diff --git a/Tools/ArdupilotMegaPlanner/ArduCopterConfig.xml b/Tools/ArdupilotMegaPlanner/ArduCopterConfig.xml
index 2558e46e2c8022bcb52c9e741b1213e441e8bd02..fda38f6780653459242fc80c616f181ad72dfae0 100644
--- a/Tools/ArdupilotMegaPlanner/ArduCopterConfig.xml
+++ b/Tools/ArdupilotMegaPlanner/ArduCopterConfig.xml
@@ -101,6 +101,70 @@ Too high = slow wobbles
<STEP>0.001</STEP>
</FIELD>
</FIELDS>
+
+ <SUBHEAD>Yaw Angular Rate Control:</SUBHEAD>
+ <DESC>How much throttle is applied to rotate the copter at the desired speed.
+ </DESC>
+ <FIELDS>
+ <FIELD>
+ <NAME>P</NAME>
+ <PARAMNAME>RATE_YAW_P</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>I</NAME>
+ <PARAMNAME>RATE_YAW_I</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>D</NAME>
+ <PARAMNAME>RATE_YAW_D</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>IMAX</NAME>
+ <PARAMNAME>RATE_YAW_IMAX</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>50</RANGEMAX>
+ <STEP>1</STEP>
+ </FIELD>
+ </FIELDS>
+
+ <SUBHEAD>Yaw Stabilize Control:</SUBHEAD>
+ <DESC>
+ How fast the copter reacts to user or autopilot input.
+ Higher = more aggressive control.
+ Too high = slow wobbles
+ </DESC>
+ <FIELDS>
+ <FIELD>
+ <NAME>P</NAME>
+ <PARAMNAME>STB_YAW_P</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>10</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>I</NAME>
+ <PARAMNAME>STB_YAW_I</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>IMAX</NAME>
+ <PARAMNAME>STB_YAW_IMAX</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>50</RANGEMAX>
+ <STEP>1</STEP>
+ </FIELD>
+ </FIELDS>
</Item>
<!-- Loiter -->
<Item>
@@ -140,7 +204,7 @@ How much angle is applied to make the copter accelerate to the desired speed.
<PARAMNAME>LOITER_LON_IMAX</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>50</RANGEMAX>
- <STEP>0.1</STEP>
+ <STEP>1</STEP>
</FIELD>
</FIELDS>
<SUBHEAD>Loiter Speed:</SUBHEAD>
diff --git a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
index def4fc453c8dbbf8e5a82c6565a9c5da54614943..b318087f83590a47972b034963d31c86a2ccb17a 100644
--- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
+++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
@@ -226,6 +226,7 @@
<Compile Include="Attributes\DisplayTextAttribute.cs" />
<Compile Include="Attributes\PrivateAttribute.cs" />
<Compile Include="CodeGen.cs" />
+ <Compile Include="Utilities\CollectionExtensions.cs" />
<Compile Include="Utilities\ParameterMetaDataConstants.cs" />
<Compile Include="Controls\BackstageView\BackstageView.cs">
<SubType>UserControl</SubType>
diff --git a/Tools/ArdupilotMegaPlanner/MainV2.cs b/Tools/ArdupilotMegaPlanner/MainV2.cs
index f04826220bf9cc033b872fd744acb58fa515f155..907bb8c6caea25220150bc06bc8eb722ffd1b578 100644
--- a/Tools/ArdupilotMegaPlanner/MainV2.cs
+++ b/Tools/ArdupilotMegaPlanner/MainV2.cs
@@ -1733,8 +1733,18 @@ namespace ArdupilotMega
static void DoUpdateWorker_DoWork(object sender, Controls.ProgressWorkerEventArgs e)
{
- ((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, "Getting Base URL");
- MainV2.updateCheckMain((ProgressReporterDialogue)sender);
+ // TODO: Is this the right place?
