diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/3DRRadio.csproj b/Tools/ArdupilotMegaPlanner/3DRRadio/3DRRadio.csproj
index 7f514ee20ccca7f760c3fee1620ef728d4a774af..f326d027c5a6676801501e281bc62b5cc048d36d 100644
--- a/Tools/ArdupilotMegaPlanner/3DRRadio/3DRRadio.csproj
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/3DRRadio.csproj
@@ -32,20 +32,21 @@
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|x86' ">
<PlatformTarget>x86</PlatformTarget>
- <DebugSymbols>true</DebugSymbols>
+ <DebugSymbols>false</DebugSymbols>
<DebugType>full</DebugType>
<Optimize>false</Optimize>
<OutputPath>bin\Debug\</OutputPath>
- <DefineConstants>DEBUG;TRACE</DefineConstants>
+ <DefineConstants>DEBUG</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|x86' ">
<PlatformTarget>x86</PlatformTarget>
- <DebugType>pdbonly</DebugType>
+ <DebugType>none</DebugType>
<Optimize>true</Optimize>
<OutputPath>bin\Release\</OutputPath>
- <DefineConstants>TRACE</DefineConstants>
+ <DefineConstants>
+ </DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
@@ -195,12 +196,6 @@
<Install>true</Install>
</BootstrapperPackage>
</ItemGroup>
- <ItemGroup>
- <None Include="Resources\3dr.png" />
- </ItemGroup>
- <ItemGroup>
- <None Include="Resources\3dr2.png" />
- </ItemGroup>
<ItemGroup>
<Content Include="3dr.ico" />
<None Include="Resources\3dr3.png" />
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/Config.resx b/Tools/ArdupilotMegaPlanner/3DRRadio/Config.resx
index c2d6487d8e10e0bf986a7c1fae8bbd5bcc13e6ea..ff6e05843c3b10394f92bdc12f5acfedaa14a3f9 100644
--- a/Tools/ArdupilotMegaPlanner/3DRRadio/Config.resx
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/Config.resx
@@ -1518,11 +1518,8 @@
//////////////////////////////////8=
</value>
</data>
- <data name="$this.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
- <value>NoControl</value>
- </data>
<data name="$this.Text" xml:space="preserve">
- <value>3DRRadio Config</value>
+ <value>3DRRadio Config 0.2</value>
</data>
<data name=">>$this.Name" xml:space="preserve">
<value>Config</value>
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/Program.cs b/Tools/ArdupilotMegaPlanner/3DRRadio/Program.cs
index e4f207fc148a0f5c24929620476add781067e4ad..1570b6f7fdcdfdf39d9956819ca3f715212c33a0 100644
--- a/Tools/ArdupilotMegaPlanner/3DRRadio/Program.cs
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/Program.cs
@@ -12,7 +12,7 @@ namespace _3DRRadio
/// The main entry point for the application.
/// </summary>
[STAThread]
- static void Main()
+ static void Main(string[] args)
{
XmlConfigurator.Configure();
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/AssemblyInfo.cs
index ae9d3a35601fc2399b15958f2dc4e3af679215d7..b17a906705f980f449c7dba329e64baa87656304 100644
--- a/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/AssemblyInfo.cs
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/AssemblyInfo.cs
@@ -32,5 +32,5 @@ using System.Runtime.InteropServices;
// You can specify all the values or you can default the Build and Revision Numbers
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
-[assembly: AssemblyVersion("0.1.*")]
-[assembly: AssemblyFileVersion("0.1.0.0")]
+[assembly: AssemblyVersion("0.2.*")]
+[assembly: AssemblyFileVersion("0.2.0.0")]
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Resources.Designer.cs b/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Resources.Designer.cs
index f107d01f7ade1ff550b49c3f38df3709623f17e9..3f01251d38f3953177944c955247fb35767b76fb 100644
--- a/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Resources.Designer.cs
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Resources.Designer.cs
@@ -60,20 +60,6 @@ namespace _3DRRadio.Properties {
}
}
- internal static System.Drawing.Bitmap _3dr {
- get {
- object obj = ResourceManager.GetObject("3dr", resourceCulture);
- return ((System.Drawing.Bitmap)(obj));
- }
- }
-
- internal static System.Drawing.Bitmap _3dr2 {
- get {
- object obj = ResourceManager.GetObject("3dr2", resourceCulture);
- return ((System.Drawing.Bitmap)(obj));
- }
- }
-
internal static System.Drawing.Bitmap _3dr3 {
get {
object obj = ResourceManager.GetObject("3dr3", resourceCulture);
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Resources.resx b/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Resources.resx
index 40514226acc3a1a20d00c8cef7ac48da95b0c4e9..572c8be44e80879b72cba9b6a58c458ba753b99c 100644
--- a/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Resources.resx
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Resources.resx
@@ -118,13 +118,6 @@
<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="3dr2" type="System.Resources.ResXFileRef, System.Windows.Forms">
- <value>..\Resources\3dr2.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
- </data>
- <data name="3dr" type="System.Resources.ResXFileRef, System.Windows.Forms">
- <value>..\Resources\3dr.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="3dr3" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\3dr3.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
diff --git a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
index d8d3db4b91937ac64053868adac912502e617302..b1e7ab83f7f19bba64a94259d9640815b676eb1c 100644
--- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
+++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
@@ -201,6 +201,10 @@
<Reference Include="System.Management">
<Private>False</Private>
</Reference>
+ <Reference Include="System.Reactive, Version=1.0.10621.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL">
+ <SpecificVersion>False</SpecificVersion>
+ <HintPath>Lib\System.Reactive.dll</HintPath>
+ </Reference>
<Reference Include="System.Speech">
<Private>True</Private>
</Reference>
@@ -288,6 +292,12 @@
<Compile Include="Controls\ConfigPanel.Designer.cs">
<DependentUpon>ConfigPanel.cs</DependentUpon>
</Compile>
+ <Compile Include="Controls\ConnectionStats.cs">
+ <SubType>UserControl</SubType>
+ </Compile>
+ <Compile Include="Controls\ConnectionStats.designer.cs">
+ <DependentUpon>ConnectionStats.cs</DependentUpon>
+ </Compile>
<Compile Include="Controls\CustomMessageBox.cs" />
<Compile Include="Controls\LineSeparator.cs">
<SubType>UserControl</SubType>
@@ -602,6 +612,9 @@
<EmbeddedResource Include="Controls\ConfigPanel.resx">
<DependentUpon>ConfigPanel.cs</DependentUpon>
</EmbeddedResource>
+ <EmbeddedResource Include="Controls\ConnectionStats.resx">
+ <DependentUpon>ConnectionStats.cs</DependentUpon>
+ </EmbeddedResource>
<EmbeddedResource Include="Controls\HSI.resx">
<DependentUpon>HSI.cs</DependentUpon>
</EmbeddedResource>
@@ -1122,13 +1135,9 @@
<EmbeddedResource Include="temp.resx">
<DependentUpon>temp.cs</DependentUpon>
</EmbeddedResource>
- <None Include="AeroSimRCAPMHil.zip">
- <CopyToOutputDirectory>Always</CopyToOutputDirectory>
- </None>
+ <None Include="AeroSimRCAPMHil.zip" />
<None Include="app.config" />
- <None Include="arducopter-xplane.zip">
- <CopyToOutputDirectory>Always</CopyToOutputDirectory>
- </None>
+ <None Include="arducopter-xplane.zip" />
<None Include="m3u\GeoRefnetworklink.kml">
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
</None>
@@ -1158,9 +1167,7 @@
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
<SubType>Designer</SubType>
</Content>
- <Content Include="JSBSim.exe">
