APM Planner 1.1.32

fix gauge updating
add more checks on add wp - default alt and home alt
fix xplane 10 gps heading - should be 100% working now.
fix xplane throttle issue - from rc library change - rc3_trim should be same as rc3_min

Tools/ArdupilotMegaPlanner/Controls/AGauge.cs

@@ -221,13 +221,13 @@ namespace AGaugeApp
 
 #region properties
         [System.ComponentModel.Browsable(true)]
-        public Single Value0 { get { return m_value[0]; } set { m_NeedIdx = 0; Value = value; } }
+        public Single Value0 { get { return m_value[0]; } set { m_NeedIdx = 0; Value = value; this.Invalidate(); } }
         [System.ComponentModel.Browsable(true)]
-        public Single Value1 { get { return m_value[1]; } set { m_NeedIdx = 1; Value = value; } }
+        public Single Value1 { get { return m_value[1]; } set { m_NeedIdx = 1; Value = value; this.Invalidate(); } }
         [System.ComponentModel.Browsable(true)]
-        public Single Value2 { get { return m_value[2]; } set { m_NeedIdx = 2; Value = value; } }
+        public Single Value2 { get { return m_value[2]; } set { m_NeedIdx = 2; Value = value; this.Invalidate(); } }
         [System.ComponentModel.Browsable(true)]
-        public Single Value3 { get { return m_value[3]; } set { m_NeedIdx = 3; Value = value; } }
+        public Single Value3 { get { return m_value[3]; } set { m_NeedIdx = 3; Value = value; this.Invalidate(); } }
 
         [System.ComponentModel.Browsable(true),
         System.ComponentModel.Category("AGauge"),

Tools/ArdupilotMegaPlanner/CurrentState.cs

@@ -256,7 +256,7 @@ namespace ArdupilotMega
                     if (ind != -1)
                         logdata = logdata.Substring(0, ind);
 
-                    if (messages.Count > 5)
+                    while (messages.Count > 5)
                     {
                         messages.RemoveAt(0);
                     }