+ #region Fetch Parameter Meta Data
+
+ var progressReporterDialogue = ((ProgressReporterDialogue) sender);
+ progressReporterDialogue.UpdateProgressAndStatus(-1, "Getting Updated Parameters");
+
+ ParameterMetaDataParser.GetParameterInformation();
+
+ #endregion Fetch Parameter Meta Data
+
+ progressReporterDialogue.UpdateProgressAndStatus(-1, "Getting Base URL");
+ MainV2.updateCheckMain(progressReporterDialogue);
}
private static bool updateCheck(ProgressReporterDialogue frmProgressReporter, string baseurl, string subdir)
diff --git a/Tools/ArdupilotMegaPlanner/Msi/wix.pdb b/Tools/ArdupilotMegaPlanner/Msi/wix.pdb
index e2bd4a8c51e6596bf41da25015857ed84be7ef85..a5d459167772c92af2f5da9b7b52010c246af54a 100644
Binary files a/Tools/ArdupilotMegaPlanner/Msi/wix.pdb and b/Tools/ArdupilotMegaPlanner/Msi/wix.pdb differ
diff --git a/Tools/ArdupilotMegaPlanner/Utilities/CollectionExtensions.cs b/Tools/ArdupilotMegaPlanner/Utilities/CollectionExtensions.cs
new file mode 100644
index 0000000000000000000000000000000000000000..6b435af4025aabf2f92bf0bf975914ca637f78f5
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/Utilities/CollectionExtensions.cs
@@ -0,0 +1,47 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace ArdupilotMega.Utilities
+{
+ public static class CollectionExtensions
+ {
+ /// <summary>
+ /// Performs the specified <paramref name="action"/> on each element of the <paramref name="enumerable"/>.
+ ///
+ /// </summary>
+ /// <param name="enumerable">An enumerable instance.
+ /// </param><param name="action"/>
+ public static void ForEach(this IEnumerable enumerable, Action<object> action)
+ {
+ foreach (object obj in enumerable)
+ action(obj);
+ }
+
+ /// <summary>
+ /// Performs the specified <paramref name="action"/> on each element of the <paramref name="enumerable"/>.
+ ///
+ /// </summary>
+ /// <param name="enumerable">An enumerable instance.
+ /// </param><param name="action"/>
+ public static void ForEach<T>(this IEnumerable enumerable, Action<T> action)
+ {
+ foreach (T obj in enumerable)
+ action(obj);
+ }
+
+ /// <summary>
+ /// Performs the specified <paramref name="action"/> on each element of the <paramref name="enumerable"/>.
+ ///
+ /// </summary>
+ /// <typeparam name="T">The type contained in the <paramref name="enumerable"/>.
+ /// </typeparam><param name="enumerable"/><param name="action"/>
+ public static void ForEach<T>(this IEnumerable<T> enumerable, Action<T> action)
+ {
+ foreach (T obj in enumerable)
+ action(obj);
+ }
+ }
+}
diff --git a/Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataConstants.cs b/Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataConstants.cs
index 7f189aa0666761376bd16e56e1e14095b50b5633..fb29584b08521b229ca8621f0f818c2c149f7732 100644
--- a/Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataConstants.cs
+++ b/Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataConstants.cs
@@ -2,11 +2,23 @@
{
public sealed class ParameterMetaDataConstants
{
- public const string Delimeter = "@";
+ #region Markers
+
+ public const string ParamDelimeter = "@";
+ public const string PathDelimeter = ",";
public const string Param = "Param";
+ public const string Group = "Group";
+ public const string Path = "Path";
+
+ #endregion
+
+ #region Meta Keys
+
public const string DisplayName = "DisplayName";
public const string Description = "Description";
public const string Units = "Units";
public const string Range = "Range";
+
+ #endregion
}
-}
+}
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataParser.cs b/Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataParser.cs
index 2c3d2c0e13df50a56cb8ff3e1fb07398b6f4e77b..d4498f0f5f391ee52658e704194fe03897cc9ab0 100644
--- a/Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataParser.cs
+++ b/Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataParser.cs
@@ -7,13 +7,15 @@ using System.Net;
using System.Text.RegularExpressions;
using System.Windows.Forms;
using System.Xml;
+using ArdupilotMega.Utilities;
using log4net;
namespace ArdupilotMega.Utilities
{
public static class ParameterMetaDataParser
{
- private static readonly Regex _paramMetaRegex = new Regex(String.Format("{0}(?<MetaKey>[^:]+):(?<MetaValue>.+)", ParameterMetaDataConstants.Delimeter));
+ private static readonly Regex _paramMetaRegex = new Regex(String.Format("{0}(?<MetaKey>[^:]+):(?<MetaValue>.+)", ParameterMetaDataConstants.ParamDelimeter));
+ private static readonly Regex _parentDirectoryRegex = new Regex("(?<ParentDirectory>[../]*)(?<Path>.+)");
private static readonly ILog log =
LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
@@ -34,59 +36,85 @@ namespace ArdupilotMega.Utilities
foreach (string parameterLocation in parameterLocations)
{
- log.Info(parameterLocation);
+ // Write the start element for this parameter location
+ objXmlTextWriter.WriteStartElement(parameterLocation.ToLower().Contains("arducopter") ? MainV2.Firmwares.ArduCopter2.ToString() : MainV2.Firmwares.ArduPlane.ToString());
- var request = WebRequest.Create(parameterLocation);
+ // Read and parse the content.