- <CopyToOutputDirectory>Always</CopyToOutputDirectory>
- </Content>
+ <Content Include="JSBSim.exe" />
<Content Include="mavcmd.xml">
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
</Content>
diff --git a/Tools/ArdupilotMegaPlanner/Common.cs b/Tools/ArdupilotMegaPlanner/Common.cs
index ffb89d72b08dda1f240726c1a969d60319227f9d..ebc4326f59ce4caec3a90c393f145442fb487526 100644
--- a/Tools/ArdupilotMegaPlanner/Common.cs
+++ b/Tools/ArdupilotMegaPlanner/Common.cs
@@ -465,7 +465,6 @@ namespace ArdupilotMega
CH6_STABILIZE_KD = 29
}
-
public static void linearRegression()
{
double[] values = { 4.8, 4.8, 4.5, 3.9, 4.4, 3.6, 3.6, 2.9, 3.5, 3.0, 2.5, 2.2, 2.6, 2.1, 2.2 };
diff --git a/Tools/ArdupilotMegaPlanner/Controls/ConnectionControl.Designer.cs b/Tools/ArdupilotMegaPlanner/Controls/ConnectionControl.Designer.cs
index 72c5781a3d61add30e934f3190eb86aeb7ec87e4..f541cfe0b8abe62f825fbe47c224f630d3cb3144 100644
--- a/Tools/ArdupilotMegaPlanner/Controls/ConnectionControl.Designer.cs
+++ b/Tools/ArdupilotMegaPlanner/Controls/ConnectionControl.Designer.cs
@@ -31,6 +31,7 @@
this.cmb_Baud = new System.Windows.Forms.ComboBox();
this.cmb_ConnectionType = new System.Windows.Forms.ComboBox();
this.cmb_Connection = new System.Windows.Forms.ComboBox();
+ this.linkLabel1 = new System.Windows.Forms.LinkLabel();
this.SuspendLayout();
//
// cmb_Baud
@@ -66,17 +67,28 @@
this.cmb_Connection.Size = new System.Drawing.Size(121, 21);
this.cmb_Connection.TabIndex = 2;
//
+ this.linkLabel1.AutoSize = true;
+ this.linkLabel1.Image = global::ArdupilotMega.Properties.Resources.bg;
+ this.linkLabel1.Location = new System.Drawing.Point(3, 60);
+ this.linkLabel1.Name = "linkLabel1";
+ this.linkLabel1.Size = new System.Drawing.Size(63, 13);
+ this.linkLabel1.TabIndex = 3;
+ this.linkLabel1.TabStop = true;
+ this.linkLabel1.Text = "Link Stats...";
+ this.linkLabel1.Visible = false;
// ConnectionControl
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.BackgroundImage = global::ArdupilotMega.Properties.Resources.bg;
+ this.Controls.Add(this.linkLabel1);
this.Controls.Add(this.cmb_Connection);
this.Controls.Add(this.cmb_ConnectionType);
this.Controls.Add(this.cmb_Baud);
this.Name = "ConnectionControl";
this.Size = new System.Drawing.Size(230, 76);
this.ResumeLayout(false);
+ this.PerformLayout();
}
@@ -85,5 +97,6 @@
private System.Windows.Forms.ComboBox cmb_Baud;
private System.Windows.Forms.ComboBox cmb_ConnectionType;
private System.Windows.Forms.ComboBox cmb_Connection;
+ private System.Windows.Forms.LinkLabel linkLabel1;
}
}
diff --git a/Tools/ArdupilotMegaPlanner/Controls/ConnectionControl.cs b/Tools/ArdupilotMegaPlanner/Controls/ConnectionControl.cs
index 404a8de181f0b95f4a1dd5197aed50a34ba2cc8c..96f12fcc0fe3edcc0c2f5cbfd94c8d23c080cc26 100644
--- a/Tools/ArdupilotMegaPlanner/Controls/ConnectionControl.cs
+++ b/Tools/ArdupilotMegaPlanner/Controls/ConnectionControl.cs
@@ -14,10 +14,28 @@ namespace ArdupilotMega.Controls
public ConnectionControl()
{
InitializeComponent();
+ this.linkLabel1.Click += (sender, e) =>
+ {
+ if (ShowLinkStats!=null)
+ ShowLinkStats.Invoke(this, EventArgs.Empty);
+ };
}
+ public event EventHandler ShowLinkStats;
public ComboBox CMB_baudrate { get { return this.cmb_Baud; } }
public ComboBox CMB_serialport { get { return this.cmb_Connection; } }
public ComboBox TOOL_APMFirmware { get { return this.cmb_ConnectionType; } }
+
+ /// <summary>
+ /// Called from the main form - set whether we are connected or not currently.
+ /// UI will be updated accordingly
+ /// </summary>
+ /// <param name="isConnected">Whether we are connected</param>
+ public void IsConnected(bool isConnected)
+ {
+ this.linkLabel1.Visible = isConnected;
+ cmb_Baud.Enabled = !isConnected;
+ cmb_Connection.Enabled = !isConnected;
+ }
}
}
diff --git a/Tools/ArdupilotMegaPlanner/Controls/ConnectionStats.Designer.cs b/Tools/ArdupilotMegaPlanner/Controls/ConnectionStats.Designer.cs
new file mode 100644
index 0000000000000000000000000000000000000000..333656539be171961da6cd43c097e8eb08051087
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/Controls/ConnectionStats.Designer.cs
@@ -0,0 +1,292 @@
+namespace ArdupilotMega.Controls
+{
+ partial class ConnectionStats
+ {
+ /// <summary>
+ /// Required designer variable.
+ /// </summary>
+ private System.ComponentModel.IContainer components = null;
+
+ /// <summary>
+ /// Clean up any resources being used.
+ /// </summary>
+ /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+ protected override void Dispose(bool disposing)
+ {
+ if (disposing && (components != null))
+ {
+ components.Dispose();
+ }
+ base.Dispose(disposing);
+ }
+
+ #region Component Designer generated code
+
+ /// <summary>
+ /// Required method for Designer support - do not modify
+ /// the contents of this method with the code editor.
+ /// </summary>
+ private void InitializeComponent()
+ {
+ this.label1 = new System.Windows.Forms.Label();
+ this.label2 = new System.Windows.Forms.Label();
+ this.label3 = new System.Windows.Forms.Label();
+ this.label4 = new System.Windows.Forms.Label();
+ this.txt_BytesReceived = new System.Windows.Forms.TextBox();
+ this.txt_BytesPerSecondRx = new System.Windows.Forms.TextBox();
+ this.txt_PacketsRx = new System.Windows.Forms.TextBox();
+ this.txt_PacketsLost = new System.Windows.Forms.TextBox();
+ this.txt_LinkQuality = new System.Windows.Forms.TextBox();
+ this.label5 = new System.Windows.Forms.Label();
+ this.txt_PacketsPerSecond = new System.Windows.Forms.TextBox();
+ this.txt_BytesSent = new System.Windows.Forms.TextBox();
+ this.label6 = new System.Windows.Forms.Label();
+ this.label7 = new System.Windows.Forms.Label();
+ this.txt_BytesPerSecondSent = new System.Windows.Forms.TextBox();
+ this.label8 = new System.Windows.Forms.Label();
+ this.groupBox1 = new System.Windows.Forms.GroupBox();
+ this.label10 = new System.Windows.Forms.Label();
+ this.txt_MaxPacketInterval = new System.Windows.Forms.TextBox();
+ this.groupBox2 = new System.Windows.Forms.GroupBox();
+ this.groupBox1.SuspendLayout();
+ this.groupBox2.SuspendLayout();
+ this.SuspendLayout();
+ //
+ // label1
+ //
+ this.label1.AutoSize = true;
+ this.label1.Location = new System.Drawing.Point(10, 18);
+ this.label1.Name = "label1";
+ this.label1.Size = new System.Drawing.Size(33, 13);
+ this.label1.TabIndex = 0;
+ this.label1.Text = "Bytes";
+ //
+ // label2
+ //
+ this.label2.AutoSize = true;
+ this.label2.Location = new System.Drawing.Point(135, 18);
+ this.label2.Name = "label2";
+ this.label2.Size = new System.Drawing.Size(43, 13);
+ this.label2.TabIndex = 1;
+ this.label2.Text = "Bytes/s";
+ //
+ // label3
+ //
+ this.label3.AutoSize = true;
+ this.label3.Location = new System.Drawing.Point(6, 44);
+ this.label3.Name = "label3";
+ this.label3.Size = new System.Drawing.Size(46, 13);
+ this.label3.TabIndex = 2;
+ this.label3.Text = "Packets";
+ //
+ // label4
+ //
+ this.label4.AutoSize = true;
+ this.label4.Location = new System.Drawing.Point(3, 70);
+ this.label4.Name = "label4";
+ this.label4.Size = new System.Drawing.Size(51, 13);
+ this.label4.TabIndex = 3;
+ this.label4.Text = "Pkts Lost";
+ //
+ // txt_BytesReceived
+ //
+ this.txt_BytesReceived.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+ this.txt_BytesReceived.Location = new System.Drawing.Point(58, 16);