Tools/ArdupilotMegaPlanner/GCSViews/Configuration.Designer.cs

@@ -191,6 +191,8 @@
             this.STB_YAW_P = new System.Windows.Forms.NumericUpDown();
             this.label35 = new System.Windows.Forms.Label();
             this.groupBox21 = new System.Windows.Forms.GroupBox();
+            this.STAB_D = new System.Windows.Forms.NumericUpDown();
+            this.lblSTAB_D = new System.Windows.Forms.Label();
             this.STB_PIT_IMAX = new System.Windows.Forms.NumericUpDown();
             this.label36 = new System.Windows.Forms.Label();
             this.STB_PIT_I = new System.Windows.Forms.NumericUpDown();
@@ -283,8 +285,6 @@
             this.BUT_load = new ArdupilotMega.MyButton();
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
             this.BUT_compare = new ArdupilotMega.MyButton();
-            this.STAB_D = new System.Windows.Forms.NumericUpDown();
-            this.lblSTAB_D = new System.Windows.Forms.Label();
             ((System.ComponentModel.ISupportInitialize)(this.Params)).BeginInit();
             this.ConfigTabs.SuspendLayout();
             this.TabAP.SuspendLayout();
@@ -371,6 +371,7 @@
             ((System.ComponentModel.ISupportInitialize)(this.STB_YAW_I)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.STB_YAW_P)).BeginInit();
             this.groupBox21.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.STAB_D)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.STB_PIT_IMAX)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.STB_PIT_I)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.STB_PIT_P)).BeginInit();
@@ -395,7 +396,6 @@
             ((System.ComponentModel.ISupportInitialize)(this.RATE_RLL_P)).BeginInit();
             this.TabPlanner.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.NUM_tracklength)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.STAB_D)).BeginInit();
             this.SuspendLayout();
             // 
             // Params
@@ -1115,6 +1115,7 @@
             // TUNE
             // 
             this.TUNE.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.TUNE.DropDownWidth = 150;
             this.TUNE.FormattingEnabled = true;
             this.TUNE.Items.AddRange(new object[] {
             resources.GetString("TUNE.Items"),
@@ -1149,6 +1150,7 @@
             // CH7_OPT
             // 
             this.CH7_OPT.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.CH7_OPT.DropDownWidth = 150;
             this.CH7_OPT.FormattingEnabled = true;
             this.CH7_OPT.Items.AddRange(new object[] {
             resources.GetString("CH7_OPT.Items"),
@@ -1449,6 +1451,16 @@
             this.groupBox21.Name = "groupBox21";
             this.groupBox21.TabStop = false;
             // 
+            // STAB_D
+            // 
+            resources.ApplyResources(this.STAB_D, "STAB_D");
+            this.STAB_D.Name = "STAB_D";
+            // 
+            // lblSTAB_D
+            // 
+            resources.ApplyResources(this.lblSTAB_D, "lblSTAB_D");
+            this.lblSTAB_D.Name = "lblSTAB_D";
+            // 
             // STB_PIT_IMAX
             // 
             resources.ApplyResources(this.STB_PIT_IMAX, "STB_PIT_IMAX");
@@ -2102,16 +2114,6 @@
             this.BUT_compare.UseVisualStyleBackColor = true;
             this.BUT_compare.Click += new System.EventHandler(this.BUT_compare_Click);
             // 
-            // STAB_D
-            // 
-            resources.ApplyResources(this.STAB_D, "STAB_D");
-            this.STAB_D.Name = "STAB_D";
-            // 
-            // lblSTAB_D
-            // 
-            resources.ApplyResources(this.lblSTAB_D, "lblSTAB_D");
-            this.lblSTAB_D.Name = "lblSTAB_D";
-            // 
             // Configuration
             // 
             resources.ApplyResources(this, "$this");
@@ -2213,6 +2215,7 @@
             ((System.ComponentModel.ISupportInitialize)(this.STB_YAW_I)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.STB_YAW_P)).EndInit();
             this.groupBox21.ResumeLayout(false);
+            ((System.ComponentModel.ISupportInitialize)(this.STAB_D)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.STB_PIT_IMAX)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.STB_PIT_I)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.STB_PIT_P)).EndInit();
@@ -2237,7 +2240,6 @@
             ((System.ComponentModel.ISupportInitialize)(this.RATE_RLL_P)).EndInit();
             this.TabPlanner.ResumeLayout(false);
             ((System.ComponentModel.ISupportInitialize)(this.NUM_tracklength)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.STAB_D)).EndInit();
             this.ResumeLayout(false);
 
         }

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs

@@ -281,12 +281,20 @@ namespace ArdupilotMega.GCSViews
 
                 cell.Value = TXT_DefaultAlt.Text;
 
-                float result;
-                float.TryParse(TXT_homealt.Text, out result);
-
-                if (result == 0)
                 {
-                    MessageBox.Show("You must have a home altitude");
+                    float result;
+                    float.TryParse(TXT_homealt.Text, out result);
+
+                    if (result == 0)
+                    {
+                        MessageBox.Show("You must have a home altitude");
+                    }
+
+                    if (!float.TryParse(TXT_DefaultAlt.Text, out result))
+                    {
+                        MessageBox.Show("Your default alt is not valid");
+                        return;
+                    }
                 }
 
                 float ans;
@@ -784,7 +792,7 @@ namespace ArdupilotMega.GCSViews
                     cmd = Commands[Command.Index, selectedrow].Value.ToString();
                 }
                 catch { cmd = option; }
-                Console.WriteLine("editformat " + option + " value " + cmd);
+                //Console.WriteLine("editformat " + option + " value " + cmd);
                 ChangeColumnHeader(cmd);
             }
             catch (Exception ex) { MessageBox.Show(ex.ToString()); }
@@ -916,7 +924,7 @@ namespace ArdupilotMega.GCSViews
                 drawnpolygons.Markers.Add(m);
                 drawnpolygons.Markers.Add(mBorders);
             }
-            catch (Exception) { }
+            catch (Exception ex) { Console.WriteLine(ex.ToString()); }
         }
 
         /// <summary>
@@ -1086,11 +1094,16 @@ namespace ArdupilotMega.GCSViews
                 else if (home.Length > 5 && usable == 0)
                 {
                     lookat = "<LookAt>     <longitude>" + TXT_homelng.Text.ToString(new System.Globalization.CultureInfo("en-US")) + "</longitude>     <latitude>" + TXT_homelat.Text.ToString(new System.Globalization.CultureInfo("en-US")) + "</latitude> <range>4000</range> </LookAt>";
-                    MainMap.HoldInvalidation = true;
-                    MainMap.ZoomAndCenterMarkers("objects");
-                    MainMap.Zoom -= 2;
+
+                    RectLatLng? rect = MainMap.GetRectOfAllMarkers("objects");
+                    if (rect.HasValue)
+                    {
+                        MainMap.Position = rect.Value.LocationMiddle;
+                    }
+
+                    MainMap.Zoom = 17;
+
                     MainMap_OnMapZoomChanged();
-                    MainMap.HoldInvalidation = false;
                 }
 