+ string dataFromAddress = ReadDataFromAddress(parameterLocation);
+ ParseGroupInformation(dataFromAddress, objXmlTextWriter, parameterLocation);
+ ParseParameterInformation(dataFromAddress, objXmlTextWriter);
- // Plenty of timeout
- request.Timeout = 10000;
+ // Write the end element for this parameter location
+ objXmlTextWriter.WriteEndElement();
- // Set the Method property of the request to GET.
- request.Method = "GET";
-
- // Get the response.
- using (var response = request.GetResponse())
- {
- // Display the status.
- log.Info(((HttpWebResponse)response).StatusDescription);
+ }
+
+ // Clear the stream
+ objXmlTextWriter.WriteEndDocument();
+ objXmlTextWriter.Flush();
+ objXmlTextWriter.Close();
+ }
+ }
+ }
- // Get the stream containing content returned by the server.
- using (var dataStream = response.GetResponseStream())
- {
- if (dataStream != null)
+ /// <summary>
+ /// Parses the group parameter information.
+ /// </summary>
+ /// <param name="fileContents">The file contents.</param>
+ /// <param name="objXmlTextWriter">The obj XML text writer.</param>
+ /// <param name="parameterLocation">The parameter location.</param>
+ private static void ParseGroupInformation(string fileContents, XmlTextWriter objXmlTextWriter, string parameterLocation)
+ {
+ var parsedInformation = ParseKeyValuePairs(fileContents, ParameterMetaDataConstants.Group);
+ if (parsedInformation != null && parsedInformation.Count > 0)
+ {
+ // node is the prefix of the parameter group here
+ parsedInformation.ForEach(node =>
+ {
+ // node.Value is a nested dictionary containing the additional meta data
+ // In this case we are looking for the @Path key
+ if (node.Value != null && node.Value.Count > 0)
+ {
+ // Find the @Path key
+ node.Value
+ .Where(meta => meta.Key == ParameterMetaDataConstants.Path)
+ // We might have multiple paths to inspect, so break them out by the delimeter
+ .ForEach(path => path.Value.Split(new []{ ParameterMetaDataConstants.PathDelimeter }, StringSplitOptions.None)
+ .ForEach(separatedPath =>
{
- // Open the stream using a StreamReader for easy access.
- using (var reader = new StreamReader(dataStream))
+ // Match based on the regex defined at the top of this class
+ Match pathMatch = _parentDirectoryRegex.Match(separatedPath);
+ if (pathMatch.Success && pathMatch.Groups["Path"] != null && !String.IsNullOrEmpty(pathMatch.Groups["Path"].Value))
{
- // Write the start element for this parameter location
- objXmlTextWriter.WriteStartElement(parameterLocation);
+ if (pathMatch.Groups["ParentDirectory"] != null && !String.IsNullOrEmpty(pathMatch.Groups["ParentDirectory"].Value))
+ {
+ // How many directories from the original path do we have to move
+ int numberOfParentDirectoryMoves = pathMatch.Groups["ParentDirectory"].Value.Split(new string[] { "../" }, StringSplitOptions.None).Count();
- // Read and parse the content.