+ this.txt_BytesReceived.Name = "txt_BytesReceived";
+ this.txt_BytesReceived.ReadOnly = true;
+ this.txt_BytesReceived.Size = new System.Drawing.Size(64, 20);
+ this.txt_BytesReceived.TabIndex = 4;
+ //
+ // txt_BytesPerSecondRx
+ //
+ this.txt_BytesPerSecondRx.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+ this.txt_BytesPerSecondRx.Location = new System.Drawing.Point(184, 16);
+ this.txt_BytesPerSecondRx.Name = "txt_BytesPerSecondRx";
+ this.txt_BytesPerSecondRx.ReadOnly = true;
+ this.txt_BytesPerSecondRx.Size = new System.Drawing.Size(51, 20);
+ this.txt_BytesPerSecondRx.TabIndex = 5;
+ //
+ // txt_PacketsRx
+ //
+ this.txt_PacketsRx.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+ this.txt_PacketsRx.Location = new System.Drawing.Point(58, 42);
+ this.txt_PacketsRx.Name = "txt_PacketsRx";
+ this.txt_PacketsRx.ReadOnly = true;
+ this.txt_PacketsRx.Size = new System.Drawing.Size(64, 20);
+ this.txt_PacketsRx.TabIndex = 6;
+ //
+ // txt_PacketsLost
+ //
+ this.txt_PacketsLost.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+ this.txt_PacketsLost.Location = new System.Drawing.Point(58, 68);
+ this.txt_PacketsLost.Name = "txt_PacketsLost";
+ this.txt_PacketsLost.ReadOnly = true;
+ this.txt_PacketsLost.Size = new System.Drawing.Size(64, 20);
+ this.txt_PacketsLost.TabIndex = 7;
+ //
+ // txt_LinkQuality
+ //
+ this.txt_LinkQuality.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+ this.txt_LinkQuality.Location = new System.Drawing.Point(184, 68);
+ this.txt_LinkQuality.Name = "txt_LinkQuality";
+ this.txt_LinkQuality.ReadOnly = true;
+ this.txt_LinkQuality.Size = new System.Drawing.Size(51, 20);
+ this.txt_LinkQuality.TabIndex = 9;
+ //
+ // label5
+ //
+ this.label5.AutoSize = true;
+ this.label5.Location = new System.Drawing.Point(139, 68);
+ this.label5.Name = "label5";
+ this.label5.Size = new System.Drawing.Size(39, 13);
+ this.label5.TabIndex = 8;
+ this.label5.Text = "Quality";
+ //
+ // txt_PacketsPerSecond
+ //
+ this.txt_PacketsPerSecond.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+ this.txt_PacketsPerSecond.Location = new System.Drawing.Point(184, 42);
+ this.txt_PacketsPerSecond.Name = "txt_PacketsPerSecond";
+ this.txt_PacketsPerSecond.ReadOnly = true;
+ this.txt_PacketsPerSecond.Size = new System.Drawing.Size(51, 20);
+ this.txt_PacketsPerSecond.TabIndex = 10;
+ //
+ // txt_BytesSent
+ //
+ this.txt_BytesSent.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+ this.txt_BytesSent.Location = new System.Drawing.Point(74, 16);
+ this.txt_BytesSent.Name = "txt_BytesSent";
+ this.txt_BytesSent.ReadOnly = true;
+ this.txt_BytesSent.Size = new System.Drawing.Size(64, 20);
+ this.txt_BytesSent.TabIndex = 12;
+ //
+ // label6
+ //
+ this.label6.AutoSize = true;
+ this.label6.Location = new System.Drawing.Point(6, 18);
+ this.label6.Name = "label6";
+ this.label6.Size = new System.Drawing.Size(60, 13);
+ this.label6.TabIndex = 11;
+ this.label6.Text = "Total Bytes";
+ //
+ // label7
+ //
+ this.label7.AutoSize = true;
+ this.label7.Location = new System.Drawing.Point(23, 43);
+ this.label7.Name = "label7";
+ this.label7.Size = new System.Drawing.Size(43, 13);
+ this.label7.TabIndex = 13;
+ this.label7.Text = "Bytes/s";
+ //
+ // txt_BytesPerSecondSent
+ //
+ this.txt_BytesPerSecondSent.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+ this.txt_BytesPerSecondSent.Location = new System.Drawing.Point(74, 42);
+ this.txt_BytesPerSecondSent.Name = "txt_BytesPerSecondSent";
+ this.txt_BytesPerSecondSent.ReadOnly = true;
+ this.txt_BytesPerSecondSent.Size = new System.Drawing.Size(64, 20);
+ this.txt_BytesPerSecondSent.TabIndex = 14;
+ //
+ // label8
+ //
+ this.label8.AutoSize = true;
+ this.label8.Location = new System.Drawing.Point(126, 43);
+ this.label8.Name = "label8";
+ this.label8.Size = new System.Drawing.Size(56, 13);
+ this.label8.TabIndex = 15;
+ this.label8.Text = "Packets/s";
+ //
+ // groupBox1
+ //
+ this.groupBox1.Controls.Add(this.label10);
+ this.groupBox1.Controls.Add(this.txt_MaxPacketInterval);
+ this.groupBox1.Controls.Add(this.label8);
+ this.groupBox1.Controls.Add(this.label2);
+ this.groupBox1.Controls.Add(this.label1);
+ this.groupBox1.Controls.Add(this.label3);
+ this.groupBox1.Controls.Add(this.label4);
+ this.groupBox1.Controls.Add(this.txt_BytesReceived);
+ this.groupBox1.Controls.Add(this.txt_PacketsPerSecond);
+ this.groupBox1.Controls.Add(this.txt_BytesPerSecondRx);
+ this.groupBox1.Controls.Add(this.txt_LinkQuality);
+ this.groupBox1.Controls.Add(this.txt_PacketsRx);
+ this.groupBox1.Controls.Add(this.label5);
+ this.groupBox1.Controls.Add(this.txt_PacketsLost);
+ this.groupBox1.Location = new System.Drawing.Point(4, 4);
+ this.groupBox1.Name = "groupBox1";
+ this.groupBox1.Size = new System.Drawing.Size(245, 124);
+ this.groupBox1.TabIndex = 16;
+ this.groupBox1.TabStop = false;
+ this.groupBox1.Text = "Download";
+ //
+ // label10
+ //
+ this.label10.AutoSize = true;
+ this.label10.Location = new System.Drawing.Point(22, 96);
+ this.label10.Name = "label10";
+ this.label10.Size = new System.Drawing.Size(156, 13);
+ this.label10.TabIndex = 16;
+ this.label10.Text = "Max time between packets (ms)";
+ //
+ // txt_MaxPacketInterval
+ //
+ this.txt_MaxPacketInterval.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+ this.txt_MaxPacketInterval.Location = new System.Drawing.Point(184, 94);
+ this.txt_MaxPacketInterval.Name = "txt_MaxPacketInterval";
+ this.txt_MaxPacketInterval.ReadOnly = true;
+ this.txt_MaxPacketInterval.Size = new System.Drawing.Size(51, 20);
+ this.txt_MaxPacketInterval.TabIndex = 17;
+ //
+ // groupBox2
+ //
+ this.groupBox2.Controls.Add(this.txt_BytesPerSecondSent);
+ this.groupBox2.Controls.Add(this.label7);
+ this.groupBox2.Controls.Add(this.label6);
+ this.groupBox2.Controls.Add(this.txt_BytesSent);
+ this.groupBox2.Location = new System.Drawing.Point(255, 4);
+ this.groupBox2.Name = "groupBox2";
+ this.groupBox2.Size = new System.Drawing.Size(144, 83);
+ this.groupBox2.TabIndex = 17;
+ this.groupBox2.TabStop = false;
+ this.groupBox2.Text = "Upload";
+ //
+ // ConnectionStats
+ //
+ this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
+ this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+ this.Controls.Add(this.groupBox1);
+ this.Controls.Add(this.groupBox2);
+ this.Name = "ConnectionStats";
+ this.Size = new System.Drawing.Size(408, 136);
+ this.groupBox1.ResumeLayout(false);
+ this.groupBox1.PerformLayout();
+ this.groupBox2.ResumeLayout(false);
+ this.groupBox2.PerformLayout();
+ this.ResumeLayout(false);
+
+ }
+
+ #endregion
+
+ private System.Windows.Forms.Label label1;
+ private System.Windows.Forms.Label label2;
+ private System.Windows.Forms.Label label3;
+ private System.Windows.Forms.Label label4;
+ private System.Windows.Forms.TextBox txt_BytesReceived;
+ private System.Windows.Forms.TextBox txt_BytesPerSecondRx;
+ private System.Windows.Forms.TextBox txt_PacketsRx;
+ private System.Windows.Forms.TextBox txt_PacketsLost;
+ private System.Windows.Forms.TextBox txt_LinkQuality;
+ private System.Windows.Forms.Label label5;
+ private System.Windows.Forms.TextBox txt_PacketsPerSecond;
+ private System.Windows.Forms.TextBox txt_BytesSent;
+ private System.Windows.Forms.Label label6;
+ private System.Windows.Forms.Label label7;
+ private System.Windows.Forms.TextBox txt_BytesPerSecondSent;