                 RegeneratePolygon();
@@ -1933,8 +1946,13 @@ namespace ArdupilotMega.GCSViews
                     {
                         if (CurentRectMarker.InnerMarker.Tag.ToString().Contains("grid"))
                         {
-                            drawnpolygon.Points[int.Parse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", "")) - 1] = new PointLatLng(end.Lat, end.Lng);
-                            MainMap.UpdatePolygonLocalPosition(drawnpolygon);
+                            try
+                            {
+                                drawnpolygon.Points[int.Parse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", "")) - 1] = new PointLatLng(end.Lat, end.Lng);
+                                MainMap.UpdatePolygonLocalPosition(drawnpolygon);
+                                MainMap.Invalidate();
+                            }
+                            catch { }
                         }
                         else
                         {
@@ -2002,6 +2020,7 @@ namespace ArdupilotMega.GCSViews
                         {
                             drawnpolygon.Points[int.Parse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", "")) - 1] = new PointLatLng(point.Lat, point.Lng);
                             MainMap.UpdatePolygonLocalPosition(drawnpolygon);
+                            MainMap.Invalidate();
                         }
                     }
                     catch { }
@@ -2446,6 +2465,24 @@ namespace ArdupilotMega.GCSViews
                 string angle = (90).ToString("0");
                 Common.InputBox("Angle", "Enter the line direction (0-180)", ref angle);
 
+                double tryme = 0;
+
+                if (!double.TryParse(angle, out tryme))
+                {
+                    MessageBox.Show("Invalid Angle");
+                    return;
+                }
+                if (!double.TryParse(alt, out tryme))
+                {
+                    MessageBox.Show("Invalid Alt");
+                    return;
+                }
+                if (!double.TryParse(distance, out tryme))
+                {
+                    MessageBox.Show("Invalid Distance");
+                    return;
+                }
+
 #if DEBUG
                 //Commands.Rows.Clear();
 #endif

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.Designer.cs

@@ -83,7 +83,7 @@
             this.label17 = new ArdupilotMega.MyLabel();
             this.panel5 = new System.Windows.Forms.Panel();
             this.zg1 = new ZedGraph.ZedGraphControl();
-            this.timer1 = new System.Windows.Forms.Timer(this.components);
+            this.timer_servo_graph = new System.Windows.Forms.Timer(this.components);
             this.panel6 = new System.Windows.Forms.Panel();
             this.label28 = new ArdupilotMega.MyLabel();
             this.label29 = new ArdupilotMega.MyLabel();
@@ -501,9 +501,9 @@
             this.zg1.ScrollMinY = 0D;
             this.zg1.ScrollMinY2 = 0D;
             // 
-            // timer1
+            // timer_servo_graph
             // 
-            this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
+            this.timer_servo_graph.Tick += new System.EventHandler(this.timer1_Tick);
             // 
             // panel6
             // 
@@ -692,7 +692,6 @@
             this.RAD_aerosimrc.Name = "RAD_aerosimrc";
             this.toolTip1.SetToolTip(this.RAD_aerosimrc, resources.GetString("RAD_aerosimrc.ToolTip"));
             this.RAD_aerosimrc.UseVisualStyleBackColor = true;
-            this.RAD_aerosimrc.CheckedChanged += new System.EventHandler(this.RAD_aerosimrc_CheckedChanged);
             // 
             // RAD_JSBSim
             // 
@@ -700,7 +699,6 @@
             this.RAD_JSBSim.Name = "RAD_JSBSim";
             this.toolTip1.SetToolTip(this.RAD_JSBSim, resources.GetString("RAD_JSBSim.ToolTip"));
             this.RAD_JSBSim.UseVisualStyleBackColor = true;
-            this.RAD_JSBSim.CheckedChanged += new System.EventHandler(this.RAD_JSBSim_CheckedChanged);
             // 
             // CHK_xplane10
             // 
@@ -811,7 +809,7 @@
         private ArdupilotMega.MyLabel label19;
         private ArdupilotMega.MyLabel TXT_control_mode;
         private ZedGraph.ZedGraphControl zg1;
-        private System.Windows.Forms.Timer timer1;
+        private System.Windows.Forms.Timer timer_servo_graph;
         private System.Windows.Forms.Panel panel6;
         private System.Windows.Forms.TextBox TXT_ruddergain;
         private System.Windows.Forms.TextBox TXT_pitchgain;