- ParseParameterInformation(reader.ReadToEnd(), objXmlTextWriter);
+ // We need to remove the http:// or https:// prefix to build the new URL properly
+ string httpTest = parameterLocation.Substring(0, 7);
+ int trimHttpPrefixIdx = httpTest == "http://" ? 7 : 8;
- // Write the end element for this parameter location
- objXmlTextWriter.WriteEndElement();
+ // Get the parts of the original URL
+ var parameterLocationParts = parameterLocation.Substring(trimHttpPrefixIdx, parameterLocation.Length - trimHttpPrefixIdx).Split(new char[] { '/' });
- // Close the reader
- reader.Close();
- }
+ // Rebuild the new url taking into account the numberOfParentDirectoryMoves
+ string urlAfterParentDirectory = string.Empty;
+ for (int i = 0; i < parameterLocationParts.Length && i < parameterLocationParts.Length - numberOfParentDirectoryMoves; i++)
+ {
+ urlAfterParentDirectory += parameterLocationParts[i] + "/";
+ }
- // Close the datastream
- dataStream.Close();
- }
- }
-
- // Close the response
- response.Close();
- }
+ // This is the URL of the file we need to parse for comments
+ string newPath = String.Format("{0}{1}{2}", parameterLocation.Substring(0, trimHttpPrefixIdx), urlAfterParentDirectory, pathMatch.Groups["Path"].Value);
+ // Parse the param info from the newly constructed URL
+ ParseParameterInformation(ReadDataFromAddress(newPath), objXmlTextWriter, node.Key);
+ }
+ }
+ }));
}
-
- // Clear the stream
- objXmlTextWriter.WriteEndDocument();
- objXmlTextWriter.Flush();
- objXmlTextWriter.Close();
- }
+ });
}
}
@@ -97,8 +125,50 @@ namespace ArdupilotMega.Utilities
/// <param name="objXmlTextWriter">The obj XML text writer.</param>
private static void ParseParameterInformation(string fileContents, XmlTextWriter objXmlTextWriter)
{
+ ParseParameterInformation(fileContents, objXmlTextWriter, string.Empty);
+ }
+
+ /// <summary>
+ /// Parses the parameter information.
+ /// </summary>
+ /// <param name="fileContents">The file contents.</param>
+ /// <param name="objXmlTextWriter">The obj XML text writer.</param>
+ /// <param name="parameterPrefix">The parameter prefix.</param>
+ private static void ParseParameterInformation(string fileContents, XmlTextWriter objXmlTextWriter, string parameterPrefix)
+ {
+ var parsedInformation = ParseKeyValuePairs(fileContents, ParameterMetaDataConstants.Param);
+ if(parsedInformation != null && parsedInformation.Count > 0)
+ {
+ parsedInformation.ForEach(node =>
+ {
+ objXmlTextWriter.WriteStartElement(String.Format("{0}{1}", parameterPrefix, node.Key));
+ if (node.Value != null && node.Value.Count > 0)
+ {
+ node.Value.ForEach(meta =>
+ {
+ // Write the key value pair to XML
+ objXmlTextWriter.WriteStartElement(meta.Key);
+ objXmlTextWriter.WriteString(meta.Value);
+ objXmlTextWriter.WriteEndElement();
+ });
+ }
+ objXmlTextWriter.WriteEndElement();
+ });
+ }
+ }
+
+ /// <summary>
+ /// Parses the parameter information.
+ /// </summary>
+ /// <param name="fileContents">The file contents.</param>
+ /// <param name="nodeKey">The node key.</param>
+ /// <returns></returns>
+ private static Dictionary<string, Dictionary<string, string>> ParseKeyValuePairs(string fileContents, string nodeKey)
+ {
+ var returnDict = new Dictionary<string, Dictionary<string, string>>();
+
var indicies = new List<int>();
- GetIndexOfMarkers(ref indicies, fileContents, ParameterMetaDataConstants.Delimeter + ParameterMetaDataConstants.Param, 0);
+ GetIndexOfMarkers(ref indicies, fileContents, ParameterMetaDataConstants.ParamDelimeter + nodeKey, 0);
if(indicies.Count > 0)
{
@@ -113,7 +183,7 @@ namespace ArdupilotMega.Utilities
if(!String.IsNullOrEmpty(subStringToSearch))
{
var metaIndicies = new List<int>();
- GetIndexOfMarkers(ref metaIndicies, subStringToSearch, ParameterMetaDataConstants.Delimeter, 0);