+ private System.Windows.Forms.Label label8;
+ private System.Windows.Forms.GroupBox groupBox1;
+ private System.Windows.Forms.GroupBox groupBox2;
+ private System.Windows.Forms.Label label10;
+ private System.Windows.Forms.TextBox txt_MaxPacketInterval;
+ }
+}
diff --git a/Tools/ArdupilotMegaPlanner/Controls/ConnectionStats.cs b/Tools/ArdupilotMegaPlanner/Controls/ConnectionStats.cs
new file mode 100644
index 0000000000000000000000000000000000000000..cea41e020921fe566b9d2bd155ebb34e9d1974ac
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/Controls/ConnectionStats.cs
@@ -0,0 +1,171 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reactive.Disposables;
+using System.Reactive.Linq;
+using System.Reactive.Subjects;
+using System.Threading;
+using System.Windows.Forms;
+
+namespace ArdupilotMega.Controls
+{
+ public partial class ConnectionStats : UserControl
+ {
+ private readonly MAVLink _mavlink;
+ private CompositeDisposable _subscriptionsDisposable;
+
+ public ConnectionStats(MAVLink comPort) : this()
+ {
+ _mavlink = comPort;
+
+ this.Load += ConnectionStats_Load;
+ this.Disposed += (sender, e) => StopUpdates();
+ }
+
+ public ConnectionStats()
+ {
+ InitializeComponent();
+ }
+
+ void ConnectionStats_Load(object sender, EventArgs e)
+ {
+ _subscriptionsDisposable = new CompositeDisposable();
+
+ var packetsReceivedCount = _mavlink.WhenPacketReceived.Scan(0, (x, y) => x + y);
+ var packetsLostCount = _mavlink.WhenPacketLost.Scan(0, (x, y) => x + y);
+
+ var bytesReceivedEverySecond = _mavlink.BytesReceived
+ .Buffer(TimeSpan.FromSeconds(1))
+ .Select(bytes => bytes.Sum());
+
+ var subscriptions = new List<IDisposable>
+ {
+ // Total number of packets received
+ // but only update the text box at 4Hz
+ packetsReceivedCount
+ .Sample(TimeSpan.FromMilliseconds(250))
+ .SubscribeForTextUpdates(txt_PacketsRx),
+
+ packetsLostCount
+ .Sample(TimeSpan.FromMilliseconds(250))
+ .SubscribeForTextUpdates(txt_PacketsLost),
+
+ // Packets per second = total number of packets received over the
+ // last 3 seconds divided by three
+ // Do that every second
+ _mavlink.WhenPacketReceived
+ .Buffer(TimeSpan.FromSeconds(3), TimeSpan.FromSeconds(1))
+ .Select(xs => xs.Sum()/3.0)
+ .ObserveOn(SynchronizationContext.Current)
+ .Subscribe(x => this.txt_PacketsPerSecond.Text = x.ToString("0")),
+
+ // Link quality is a percentage of the number of good packets received
+ // to the number of packets missed (detected by mavlink seq no.)
+ // Calculated as an average over the last 3 seconds (non weighted)
+ // Calculated every second
+ CombineWithDefault(_mavlink.WhenPacketReceived, _mavlink.WhenPacketLost, Tuple.Create)
+ .Buffer(TimeSpan.FromSeconds(3), TimeSpan.FromSeconds(1))
+ .Select(CalculateAverage)
+ .ObserveOn(SynchronizationContext.Current)
+ .Subscribe(x => this.txt_LinkQuality.Text = x.ToString("00%")),
+
+ // Bytes per second is the average number of bytes received every second
+ // sampled for the last 3 seconds
+ // updated every second
+ bytesReceivedEverySecond
+ .Buffer(3, 1)
+ .Select(xs => (int) xs.Average())
+ .Select(ToHumanReadableByteCount)
+ .SubscribeForTextUpdates(txt_BytesPerSecondRx),
+
+ // Total bytes received - just count them up,
+ // but only update the text box at 4Hz so as not to swamp the UI thread
+ // Also use a human friendly version e.g '1.3K' not 1345
+ _mavlink.BytesReceived
+ .Scan(0, (x, y) => x + y)
+ .Sample(TimeSpan.FromMilliseconds(250))
+ .Select(ToHumanReadableByteCount)
+ .SubscribeForTextUpdates(txt_BytesReceived),
+
+ _mavlink.BytesSent
+ .Scan(0, (x, y) => x + y)
+ .Sample(TimeSpan.FromMilliseconds(250))
+ .Select(ToHumanReadableByteCount)
+ .SubscribeForTextUpdates(txt_BytesSent),
+
+ _mavlink.BytesSent
+ .Buffer(TimeSpan.FromSeconds(5), TimeSpan.FromSeconds(1))
+ .Select(xs => xs.Any() ? xs.Average() : 0)
+ .Select(x => ToHumanReadableByteCount((int) x))
+ .SubscribeForTextUpdates(txt_BytesPerSecondSent),
+
+// Observable.Interval(TimeSpan.FromSeconds(1))
+// .Scan(TimeSpan.Zero, (a, _) => a.Add(TimeSpan.FromSeconds(1)))
+// .ObserveOn(SynchronizationContext.Current)
+// .Subscribe(ts => this.txt_TimeConnected.Text = ts.ToString()),
+
+ // The maximum length of time between reception of good packets
+ // evaluated continuously
+ _mavlink.WhenPacketReceived
+ .TimeInterval()
+ .Select(x => x.Interval.Ticks)
+ .Scan(0L, Math.Max)
+ .Select(TimeSpan.FromTicks)
+ .Select(ts => ts.Milliseconds)
+ .ObserveOn(SynchronizationContext.Current)
+ .SubscribeForTextUpdates(txt_MaxPacketInterval),
+
+ };
+
+ subscriptions.ForEach(d => _subscriptionsDisposable.Add(d));
+ }
+
+ public void StopUpdates()
+ {
+ _subscriptionsDisposable.Dispose();
+ }
+
+ private static IObservable<TResult> CombineWithDefault<TSource, TResult>(IObservable<TSource> first, Subject<TSource> second, Func<TSource, TSource, TResult> resultSelector)
+ {
+ return Observable.Defer(() =>
+ {
+ var foo = new Subject<TResult>();
+
+ first.Select(x => resultSelector(x, default(TSource))).Subscribe(foo);
+ second.Select(x => resultSelector(default(TSource), x)).Subscribe(foo);
+
+ return foo;
+ });
+ }
+
+ private static double CalculateAverage(IList<Tuple<int, int>> xs)
+ {
+ var packetsReceived = xs.Sum(t => t.Item1);
+ var packetsLost = xs.Sum(t => t.Item2);
+
+ return packetsReceived/(packetsReceived + (double)packetsLost);
+ }
+
+ private static string ToHumanReadableByteCount(int i)
+ {
+ if (i > 1024)
+ return string.Format("{0:0.00}K", i/ (float)1024);
+ if (i > 1024 * 1024)
+ return string.Format("{0:0.00}Mb", i / (float)(1024 * 1024));
+ return string.Format("{0:####}",i);
+ }
+ }
+
+
+
+
+ public static class CompositeDisposableEx
+ {
+ public static IDisposable SubscribeForTextUpdates<T>(this IObservable<T> source, TextBox txtBox)
+ {
+ return source
+ .ObserveOn(SynchronizationContext.Current)
+ .Subscribe(x => txtBox.Text = x.ToString());
+ }
+ }
+}
diff --git a/Tools/ArdupilotMegaPlanner/Controls/ConnectionStats.resx b/Tools/ArdupilotMegaPlanner/Controls/ConnectionStats.resx
new file mode 100644
index 0000000000000000000000000000000000000000..7080a7d118e8cd7ec668e9bb0d8e90767e0c7a3c
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/Controls/ConnectionStats.resx
@@ -0,0 +1,120 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+ <!--
+ Microsoft ResX Schema
+
+ Version 2.0
+
+ The primary goals of this format is to allow a simple XML format
+ that is mostly human readable. The generation and parsing of the
+ various data types are done through the TypeConverter classes
+ associated with the data types.
+
+ Example:
+
+ ... ado.net/XML headers & schema ...
+ <resheader name="resmimetype">text/microsoft-resx</resheader>
+ <resheader name="version">2.0</resheader>
+ <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+ <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+ <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+ <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+ <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+ <value>[base64 mime encoded serialized .NET Framework object]</value>
+ </data>
+ <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+ <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+ <comment>This is a comment</comment>
+ </data>
+
+ There are any number of "resheader" rows that contain simple
+ name/value pairs.