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs

@@ -280,7 +280,7 @@ namespace ArdupilotMega.GCSViews
 
                             _procstartinfo.UseShellExecute = true;
                             //_procstartinfo.RedirectStandardOutput = true;
-                            
+
 
                             System.Diagnostics.Process.Start(_procstartinfo);
 
@@ -307,12 +307,12 @@ namespace ArdupilotMega.GCSViews
                 };
                 t11.Start();
                 MainV2.threads.Add(t11);
-                timer1.Start();
+                timer_servo_graph.Start();
             }
             else
             {
 
-                timer1.Stop();
+                timer_servo_graph.Stop();
                 threadrun = 0;
                 if (SimulatorRECV != null)
                     SimulatorRECV.Close();
@@ -569,7 +569,8 @@ namespace ArdupilotMega.GCSViews
                             RECVprocess(udpdata, recv, comPort);
                         }
                     }
-                    catch { //OutputLog.AppendText("Xplanes Data Problem - You need DATA IN/OUT 3, 4, 17, 18, 19, 20\n" + ex.Message + "\n");
+                    catch
+                    { //OutputLog.AppendText("Xplanes Data Problem - You need DATA IN/OUT 3, 4, 17, 18, 19, 20\n" + ex.Message + "\n");
                     }
                 }
                 if (MavLink != null && MavLink.Client != null && MavLink.Client.Connected && MavLink.Available > 0)
@@ -606,7 +607,7 @@ namespace ArdupilotMega.GCSViews
 
                 if (hzcounttime.Second != DateTime.Now.Second)
                 {
-//                  Console.WriteLine("SIM hz {0}", hzcount);
+                    //                  Console.WriteLine("SIM hz {0}", hzcount);
                     hzcount = 0;
                     hzcounttime = DateTime.Now;
                 }
@@ -675,11 +676,11 @@ namespace ArdupilotMega.GCSViews
             MavLink = new UdpClient("127.0.0.1", 14550);
         }
 
-        float oldax =0, olday =0, oldaz = 0;
+        float oldax = 0, olday = 0, oldaz = 0;
         DateTime oldtime = DateTime.Now;
 #if MAVLINK10
         ArdupilotMega.MAVLink.__mavlink_gps_raw_int_t oldgps = new MAVLink.__mavlink_gps_raw_int_t();
-		#endif
+#endif
 
         ArdupilotMega.MAVLink.__mavlink_attitude_t oldatt = new ArdupilotMega.MAVLink.__mavlink_attitude_t();
 
@@ -740,7 +741,9 @@ namespace ArdupilotMega.GCSViews
                     att.pitchspeed = (DATA[17][0]);
                     att.rollspeed = (DATA[17][1]);
                     att.yawspeed = (DATA[17][2]);
-                } else {
+                }
+                else
+                {
                     att.pitch = (DATA[17][0] * deg2rad);
                     att.roll = (DATA[17][1] * deg2rad);
                     att.yaw = (DATA[17][2] * deg2rad);
@@ -799,9 +802,9 @@ namespace ArdupilotMega.GCSViews
                 double head = DATA[18][2] - 90;
 #if MAVLINK10
                 imu.time_usec = ((ulong)DateTime.Now.ToBinary());
-				#else
-				imu.usec = ((ulong)DateTime.Now.ToBinary());
-				#endif
+#else
+                imu.usec = ((ulong)DateTime.Now.ToBinary());
+#endif
                 imu.xgyro = xgyro; // roll - yes
                 imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
                 imu.ygyro = ygyro; // pitch - yes
@@ -817,7 +820,14 @@ namespace ArdupilotMega.GCSViews
 #if MAVLINK10
                 gps.alt = (int)(DATA[20][2] * ft2m * 1000);
                 gps.fix_type = 3;
-                gps.cog = (ushort)(DATA[19][2] * 100);
+                                if (xplane9)
+                {
+                    gps.cog = ((float)DATA[19][2]);
+                }
+                else
+                {
+                    gps.cog = ((float)DATA[18][2]);
+                }
                 gps.lat = (int)(DATA[20][0] * 1.0e7);
                 gps.lon = (int)(DATA[20][1] * 1.0e7);
                 gps.time_usec = ((ulong)0);
@@ -825,7 +835,14 @@ namespace ArdupilotMega.GCSViews
 #else
                 gps.alt = ((float)(DATA[20][2] * ft2m));
                 gps.fix_type = 3;
-                gps.hdg = ((float)DATA[19][2]);
+                if (xplane9)
+                {
+                    gps.hdg = ((float)DATA[19][2]);
+                }
+                else
+                {
+                    gps.hdg = ((float)DATA[18][2]);
+                }
                 gps.lat = ((float)DATA[20][0]);
                 gps.lon = ((float)DATA[20][1]);
                 gps.usec = ((ulong)0);
@@ -860,9 +877,9 @@ namespace ArdupilotMega.GCSViews
 