+ GetIndexOfMarkers(ref metaIndicies, subStringToSearch, ParameterMetaDataConstants.ParamDelimeter, 0);
if(metaIndicies.Count > 0)
{
@@ -123,40 +193,43 @@ namespace ArdupilotMega.Utilities
// Match based on the regex defined at the top of this class
Match paramNameKeyMatch = _paramMetaRegex.Match(paramNameKey);
- if (paramNameKeyMatch.Success && paramNameKeyMatch.Groups["MetaKey"].Value == ParameterMetaDataConstants.Param)
+ if (paramNameKeyMatch.Success && paramNameKeyMatch.Groups["MetaKey"].Value == nodeKey)
{
- objXmlTextWriter.WriteStartElement(paramNameKeyMatch.Groups["MetaValue"].Value.Trim(new char[] { ' ' }));
-
- // Loop through the indicies of the meta data found
- for (int x = 1; x < metaIndicies.Count; x++)
+ string key = paramNameKeyMatch.Groups["MetaValue"].Value.Trim(new char[] {' '});
+ var metaDict = new Dictionary<string, string>();
+ if(!returnDict.ContainsKey(key))
{
- // This is the end index for a substring to search for parameter attributes
- // If we are on the last index in our collection, we will search to the end of the file
- var stopMetaIdx = (x == metaIndicies.Count - 1) ? subStringToSearch.Length : metaIndicies[x + 1];
+ // Loop through the indicies of the meta data found
+ for (int x = 1; x < metaIndicies.Count; x++)
+ {
+ // This is the end index for a substring to search for parameter attributes
+ // If we are on the last index in our collection, we will search to the end of the file
+ var stopMetaIdx = (x == metaIndicies.Count - 1) ? subStringToSearch.Length : metaIndicies[x + 1];
- // This meta param string
- var metaString = subStringToSearch.Substring(metaIndicies[x], (stopMetaIdx - metaIndicies[x]));
+ // This meta param string
+ var metaString = subStringToSearch.Substring(metaIndicies[x], (stopMetaIdx - metaIndicies[x]));
- // Match based on the regex defined at the top of this class
- Match metaMatch = _paramMetaRegex.Match(metaString);
+ // Match based on the regex defined at the top of this class
+ Match metaMatch = _paramMetaRegex.Match(metaString);
- // Test for success
- if (metaMatch.Success)
- {
- // Write the key value pair to XML
- objXmlTextWriter.WriteStartElement(metaMatch.Groups["MetaKey"].Value.Trim(new char[] { ' ' }));
- objXmlTextWriter.WriteString(metaMatch.Groups["MetaValue"].Value.Trim(new char[] { ' ' }));
- objXmlTextWriter.WriteEndElement();
+ // Test for success
+ if (metaMatch.Success)
+ {
+ string metaKey = metaMatch.Groups["MetaKey"].Value.Trim(new char[] {' '});
+ if(!metaDict.ContainsKey(metaKey))
+ {
+ metaDict.Add(metaKey, metaMatch.Groups["MetaValue"].Value.Trim(new char[] { ' ' }));
+ }
+ }
}
}
-
- // End this parameter node
- objXmlTextWriter.WriteEndElement();
+ returnDict.Add(key, metaDict);
}
}
}
}
}
+ return returnDict;
}
/// <summary>
@@ -188,5 +261,67 @@ namespace ArdupilotMega.Utilities
}
}
}
+
+ /// <summary>
+ /// Reads the data from address.
+ /// </summary>
+ /// <param name="address">The address.</param>
+ /// <returns></returns>
+ private static string ReadDataFromAddress(string address)
+ {
+ string data = string.Empty;
+
+ log.Info(address);
+
+ // Make sure we don't blow up if the user is not connected or the endpoint is not available
+ try
+ {
+ var request = WebRequest.Create(address);
+
+ // Plenty of timeout
+ request.Timeout = 10000;
+
+ // Set the Method property of the request to GET.
+ request.Method = "GET";
+
+ // Get the response.
+ using (var response = request.GetResponse())
+ {
+ // Display the status.
+ log.Info(((HttpWebResponse)response).StatusDescription);
+
+ // Get the stream containing content returned by the server.
+ using (var dataStream = response.GetResponseStream())
+ {
+ if (dataStream != null)
+ {
+ // Open the stream using a StreamReader for easy access.