+
+ Each data row contains a name, and value. The row also contains a
+ type or mimetype. Type corresponds to a .NET class that support
+ text/value conversion through the TypeConverter architecture.
+ Classes that don't support this are serialized and stored with the
+ mimetype set.
+
+ The mimetype is used for serialized objects, and tells the
+ ResXResourceReader how to depersist the object. This is currently not
+ extensible. For a given mimetype the value must be set accordingly:
+
+ Note - application/x-microsoft.net.object.binary.base64 is the format
+ that the ResXResourceWriter will generate, however the reader can
+ read any of the formats listed below.
+
+ mimetype: application/x-microsoft.net.object.binary.base64
+ value : The object must be serialized with
+ : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+ : and then encoded with base64 encoding.
+
+ mimetype: application/x-microsoft.net.object.soap.base64
+ value : The object must be serialized with
+ : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+ : and then encoded with base64 encoding.
+
+ mimetype: application/x-microsoft.net.object.bytearray.base64
+ value : The object must be serialized into a byte array
+ : using a System.ComponentModel.TypeConverter
+ : and then encoded with base64 encoding.
+ -->
+ <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+ <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+ <xsd:element name="root" msdata:IsDataSet="true">
+ <xsd:complexType>
+ <xsd:choice maxOccurs="unbounded">
+ <xsd:element name="metadata">
+ <xsd:complexType>
+ <xsd:sequence>
+ <xsd:element name="value" type="xsd:string" minOccurs="0" />
+ </xsd:sequence>
+ <xsd:attribute name="name" use="required" type="xsd:string" />
+ <xsd:attribute name="type" type="xsd:string" />
+ <xsd:attribute name="mimetype" type="xsd:string" />
+ <xsd:attribute ref="xml:space" />
+ </xsd:complexType>
+ </xsd:element>
+ <xsd:element name="assembly">
+ <xsd:complexType>
+ <xsd:attribute name="alias" type="xsd:string" />
+ <xsd:attribute name="name" type="xsd:string" />
+ </xsd:complexType>
+ </xsd:element>
+ <xsd:element name="data">
+ <xsd:complexType>
+ <xsd:sequence>
+ <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+ <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+ </xsd:sequence>
+ <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+ <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+ <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+ <xsd:attribute ref="xml:space" />
+ </xsd:complexType>
+ </xsd:element>
+ <xsd:element name="resheader">
+ <xsd:complexType>
+ <xsd:sequence>
+ <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+ </xsd:sequence>
+ <xsd:attribute name="name" type="xsd:string" use="required" />
+ </xsd:complexType>
+ </xsd:element>
+ </xsd:choice>
+ </xsd:complexType>
+ </xsd:element>
+ </xsd:schema>
+ <resheader name="resmimetype">
+ <value>text/microsoft-resx</value>
+ </resheader>
+ <resheader name="version">
+ <value>2.0</value>
+ </resheader>
+ <resheader name="reader">
+ <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+ </resheader>
+ <resheader name="writer">
+ <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+ </resheader>
+</root>
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/CurrentState.cs b/Tools/ArdupilotMegaPlanner/CurrentState.cs
index b15dccf96b437c57d4e12142e923dda294945f58..bdbac3a75894eca909b42e40b2c4fdfcbcd95b24 100644
--- a/Tools/ArdupilotMegaPlanner/CurrentState.cs
+++ b/Tools/ArdupilotMegaPlanner/CurrentState.cs
@@ -296,6 +296,8 @@ namespace ArdupilotMega
// stats
public ushort packetdropremote { get; set; }
public ushort linkqualitygcs { get; set; }
+ public ushort hwvoltage { get; set; }
+ public ushort i2cerrors { get; set; }
// requested stream rates
public byte rateattitude { get; set; }
@@ -400,9 +402,22 @@ namespace ArdupilotMega
hilch3 = (int)(hil.throttle * 10000);
hilch4 = (int)(hil.yaw_rudder * 10000);
- //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED] = null;
+ //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_HIL_CONTROLS] = null;
}
+ bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_HWSTATUS];
+
+ if (bytearray != null)
+ {
+ var hwstatus = bytearray.ByteArrayToStructure<MAVLink.mavlink_hwstatus_t>(6);
+
+ hwvoltage = hwstatus.Vcc;
+ i2cerrors = hwstatus.I2Cerr;
+
+ //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_HWSTATUS] = null;
+ }
+
+
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT];
if (bytearray != null)
diff --git a/Tools/ArdupilotMegaPlanner/LogBrowse.cs b/Tools/ArdupilotMegaPlanner/LogBrowse.cs
index d48c9d4fc82ef578805ecbcbcedb01ce3be078e7..c8a059461a2c6935191c1eee81ac2e336c4e8f5b 100644
--- a/Tools/ArdupilotMegaPlanner/LogBrowse.cs
+++ b/Tools/ArdupilotMegaPlanner/LogBrowse.cs
@@ -153,6 +153,9 @@ namespace ArdupilotMega
{
string option = dataGridView1[0, e.RowIndex].EditedFormattedValue.ToString();
+ if (option.StartsWith("PID-"))
+ option = "PID-1";
+
using (XmlReader reader = XmlReader.Create(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "dataflashlog.xml"))
{
reader.Read();
diff --git a/Tools/ArdupilotMegaPlanner/MAVLink.cs b/Tools/ArdupilotMegaPlanner/MAVLink.cs
index 1d5f5dfde8848d0b1c08fb3d3abb851657988e32..ec49653fae3513db39584db5ec517242ece286dd 100644
--- a/Tools/ArdupilotMegaPlanner/MAVLink.cs
+++ b/Tools/ArdupilotMegaPlanner/MAVLink.cs
@@ -1,5 +1,6 @@
using System;
using System.Collections.Generic;
+using System.Reactive.Subjects;
using System.Text;
using System.Runtime.InteropServices;
using System.Collections; // hashs
@@ -58,6 +59,30 @@ namespace ArdupilotMega
/// time last seen a packet of a type
/// </summary>
DateTime[] packetspersecondbuild = new DateTime[256];
+
+
+ private readonly Subject<int> _bytesReceivedSubj = new Subject<int>();
+ private readonly Subject<int> _bytesSentSubj = new Subject<int>();
+
+ /// <summary>
+ /// Observable of the count of bytes received, notified when the bytes themselves are received
+ /// </summary>
+ public IObservable<int> BytesReceived { get { return _bytesReceivedSubj; } }
+
+ /// <summary>
+ /// Observable of the count of bytes sent, notified when the bytes themselves are received
+ /// </summary>
+ public IObservable<int> BytesSent { get { return _bytesSentSubj; } }
+
+ /// <summary>
+ /// Observable of the count of packets skipped (on reception),
+ /// calculated from periods where received packet sequence is not
+ /// contiguous
+ /// </summary>