 #if MAVLINK10
                 imu.time_usec = ((ulong)DateTime.Now.ToBinary());
-				#else
-				imu.usec = ((ulong)DateTime.Now.ToBinary());
-				#endif
+#else
+                imu.usec = ((ulong)DateTime.Now.ToBinary());
+#endif
 
                 imu.xacc = ((Int16)(imudata2.accelX * 9808 / 32.2));
                 imu.xgyro = ((Int16)(imudata2.rateRoll * 17.453293));
@@ -873,7 +890,7 @@ namespace ArdupilotMega.GCSViews
                 imu.zacc = ((Int16)(imudata2.accelZ * 9808 / 32.2)); // + 1000
                 imu.zgyro = ((Int16)(imudata2.rateYaw * 17.453293));
                 imu.zmag = 0;
-				
+
 #if MAVLINK10
                 gps.alt = ((int)(imudata2.altitude * ft2m * 1000));
                 gps.fix_type = 3;
@@ -927,9 +944,9 @@ namespace ArdupilotMega.GCSViews
 
 #if MAVLINK10
                 imu.time_usec = ((ulong)DateTime.Now.ToBinary());
-				#else
-				imu.usec = ((ulong)DateTime.Now.ToBinary());
-				#endif
+#else
+                imu.usec = ((ulong)DateTime.Now.ToBinary());
+#endif
                 imu.xgyro = (short)(aeroin.Model_fAngVel_Body_X * 1000); // roll - yes
                 //imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
                 imu.ygyro = (short)(aeroin.Model_fAngVel_Body_Y * 1000); // pitch - yes
@@ -943,7 +960,7 @@ namespace ArdupilotMega.GCSViews
                 imu.yacc = (Int16)((accel3D.Y + aeroin.Model_fAccel_Body_Y) * 1000); // roll
                 imu.zacc = (Int16)((accel3D.Z + aeroin.Model_fAccel_Body_Z) * 1000);
 
-//                Console.WriteLine("x {0} y {1} z {2}", imu.xacc, imu.yacc, imu.zacc);
+                //                Console.WriteLine("x {0} y {1} z {2}", imu.xacc, imu.yacc, imu.zacc);
 
 #if MAVLINK10
                 gps.alt = ((int)(aeroin.Model_fPosZ) * 1000);
@@ -953,7 +970,7 @@ namespace ArdupilotMega.GCSViews
                 gps.lon = (int)(aeroin.Model_fLongitude * 1.0e7);
                 gps.time_usec = ((ulong)DateTime.Now.Ticks);
                 gps.vel = (ushort)(Math.Sqrt((aeroin.Model_fVelY * aeroin.Model_fVelY) + (aeroin.Model_fVelX * aeroin.Model_fVelX)) * 100);
-#else 
+#else
                 gps.alt = ((float)(aeroin.Model_fPosZ));
                 gps.fix_type = 3;
                 gps.hdg = ((float)Math.Atan2(aeroin.Model_fVelX, aeroin.Model_fVelY) * rad2deg);
@@ -988,9 +1005,9 @@ namespace ArdupilotMega.GCSViews
 
