
mpheader = mpheader.Substring(startboundary, endboundary - startboundary);
}
while (running)
{
try
{
// get the multipart start header
int length = int.Parse(getHeader(sr)["Content-Length"]);
int length = int.Parse(getHeader(br)["Content-Length"]);
// read boundary header
if (length > 0)
@ -95,14 +127,27 @@ namespace ArdupilotMega.Utilities @@ -95,14 +127,27 @@ namespace ArdupilotMega.Utilities
int offset = 0;
int len = 0;
while ((len = dataStream.Read(buf1, offset, length)) > 0)
while ((len = br.Read(buf1, offset, length)) > 0)
{
offset += len;
length -= len;
}
/*
BinaryWriter sw = new BinaryWriter(File.OpenWrite("test.jpg"));
sw.Write(buf1,0,buf1.Length);
sw.Close();
*/
try
{
frame = new Bitmap(new MemoryStream(buf1));
}
catch { }
fps++;
if (lastimage.Second != DateTime.Now.Second)
@ -117,7 +162,7 @@ namespace ArdupilotMega.Utilities @@ -117,7 +162,7 @@ namespace ArdupilotMega.Utilities
}
// blank line at end of data
sr.ReadLine();
ReadLine(br);
}
catch (Exception ex) { log.Info(ex); break; }
}
@ -138,7 +183,7 @@ namespace ArdupilotMega.Utilities @@ -138,7 +183,7 @@ namespace ArdupilotMega.Utilities
}
static Dictionary<string, string> getHeader(StreamReader stream)
static Dictionary<string, string> getHeader(BinaryReader stream)
{
Dictionary<string, string> answer = new Dictionary<string, string>();
@ -146,7 +191,7 @@ namespace ArdupilotMega.Utilities @@ -146,7 +191,7 @@ namespace ArdupilotMega.Utilities
do
{
line = stream.ReadLine();
line = ReadLine(stream);
string[] items = line.Split(new char[] { ':' }, StringSplitOptions.RemoveEmptyEntries);

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