+ public readonly Subject<int> WhenPacketLost = new Subject<int>();
+
+ public Subject<int> WhenPacketReceived = new Subject<int>();
+
/// <summary>
/// used as a serial port write lock
/// </summary>
@@ -163,7 +188,7 @@ namespace ArdupilotMega
OpenBg(false, e);
}
- private void OpenBg(bool getparams, ProgressWorkerEventArgs progressWorkerEventArgs)
+ private void OpenBg(bool getparams, ProgressWorkerEventArgs progressWorkerEventArgs)
{
frmProgressReporter.UpdateProgressAndStatus(-1, "Mavlink Connecting...");
@@ -286,8 +311,8 @@ namespace ArdupilotMega
countDown.Stop();
-// if (Progress != null)
-// Progress(-1, "Getting Params.. (sysid " + sysid + " compid " + compid + ") ");
+ // if (Progress != null)
+ // Progress(-1, "Getting Params.. (sysid " + sysid + " compid " + compid + ") ");
frmProgressReporter.UpdateProgressAndStatus(0, "Getting Params.. (sysid " + sysid + " compid " + compid + ") ");
if (getparams)
@@ -309,8 +334,8 @@ namespace ArdupilotMega
}
catch { }
MainV2.giveComport = false;
-// if (Progress != null)
-// Progress(-1, "Connect Failed\n" + e.Message);
+ // if (Progress != null)
+ // Progress(-1, "Connect Failed\n" + e.Message);
if (string.IsNullOrEmpty(progressWorkerEventArgs.ErrorMessage))
progressWorkerEventArgs.ErrorMessage = "Connect Failed";
throw e;
@@ -429,6 +454,7 @@ namespace ArdupilotMega
{
BaseStream.Write(packet, 0, i);
}
+ _bytesSentSubj.OnNext(i);
}
try
@@ -474,6 +500,7 @@ namespace ArdupilotMega
{
BaseStream.Write(line);
}
+ _bytesSentSubj.OnNext(line.Length);
return true;
}
@@ -492,7 +519,7 @@ namespace ArdupilotMega
if ((float)param[paramname] == value)
{
- log.Debug("setParam "+paramname + " not modified");
+ log.Debug("setParam " + paramname + " not modified");
return true;
}
@@ -592,7 +619,7 @@ namespace ArdupilotMega
if (ParamListChanged != null)
{
- ParamListChanged(this, null);
+ ParamListChanged(this, null);
}
}
@@ -622,7 +649,7 @@ namespace ArdupilotMega
int param_count = 0;
int param_total = 5;
- goagain:
+ goagain:
mavlink_param_request_list_t req = new mavlink_param_request_list_t();
req.target_system = sysid;
@@ -686,12 +713,12 @@ namespace ArdupilotMega
// check if we already have it
if (got.Contains(par.param_index))
{
- log.Info("Already got "+(par.param_index) + " '" + paramID + "'");
+ log.Info("Already got " + (par.param_index) + " '" + paramID + "'");
this.frmProgressReporter.UpdateProgressAndStatus((got.Count * 100) / param_total, "Already Got param " + paramID);
continue;
}
- log.Info(DateTime.Now.Millisecond + " got param " + (par.param_index) + " of " + (par.param_count - 2) + " name: " + paramID );
+ log.Info(DateTime.Now.Millisecond + " got param " + (par.param_index) + " of " + (par.param_count - 2) + " name: " + paramID);
modifyParamForDisplay(true, paramID, ref par.param_value);
param[paramID] = (par.param_value);
@@ -1040,9 +1067,9 @@ namespace ArdupilotMega
public void requestDatastream(byte id, byte hzrate)
{
-
+
double pps = 0;
-
+
switch (id)
{
case (byte)MAVLink.MAV_DATA_STREAM.ALL:
@@ -1131,7 +1158,7 @@ namespace ArdupilotMega
{
return;
}
-
+
log.InfoFormat("Request stream {0} at {1} hz", Enum.Parse(typeof(MAV_DATA_STREAM), id.ToString()), hzrate);
getDatastream(id, hzrate);
@@ -1161,7 +1188,7 @@ namespace ArdupilotMega
{
return true;
}
-
+
return false;
}
@@ -1478,7 +1505,7 @@ namespace ArdupilotMega
public object DebugPacket(byte[] datin)
{
string text = "";
- return DebugPacket(datin, ref text,true);
+ return DebugPacket(datin, ref text, true);
}
public object DebugPacket(byte[] datin, bool PrintToConsole)
@@ -2055,6 +2082,7 @@ namespace ArdupilotMega
TCPConsole.Write(temp[0]);
Console.Write((char)temp[0]);
}
+ _bytesReceivedSubj.OnNext(1);
count = 0;
lastbad[0] = lastbad[1];
lastbad[1] = temp[0];
@@ -2077,7 +2105,9 @@ namespace ArdupilotMega
if (temp[3] == '3' && temp[4] == 'D')
{
// this is a 3dr radio rssi packet
- } else {
+ }
+ else
+ {
log.InfoFormat("Mavlink Bad Packet (not addressed to this MAV) got {0} {1} vs {2} {3}", temp[3], temp[4], sysid, compid);
return new byte[0];
}
@@ -2130,6 +2160,8 @@ namespace ArdupilotMega
Array.Resize<byte>(ref temp, count);
+ _bytesReceivedSubj.OnNext(temp.Length);
+
if (packetlosttimer.AddSeconds(5) < DateTime.Now)
{
packetlosttimer = DateTime.Now;
@@ -2168,7 +2200,7 @@ namespace ArdupilotMega
{
if (MAVLINK_MESSAGE_LENGTHS[temp[5]] == 0) // pass for unknown packets
{
-
+
}
else
{
@@ -2212,26 +2244,33 @@ namespace ArdupilotMega
}
else
{
- if (temp[2] != ((recvpacketcount + 1) % 0x100))
+ byte packetSeqNo = temp[2];
+ int expectedPacketSeqNo = ((recvpacketcount + 1) % 0x100);
+
+ if (packetSeqNo != expectedPacketSeqNo)
{
synclost++; // actualy sync loss's
+ int numLost = 0;
- if (temp[2] < ((recvpacketcount + 1)))
+ if (packetSeqNo < ((recvpacketcount + 1))) // recvpacketcount = 255 then 10 < 256 = true if was % 0x100 this would fail
{
- packetslost += 0x100 - recvpacketcount + temp[2];
+ numLost = 0x100 - expectedPacketSeqNo + packetSeqNo;
}
else
{
- packetslost += temp[2] - recvpacketcount;
+ numLost = packetSeqNo - recvpacketcount;
}
+ packetslost += numLost;
+ WhenPacketLost.OnNext(numLost);
- log.InfoFormat("lost {0} pktslost {1}", temp[2], (int)packetslost);
+ log.InfoFormat("lost {0} pkts {1}", packetSeqNo, (int)packetslost);
}
packetsnotlost++;
- recvpacketcount = temp[2];
-
+ recvpacketcount = packetSeqNo;
+ WhenPacketReceived.OnNext(1);
+ // Console.WriteLine(DateTime.Now.Millisecond);
}
//MAVLINK_MSG_ID_GPS_STATUS
@@ -2507,8 +2546,5 @@ namespace ArdupilotMega
return temp;
}
-
-
-
}
}
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/MainV2.cs b/Tools/ArdupilotMegaPlanner/MainV2.cs
index 8fbd76e4c0c12e7c867ca1de5fe2ede6dd735845..a7b4a603a57ce7e651a7bc4ab17be553737a8cf8 100644
--- a/Tools/ArdupilotMegaPlanner/MainV2.cs
+++ b/Tools/ArdupilotMegaPlanner/MainV2.cs
@@ -119,6 +119,7 @@ namespace ArdupilotMega
ArduCopter2,
}
+ DateTime connectButtonUpdate = DateTime.Now;
/// <summary>
/// declared here if i want a "single" instance of the form
/// ie configuration gets reloaded on every click
@@ -131,10 +132,15 @@ namespace ArdupilotMega
GCSViews.Firmware Firmware;
GCSViews.Terminal Terminal;
+ private Form connectionStatsForm;
+ private ConnectionStats _connectionStats;
+
/// <summary>
- /// control for the serial port and firmware selector.
+ /// This 'Control' is the toolstrip control that holds the comport combo, baudrate combo etc
+ /// Otiginally seperate controls, each hosted in a toolstip sqaure, combined into this custom
+ /// control for layout reasons.