 #if MAVLINK10
                 imu.time_usec = ((ulong)DateTime.Now.ToBinary());
-				#else
-				imu.usec = ((ulong)DateTime.Now.ToBinary());
-				#endif
+#else
+                imu.usec = ((ulong)DateTime.Now.ToBinary());
+#endif
                 imu.xgyro = (short)(fdm.phidot); // roll - yes
                 //imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
                 imu.ygyro = (short)(fdm.thetadot); // pitch - yes
@@ -1134,10 +1151,10 @@ namespace ArdupilotMega.GCSViews
                 Array.Copy(BitConverter.GetBytes((double)lastfdmdata.psi * rad2deg), 0, sitlout, a += 8, 8);
                 Array.Copy(BitConverter.GetBytes((double)lastfdmdata.vcas * ft2m), 0, sitlout, a += 8, 8);
 
-//                Console.WriteLine(lastfdmdata.theta);
+                //                Console.WriteLine(lastfdmdata.theta);
 
                 Array.Copy(BitConverter.GetBytes((int)0x4c56414e), 0, sitlout, a += 8, 4);
-                
+
                 SITLSEND.Send(sitlout, sitlout.Length);
 
                 return;
@@ -1176,27 +1193,27 @@ namespace ArdupilotMega.GCSViews
 
             comPort.sendPacket(asp);
 			
-			#else
-			
+#else
+
             if (chkSensor.Checked == false) // attitude
             {
-                comPort.sendPacket( att);
+                comPort.sendPacket(att);
 
-                comPort.sendPacket( asp);
+                comPort.sendPacket(asp);
             }
             else // raw imu
             {
                 // imudata
 
-                comPort.sendPacket( imu);
+                comPort.sendPacket(imu);
 
-			#endif
+#endif
 
-            MAVLink.__mavlink_raw_pressure_t pres = new MAVLink.__mavlink_raw_pressure_t();
-            double calc = (101325 * Math.Pow(1 - 2.25577 * Math.Pow(10, -5) * gps.alt, 5.25588)); // updated from valid gps
-            pres.press_diff1 = (short)(int)(calc - 101325); // 0 alt is 0 pa
+                MAVLink.__mavlink_raw_pressure_t pres = new MAVLink.__mavlink_raw_pressure_t();
+                double calc = (101325 * Math.Pow(1 - 2.25577 * Math.Pow(10, -5) * gps.alt, 5.25588)); // updated from valid gps
+                pres.press_diff1 = (short)(int)(calc - 101325); // 0 alt is 0 pa
 
-            comPort.sendPacket(pres);
+                comPort.sendPacket(pres);
 #if !MAVLINK10
                 comPort.sendPacket(asp);
             }
@@ -1210,7 +1227,7 @@ namespace ArdupilotMega.GCSViews
                 comPort.sendPacket(gps);
             }
 #endif
-        }        
+        }
 
         HIL.QuadCopter quad = new HIL.QuadCopter();
 
@@ -1228,7 +1245,7 @@ namespace ArdupilotMega.GCSViews
         /// <param name="pitch_out">-1 to 1</param>
         /// <param name="rudder_out">-1 to 1</param>
         /// <param name="throttle_out">0 to 1</param>
-        private void updateScreenDisplay(double lat,double lng,double alt,double roll,double pitch,double heading, double yaw,double roll_out,double pitch_out, double rudder_out, double throttle_out)
+        private void updateScreenDisplay(double lat, double lng, double alt, double roll, double pitch, double heading, double yaw, double roll_out, double pitch_out, double rudder_out, double throttle_out)
         {
             try
             {
@@ -1329,7 +1346,7 @@ namespace ArdupilotMega.GCSViews
                 }
                 catch (Exception) { Console.WriteLine("Socket Write failed, FG closed?"); }
 
-                updateScreenDisplay(lastfdmdata.latitude,lastfdmdata.longitude,lastfdmdata.altitude * .3048,lastfdmdata.phi,lastfdmdata.theta,lastfdmdata.psi,lastfdmdata.psi,m[0],m[1],m[2],m[3]);
+                updateScreenDisplay(lastfdmdata.latitude, lastfdmdata.longitude, lastfdmdata.altitude * .3048, lastfdmdata.phi, lastfdmdata.theta, lastfdmdata.psi, lastfdmdata.psi, m[0], m[1], m[2], m[3]);
 
                 return;
 