+ using (var reader = new StreamReader(dataStream))
+ {
+ // Store the data to return
+ data = reader.ReadToEnd();
+
+ // Close the reader
+ reader.Close();
+ }
+
+ // Close the datastream
+ dataStream.Close();
+ }
+ }
+
+ // Close the response
+ response.Close();
+ }
+
+ // Return the data
+ return data;
+ }
+ catch (WebException ex)
+ {
+ log.Error(String.Format("The request to {0} failed.", address), ex);
+ }
+ return string.Empty;
+ }
}
}
diff --git a/Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataRepository.cs b/Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataRepository.cs
index 0697a76c07b24d9513124c25584d4c94960ca128..738e684880c718a170d4eafe4c7ca2d9e4139c50 100644
--- a/Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataRepository.cs
+++ b/Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataRepository.cs
@@ -3,6 +3,7 @@ using System.Configuration;
using System.IO;
using System.Windows.Forms;
using System.Xml.Linq;
+using System.Linq;
namespace ArdupilotMega.Utilities
{
@@ -32,7 +33,19 @@ namespace ArdupilotMega.Utilities
{
// Use this to find the endpoint node we are looking for
// Either it will be pulled from a file in the ArduPlane hierarchy or the ArduCopter hierarchy
- string endpointSearchString = (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) ? "arduplane" : "arducopter";
+ var element = _parameterMetaDataXML.Element(MainV2.cs.firmware.ToString());
+ if(element != null && element.HasElements)
+ {
+ var node = element.Element(nodeKey);
+ if(node != null && node.HasElements)
+ {
+ var metaValue = node.Element(metaKey);
+ if(metaValue != null)
+ {
+ return metaValue.Value;
+ }
+ }
+ }
}
return string.Empty;
}
diff --git a/Tools/ArdupilotMegaPlanner/app.config b/Tools/ArdupilotMegaPlanner/app.config
index 063dfdef787b8749448af9bda365941162ddbbd3..9bb4229ef3a09b9535adbc50996f8768c806b4cd 100644
--- a/Tools/ArdupilotMegaPlanner/app.config
+++ b/Tools/ArdupilotMegaPlanner/app.config
@@ -8,6 +8,10 @@
<appSettings>
<add key="UpdateLocation"
value="http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/bin/Release/"/>
+ <add key="ParameterLocations"
+ value="http://ardupilot-mega.googlecode.com/git/ArduCopter/Parameters.pde"/>
+ <add key="ParameterMetaDataXMLFileName"
+ value="ParameterMetaData.xml"/>
</appSettings>
<log4net>
<appender name="Console" type="log4net.Appender.ConsoleAppender">
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/ArduCopterConfig.xml b/Tools/ArdupilotMegaPlanner/bin/Release/ArduCopterConfig.xml
index 2558e46e2c8022bcb52c9e741b1213e441e8bd02..fda38f6780653459242fc80c616f181ad72dfae0 100644
--- a/Tools/ArdupilotMegaPlanner/bin/Release/ArduCopterConfig.xml
+++ b/Tools/ArdupilotMegaPlanner/bin/Release/ArduCopterConfig.xml
@@ -101,6 +101,70 @@ Too high = slow wobbles
<STEP>0.001</STEP>
</FIELD>
</FIELDS>
+
+ <SUBHEAD>Yaw Angular Rate Control:</SUBHEAD>
+ <DESC>How much throttle is applied to rotate the copter at the desired speed.
+ </DESC>
+ <FIELDS>
+ <FIELD>
+ <NAME>P</NAME>
+ <PARAMNAME>RATE_YAW_P</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>I</NAME>
+ <PARAMNAME>RATE_YAW_I</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>D</NAME>
+ <PARAMNAME>RATE_YAW_D</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>IMAX</NAME>
+ <PARAMNAME>RATE_YAW_IMAX</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>50</RANGEMAX>
+ <STEP>1</STEP>
+ </FIELD>
+ </FIELDS>
+
+ <SUBHEAD>Yaw Stabilize Control:</SUBHEAD>
+ <DESC>
+ How fast the copter reacts to user or autopilot input.
+ Higher = more aggressive control.
+ Too high = slow wobbles
+ </DESC>
+ <FIELDS>
+ <FIELD>
+ <NAME>P</NAME>
+ <PARAMNAME>STB_YAW_P</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>10</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>I</NAME>
+ <PARAMNAME>STB_YAW_I</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>IMAX</NAME>
+ <PARAMNAME>STB_YAW_IMAX</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>50</RANGEMAX>
+ <STEP>1</STEP>
+ </FIELD>
+ </FIELDS>
</Item>
<!-- Loiter -->
<Item>
@@ -140,7 +204,7 @@ How much angle is applied to make the copter accelerate to the desired speed.
<PARAMNAME>LOITER_LON_IMAX</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>50</RANGEMAX>
- <STEP>0.1</STEP>
+ <STEP>1</STEP>
</FIELD>
</FIELDS>
<SUBHEAD>Loiter Speed:</SUBHEAD>
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/version.txt b/Tools/ArdupilotMegaPlanner/bin/Release/version.txt
index cf279dbac70c778e06cd683e3db7c8535e628f1c..b68b098b7a9eaee2814f060456ed85826ef27c7f 100644
--- a/Tools/ArdupilotMegaPlanner/bin/Release/version.txt
+++ b/Tools/ArdupilotMegaPlanner/bin/Release/version.txt
@@ -1 +1 @@
-1.1.4498.32482
\ No newline at end of file
+1.1.4499.14296
\ No newline at end of file