/// </summary>
- private ConnectionControl _connectionControl;
+ private readonly ConnectionControl _connectionControl;
public MainV2()
{
@@ -154,7 +160,7 @@ namespace ArdupilotMega
instance = this;
InitializeComponent();
-
+
_connectionControl = toolStripConnectionControl.ConnectionControl;
_connectionControl.CMB_baudrate.TextChanged += this.CMB_baudrate_TextChanged;
_connectionControl.CMB_baudrate.SelectedIndexChanged += this.CMB_baudrate_SelectedIndexChanged;
@@ -163,6 +169,7 @@ namespace ArdupilotMega
_connectionControl.CMB_serialport.Click += this.CMB_serialport_Click;
_connectionControl.TOOL_APMFirmware.SelectedIndexChanged += this.TOOL_APMFirmware_SelectedIndexChanged;
+ _connectionControl.ShowLinkStats += (sender, e) => ShowConnectionStatsForm();
srtm.datadirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "srtm";
var t = Type.GetType("Mono.Runtime");
@@ -174,7 +181,6 @@ namespace ArdupilotMega
MainMenu.Renderer = new MyRenderer();
- List<object> list = new List<object>();
foreach (object obj in Enum.GetValues(typeof(Firmwares)))
{
_connectionControl.TOOL_APMFirmware.Items.Add(obj);
@@ -188,14 +194,14 @@ namespace ArdupilotMega
comPort.BaseStream.BaudRate = 115200;
// ** Old
-// CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
-// CMB_serialport.Items.Add("TCP");
-// CMB_serialport.Items.Add("UDP");
-// if (CMB_serialport.Items.Count > 0)
-// {
-// CMB_baudrate.SelectedIndex = 7;
-// CMB_serialport.SelectedIndex = 0;
-// }
+ // CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
+ // CMB_serialport.Items.Add("TCP");
+ // CMB_serialport.Items.Add("UDP");
+ // if (CMB_serialport.Items.Count > 0)
+ // {
+ // CMB_baudrate.SelectedIndex = 7;
+ // CMB_serialport.SelectedIndex = 0;
+ // }
// ** new
_connectionControl.CMB_serialport.Items.AddRange(ArdupilotMega.Comms.SerialPort.GetPortNames());
_connectionControl.CMB_serialport.Items.Add("TCP");
@@ -341,6 +347,46 @@ namespace ArdupilotMega
splash.Close();
}
+
+ private void ResetConnectionStats()
+ {
+ // If the form has been closed, or never shown before, we need do nothing, as
+ // connection stats will be reset when shown
+ if (this.connectionStatsForm != null && connectionStatsForm.Visible)
+ {
+ // else the form is already showing. reset the stats
+ this.connectionStatsForm.Controls.Clear();
+ _connectionStats = new ConnectionStats(comPort);
+ this.connectionStatsForm.Controls.Add(_connectionStats);
+ ThemeManager.ApplyThemeTo(this.connectionStatsForm);
+ }
+ }
+
+ private void ShowConnectionStatsForm()
+ {
+ if (this.connectionStatsForm == null || this.connectionStatsForm.IsDisposed)
+ {
+ // If the form has been closed, or never shown before, we need all new stuff
+ this.connectionStatsForm = new Form
+ {
+ Width = 430,
+ Height = 180,
+ MaximizeBox = false,
+ MinimizeBox = false,
+ FormBorderStyle = FormBorderStyle.FixedDialog,
+ Text = "Link Stats"
+ };
+ // Change the connection stats control, so that when/if the connection stats form is showing,
+ // there will be something to see
+ this.connectionStatsForm.Controls.Clear();
+ _connectionStats = new ConnectionStats(comPort);
+ this.connectionStatsForm.Controls.Add(_connectionStats);
+ }
+
+ this.connectionStatsForm.Show();
+ ThemeManager.ApplyThemeTo(this.connectionStatsForm);
+ }
+
/// <summary>
/// used to create planner screenshots - access by control-s
/// </summary>
@@ -542,7 +588,10 @@ namespace ArdupilotMega
if (speechEngine != null) // cancel all pending speech
speechEngine.SpeakAsyncCancelAll();
}
- catch { }
+ catch (Exception ex)
+ {
+ log.Error(ex);
+ }
if (comPort.logfile != null)
comPort.logfile.Close();
@@ -553,25 +602,39 @@ namespace ArdupilotMega
comPort.BaseStream.DtrEnable = false;
comPort.Close();
}
- catch (Exception ex) { log.Debug(ex.ToString()); }
+ catch (Exception ex)
+ {
+ log.Error(ex);
+ }
+
+ // now that we have closed the connection, cancel the connection stats
+ // so that the 'time connected' etc does not grow, but the user can still
+ // look at the now frozen stats on the still open form
+ ((ConnectionStats)this.connectionStatsForm.Controls[0]).StopUpdates();
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
}
else
{
- if (_connectionControl.CMB_serialport.Text == "TCP")
+ switch (_connectionControl.CMB_serialport.Text)
{
- comPort.BaseStream = new TcpSerial();
- }
- else if (_connectionControl.CMB_serialport.Text == "UDP")
- {
- comPort.BaseStream = new UdpSerial();
- }
- else
- {
- comPort.BaseStream = new ArdupilotMega.Comms.SerialPort();
+ case "TCP":
+ comPort.BaseStream = new TcpSerial();
+ break;
+ case "UDP":
+ comPort.BaseStream = new UdpSerial();
+ break;
+ default:
+ comPort.BaseStream = new Comms.SerialPort();
+ break;
}
+ // Tell the connection UI that we are now connected.
+ this._connectionControl.IsConnected(true);
+
+ // Here we want to reset the connection stats counter etc.
+ this.ResetConnectionStats();
+
try
{
// set port, then options
@@ -849,11 +912,18 @@ namespace ArdupilotMega
break;
}
}
- catch (Exception ee) { log.Info(ee.Message); } // silent fail on bad entry
+ // silent fail on bad entry
+ catch (Exception ee)
+ {
+ log.Error(ee);
+ }
}
}
}
- catch (Exception ex) { log.Info("Bad Config File: " + ex.ToString()); } // bad config file
+ catch (Exception ex)
+ {
+ log.Error("Bad Config File", ex);
+ }
}
}
@@ -939,7 +1009,7 @@ namespace ArdupilotMega
}
*/
-// Console.WriteLine(DateTime.Now.Millisecond + " {0} {1} {2} {3} {4}", rc.chan1_raw, rc.chan2_raw, rc.chan3_raw, rc.chan4_raw,rate);
+ // Console.WriteLine(DateTime.Now.Millisecond + " {0} {1} {2} {3} {4}", rc.chan1_raw, rc.chan2_raw, rc.chan3_raw, rc.chan4_raw,rate);
comPort.sendPacket(rc);
count++;
lastjoystick = DateTime.Now;
@@ -947,18 +1017,19 @@ namespace ArdupilotMega
}
}
- System.Threading.Thread.Sleep(20);
+ Thread.Sleep(20);
}
- catch { } // cant fall out
+ catch
+ {
+
+ } // cant fall out
}
}
- DateTime connectButtonUpdate = DateTime.Now;
-
/// <summary>
/// Used to fix the icon status for unexpected unplugs etc...
/// </summary>
- private void updateConnectIcon()
+ private void UpdateConnectIcon()
{
if ((DateTime.Now - connectButtonUpdate).Milliseconds > 500)
{
@@ -971,8 +1042,7 @@ namespace ArdupilotMega
{
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect;
this.MenuConnect.BackgroundImage.Tag = "Disconnect";
- _connectionControl.CMB_baudrate.Enabled = false;
- _connectionControl.CMB_serialport.Enabled = false;
+ _connectionControl.IsConnected(true);
});
}
}
@@ -984,8 +1054,9 @@ namespace ArdupilotMega
{
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
this.MenuConnect.BackgroundImage.Tag = "Connect";
- _connectionControl.CMB_baudrate.Enabled = true;
- _connectionControl.CMB_serialport.Enabled = true;
+ _connectionControl.IsConnected(false);
+ if (_connectionStats != null)
+ _connectionStats.StopUpdates();
});
}
}
@@ -1022,9 +1093,9 @@ namespace ArdupilotMega
{
try
{
- System.Threading.Thread.Sleep(5);
-
- updateConnectIcon();
+ Thread.Sleep(5);
+
+ UpdateConnectIcon();
if (speechEnable && speechEngine != null && (DateTime.Now - speechcustomtime).TotalSeconds > 30 && MainV2.cs.lat != 0 && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
{
@@ -1121,7 +1192,7 @@ namespace ArdupilotMega
}
catch (Exception e)
{
- log.Info("Serial Reader fail :" + e.Message);
+ log.Error("Serial Reader fail :" + e.Message);
try
{
comPort.Close();
@@ -1131,6 +1202,10 @@ namespace ArdupilotMega
}
}
+ /// <summary>
+ /// Override the stock ToolStripProfessionalRenderer to implement 'highlighting' of the
+ /// currently selected GCS view.
+ /// </summary>
private class MyRenderer : ToolStripProfessionalRenderer
{
public static ToolStripItem currentpressed;
@@ -1217,11 +1292,11 @@ namespace ArdupilotMega
try
{
- CheckForUpdate();
+ CheckForUpdate();
}
catch (Exception ex)
{
- log.Error("Update check failed", ex);
+ log.Error("Update check failed", ex);
}
}
@@ -1253,7 +1328,11 @@ namespace ArdupilotMega
{
listener.Start();
}
- catch { log.Info("do you have the planner open already"); return; } // in use
+ catch (Exception e)
+ {
+ log.Error("Exception starting lister. Possible multiple instances of planner?", e);
+ return;
+ } // in use
// Enter the listening loop.