@@ -1350,10 +1367,9 @@ namespace ArdupilotMega.GCSViews
             }
             else
             {
-
                 roll_out = (float)MainV2.cs.hilch1 / rollgain;
                 pitch_out = (float)MainV2.cs.hilch2 / pitchgain;
-                throttle_out = ((float)MainV2.cs.hilch3 / 2 + 5000) / throttlegain;
+                throttle_out = ((float)MainV2.cs.hilch3) / throttlegain;
                 rudder_out = (float)MainV2.cs.hilch4 / ruddergain;
 
                 if (RAD_aerosimrc.Checked && CHK_quad.Checked)
@@ -1415,7 +1431,9 @@ namespace ArdupilotMega.GCSViews
                         if (xplane9)
                         {
                             updateScreenDisplay(DATA[20][0] * deg2rad, DATA[20][1] * deg2rad, DATA[20][2] * .3048, DATA[18][1] * deg2rad, DATA[18][0] * deg2rad, DATA[19][2] * deg2rad, DATA[18][2] * deg2rad, roll_out, pitch_out, rudder_out, throttle_out);
-                        } else {
+                        }
+                        else
+                        {
 
                             updateScreenDisplay(DATA[20][0] * deg2rad, DATA[20][1] * deg2rad, DATA[20][2] * .3048, DATA[17][1] * deg2rad, DATA[17][0] * deg2rad, DATA[18][2] * deg2rad, DATA[17][2] * deg2rad, roll_out, pitch_out, rudder_out, throttle_out);
                         }
@@ -1444,7 +1462,7 @@ namespace ArdupilotMega.GCSViews
                 Array.Copy(BitConverter.GetBytes((double)(roll_out * REV_roll)), 0, AeroSimRC, 0, 8);
                 Array.Copy(BitConverter.GetBytes((double)(pitch_out * REV_pitch * -1)), 0, AeroSimRC, 8, 8);
                 Array.Copy(BitConverter.GetBytes((double)(rudder_out * REV_rudder)), 0, AeroSimRC, 16, 8);
-                Array.Copy(BitConverter.GetBytes((double)((throttle_out *2) -1)), 0, AeroSimRC, 24, 8);
+                Array.Copy(BitConverter.GetBytes((double)((throttle_out * 2) - 1)), 0, AeroSimRC, 24, 8);
 
                 if (heli)
                 {
@@ -1487,12 +1505,12 @@ namespace ArdupilotMega.GCSViews
             if (RAD_JSBSim.Checked)
             {
                 roll_out = Constrain(roll_out * REV_roll, -1f, 1f);
-                pitch_out = Constrain(-pitch_out * REV_pitch, -1f,1f);
+                pitch_out = Constrain(-pitch_out * REV_pitch, -1f, 1f);
                 rudder_out = Constrain(rudder_out * REV_rudder, -1f, 1f);
 
                 throttle_out = Constrain(throttle_out, -0.0f, 1f);
 
-                string cmd = string.Format("set fcs/aileron-cmd-norm {0}\r\nset fcs/elevator-cmd-norm {1}\r\nset fcs/rudder-cmd-norm {2}\r\nset fcs/throttle-cmd-norm {3}\r\n",roll_out,pitch_out,rudder_out,throttle_out);
+                string cmd = string.Format("set fcs/aileron-cmd-norm {0}\r\nset fcs/elevator-cmd-norm {1}\r\nset fcs/rudder-cmd-norm {2}\r\nset fcs/throttle-cmd-norm {3}\r\n", roll_out, pitch_out, rudder_out, throttle_out);
 
                 //Console.Write(cmd);
                 byte[] data = System.Text.Encoding.ASCII.GetBytes(cmd);
@@ -1529,7 +1547,7 @@ namespace ArdupilotMega.GCSViews
 
             if (RAD_softXplanes.Checked)
             {
-            
+
 
                 // sending only 1 packet instead of many.
 