while (true)
{
@@ -1281,12 +1360,12 @@ namespace ArdupilotMega
NetworkStream stream = client.GetStream();
- System.Text.ASCIIEncoding encoding = new System.Text.ASCIIEncoding();
+ var asciiEncoding = new ASCIIEncoding();
- byte[] request = new byte[1024];
+ var request = new byte[1024];
int len = stream.Read(request, 0, request.Length);
- string head = System.Text.ASCIIEncoding.ASCII.GetString(request, 0, len);
+ string head = System.Text.Encoding.ASCII.GetString(request, 0, len);
log.Info(head);
int index = head.IndexOf('\n');
@@ -1322,8 +1401,8 @@ namespace ArdupilotMega
while (client.Connected)
{
- System.Threading.Thread.Sleep(200);
- log.Info(stream.DataAvailable + " " + client.Available);
+ Thread.Sleep(200);
+ log.Debug(stream.DataAvailable + " " + client.Available);
while (client.Available > 0)
{
@@ -1352,7 +1431,7 @@ namespace ArdupilotMega
else if (url.Contains("georefnetwork.kml"))
{
string header = "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\n\n";
- byte[] temp = encoding.GetBytes(header);
+ byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
byte[] buffer = Encoding.ASCII.GetBytes(georefkml);
@@ -1364,7 +1443,7 @@ namespace ArdupilotMega
else if (url.Contains("network.kml"))
{
string header = "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\n\n";
- byte[] temp = encoding.GetBytes(header);
+ byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
SharpKml.Dom.Document kml = new SharpKml.Dom.Document();
@@ -1433,7 +1512,7 @@ namespace ArdupilotMega
else if (url.Contains("block_plane_0.dae"))
{
string header = "HTTP/1.1 200 OK\r\nContent-Type: text/plain\n\n";
- byte[] temp = encoding.GetBytes(header);
+ byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
BinaryReader file = new BinaryReader(File.Open("block_plane_0.dae", FileMode.Open, FileAccess.Read, FileShare.Read));
@@ -1451,7 +1530,7 @@ namespace ArdupilotMega
else if (url.Contains("hud.html"))
{
string header = "HTTP/1.1 200 OK\r\nContent-Type: text/html\n\n";
- byte[] temp = encoding.GetBytes(header);
+ byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
BinaryReader file = new BinaryReader(File.Open("hud.html", FileMode.Open, FileAccess.Read, FileShare.Read));
@@ -1469,7 +1548,7 @@ namespace ArdupilotMega
else if (url.ToLower().Contains("hud.jpg") || url.ToLower().Contains("map.jpg") || url.ToLower().Contains("both.jpg"))
{
string header = "HTTP/1.1 200 OK\r\nContent-Type: multipart/x-mixed-replace;boundary=APMPLANNER\n\n--APMPLANNER\r\n";
- byte[] temp = encoding.GetBytes(header);
+ byte[] temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
while (client.Connected)
@@ -1508,13 +1587,13 @@ namespace ArdupilotMega
}
header = "Content-Type: image/jpeg\r\nContent-Length: " + data.Length + "\r\n\r\n";
- temp = encoding.GetBytes(header);
+ temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
stream.Write(data, 0, data.Length);
header = "\r\n--APMPLANNER\r\n";
- temp = encoding.GetBytes(header);
+ temp = asciiEncoding.GetBytes(header);
stream.Write(temp, 0, temp.Length);
}
@@ -1525,7 +1604,10 @@ namespace ArdupilotMega
}
stream.Close();
}
- catch (Exception ee) { log.Info("Failed mjpg " + ee.Message); }
+ catch (Exception ee)
+ {
+ log.Error("Failed mjpg ", ee);
+ }
}
}
@@ -1730,30 +1812,30 @@ namespace ArdupilotMega
static void DoUpdateWorker_DoWork(object sender, Controls.ProgressWorkerEventArgs e)
{
- // TODO: Is this the right place?
- #region Fetch Parameter Meta Data
-
- var progressReporterDialogue = ((ProgressReporterDialogue) sender);
- progressReporterDialogue.UpdateProgressAndStatus(-1, "Getting Updated Parameters");
-
- try
- {
- ParameterMetaDataParser.GetParameterInformation();
- }
- catch (Exception ex) { log.Error(ex.ToString()); CustomMessageBox.Show("Error getting Parameter Information"); }
-
- #endregion Fetch Parameter Meta Data
-
- progressReporterDialogue.UpdateProgressAndStatus(-1, "Getting Base URL");
- // check for updates
- if (Debugger.IsAttached)
- {
- log.Info("Skipping update test as it appears we are debugging");
- }
- else
- {
- MainV2.updateCheckMain(progressReporterDialogue);
- }
+ // TODO: Is this the right place?
+ #region Fetch Parameter Meta Data
+
+ var progressReporterDialogue = ((ProgressReporterDialogue)sender);
+ progressReporterDialogue.UpdateProgressAndStatus(-1, "Getting Updated Parameters");
+
+ try
+ {
+ ParameterMetaDataParser.GetParameterInformation();
+ }
+ catch (Exception ex) { log.Error(ex.ToString()); CustomMessageBox.Show("Error getting Parameter Information"); }
+
+ #endregion Fetch Parameter Meta Data
+
+ progressReporterDialogue.UpdateProgressAndStatus(-1, "Getting Base URL");
+ // check for updates
+ if (Debugger.IsAttached)
+ {
+ log.Info("Skipping update test as it appears we are debugging");
+ }
+ else
+ {
+ MainV2.updateCheckMain(progressReporterDialogue);
+ }
}
private static bool updateCheck(ProgressReporterDialogue frmProgressReporter, string baseurl, string subdir)
@@ -1920,7 +2002,7 @@ namespace ArdupilotMega
// Get the response.
response = request.GetResponse();
// Display the status.
- log.Info(((HttpWebResponse)response).StatusDescription);
+ log.Debug(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
dataStream = response.GetResponseStream();
@@ -1946,7 +2028,7 @@ namespace ArdupilotMega
}
}
catch { }
- log.Info(file + " " + bytes);
+ log.Debug(file + " " + bytes);
int len = dataStream.Read(buf1, 0, 1024);
if (len == 0)
break;
@@ -2195,7 +2277,7 @@ namespace ArdupilotMega
private void CMB_baudrate_TextChanged(object sender, EventArgs e)
{
- StringBuilder sb = new StringBuilder();
+ var sb = new StringBuilder();
int baud = 0;
for (int i = 0; i < _connectionControl.CMB_baudrate.Text.Length; i++)
if (char.IsDigit(_connectionControl.CMB_baudrate.Text[i]))
diff --git a/Tools/ArdupilotMegaPlanner/Msi/wix.pdb b/Tools/ArdupilotMegaPlanner/Msi/wix.pdb
index f4ce1358c9560f2ff52014713bc05527a56d0f43..bce0c1ecacf422c8cccb29bffab97004f6f9e78b 100644
Binary files a/Tools/ArdupilotMegaPlanner/Msi/wix.pdb and b/Tools/ArdupilotMegaPlanner/Msi/wix.pdb differ
diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
index f87006bf3faa9c58f43c145f83a41b35f7bbe740..099c10818d369adeebc643127c8cb6a5086a3c12 100644
--- a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
+++ b/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("1.1.81")]
+[assembly: AssemblyFileVersion("1.1.82")]
[assembly: NeutralResourcesLanguageAttribute("")]
diff --git a/Tools/ArdupilotMegaPlanner/Radio/3DRradio.cs b/Tools/ArdupilotMegaPlanner/Radio/3DRradio.cs
index 3d55bb84b7ad9297133b0d007fc3868402dd9e22..f6a385a381e6ba042326eb03f7f7dae81b75284a 100644
--- a/Tools/ArdupilotMegaPlanner/Radio/3DRradio.cs
+++ b/Tools/ArdupilotMegaPlanner/Radio/3DRradio.cs
@@ -172,6 +172,10 @@ namespace ArdupilotMega
log.Info(message);
Application.DoEvents();
}
+ else if (level < 5) // 5 = byte data
+ {
+ log.Debug(message);
+ }
}
catch { }
}
diff --git a/Tools/ArdupilotMegaPlanner/Radio/Uploader.cs b/Tools/ArdupilotMegaPlanner/Radio/Uploader.cs
index 315c43ae77836ecbb145e4a6721010e09db23a04..663f23993bf6a9400a1ec073a529e2a70c2addd7 100644
--- a/Tools/ArdupilotMegaPlanner/Radio/Uploader.cs
+++ b/Tools/ArdupilotMegaPlanner/Radio/Uploader.cs
@@ -33,8 +33,8 @@ namespace uploader
REBOOT = 0x30,
// protocol constants
- PROG_MULTI_MAX = 64, // maximum number of bytes in a PROG_MULTI command
- READ_MULTI_MAX = 64, // from 255 // largest read that can be requested
+ PROG_MULTI_MAX = 32, // maximum number of bytes in a PROG_MULTI command
+ READ_MULTI_MAX = 255, // largest read that can be requested
// device IDs XXX should come with the firmware image...
DEVICE_ID_RF50 = 0x4d,