@@ -1736,9 +1754,9 @@ namespace ArdupilotMega.GCSViews
             //myPane.Chart.Fill = new Fill(Color.White, Color.LightGray, 45.0f);
 
             // Sample at 50ms intervals
-            timer1.Interval = 50;
-            timer1.Enabled = true;
-            timer1.Start();
+            timer_servo_graph.Interval = 50;
+            timer_servo_graph.Enabled = true;
+            timer_servo_graph.Start();
 
 
             // Calculate the Axis Scale Ranges
@@ -1778,14 +1796,14 @@ namespace ArdupilotMega.GCSViews
                 xScale.Max = time + xScale.MajorStep;
                 xScale.Min = xScale.Max - 30.0;
             }
-                // Make sure the Y axis is rescaled to accommodate actual data
-                try
-                {
-                    zg1.AxisChange();
-                }
-                catch { }
-                // Force a redraw
-                zg1.Invalidate();
+            // Make sure the Y axis is rescaled to accommodate actual data
+            try
+            {
+                zg1.AxisChange();
+            }
+            catch { }
+            // Force a redraw
+            zg1.Invalidate();
         }
 
         private void SaveSettings_Click(object sender, EventArgs e)
@@ -1965,9 +1983,9 @@ namespace ArdupilotMega.GCSViews
 
                 if (!MainV2.MONO)
                 {
-                    extra = " --fg-root=\"" + Path.GetDirectoryName(ofd.FileName.ToLower().Replace("bin\\win32\\","")) + "\\data\"";
+                    extra = " --fg-root=\"" + Path.GetDirectoryName(ofd.FileName.ToLower().Replace("bin\\win32\\", "")) + "\\data\"";
                 }
-                    
+
                 System.Diagnostics.Process P = new System.Diagnostics.Process();
                 P.StartInfo.FileName = ofd.FileName;
                 P.StartInfo.Arguments = extra + @" --geometry=400x300         --native-fdm=socket,out,50,127.0.0.1,49005,udp 	--generic=socket,in,50,127.0.0.1,49000,udp,MAVLink		   --roll=0       --pitch=0       --wind=0@0       --turbulence=0.0       --prop:/sim/frame-rate-throttle-hz=30       --timeofday=noon       --shading-flat       --fog-disable       --disable-specular-highlight       --disable-skyblend       --disable-random-objects       --disable-panel       --disable-horizon-effect       --disable-clouds       --disable-anti-alias-hud ";
@@ -2044,7 +2062,7 @@ namespace ArdupilotMega.GCSViews
             if (displayfull)
             {
                 //this.Width = 651;
-                timer1.Start();
+                timer_servo_graph.Start();
                 zg1.Visible = true;
 
 
@@ -2059,7 +2077,7 @@ namespace ArdupilotMega.GCSViews
                 //this.Width = 651;
                 //this.Height = 457;
 
-                timer1.Stop();
+                timer_servo_graph.Stop();
                 zg1.Visible = false;
 
                 CHKgraphpitch.Visible = false;
@@ -2069,14 +2087,5 @@ namespace ArdupilotMega.GCSViews
             }
         }
 
-        private void RAD_aerosimrc_CheckedChanged(object sender, EventArgs e)
-        {
-
-        }
-
-        private void RAD_JSBSim_CheckedChanged(object sender, EventArgs e)
-        {
-
-        }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.resx

@@ -1356,7 +1356,7 @@
   <data name="&gt;&gt;zg1.ZOrder" xml:space="preserve">
     <value>17</value>
   </data>
-  <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+  <metadata name="timer_servo_graph.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>17, 17</value>
   </metadata>
   <data name="label28.Location" type="System.Drawing.Point, System.Drawing">
@@ -2142,10 +2142,10 @@
   <data name="&gt;&gt;currentStateBindingSource.Type" xml:space="preserve">
     <value>System.Windows.Forms.BindingSource, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="&gt;&gt;timer1.Name" xml:space="preserve">
-    <value>timer1</value>
+  <data name="&gt;&gt;timer_servo_graph.Name" xml:space="preserve">
+    <value>timer_servo_graph</value>
   </data>
-  <data name="&gt;&gt;timer1.Type" xml:space="preserve">
+  <data name="&gt;&gt;timer_servo_graph.Type" xml:space="preserve">
     <value>System.Windows.Forms.Timer, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;toolTip1.Name" xml:space="preserve">

Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs

@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.1.31")]
+[assembly: AssemblyFileVersion("1.1.32")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/Setup/Setup.cs

@@ -220,7 +220,7 @@ namespace ArdupilotMega.Setup
                 }
             }
 
-            MessageBox.Show("Ensure all your sticks are centered, and click ok to continue");
+            MessageBox.Show("Ensure all your sticks are centered and throttle is down, and click ok to continue");
 
             MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true, MainV2.comPort);