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GCS.cs
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using System;
using System.Collections.Generic;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
using System.IO.Ports;
using System.Threading;
using ZedGraph;
using System.Runtime.InteropServices;
using GMap.NET;
using GMap.NET.MapProviders;
using GMap.NET.WindowsForms;
using GMap.NET.WindowsForms.Markers;
using System.Globalization;
using System.Drawing.Drawing2D;
using System.IO;
using WMPLib;
namespace JCFLIGHTGCS
{
public partial class GCS : Form
{
SerialPort SerialPort = new SerialPort();
WindowsMediaPlayer Player = new WindowsMediaPlayer();
string SerialComPort;
string[] SerialPorts = SerialPort.GetPortNames();
static bool Error_Received = false;
static byte Read_State = 0;
static byte OffSet = 0;
static byte DataSize = 0;
static byte CheckSum = 0;
static byte Command;
static byte[] InBuffer = new byte[300];
static byte[] NumericConvert = new byte[30];
int ThrottleData = 900;
int YawData = 1000;
int PitchData = 1000;
int RollData = 1000;
int Aux1Data = 1000;
int Aux2Data = 1000;
int Aux3Data = 1000;
int Aux4Data = 1000;
int Aux5Data = 1000;
int Aux6Data = 1000;
int Aux7Data = 1000;
int Aux8Data = 1000;
int ThrottleActualData = 900;
int YawActualData = 1000;
int PitchActualData = 1000;
int RollActualData = 1000;
int Aux1ActualData = 1000;
int Aux2ActualData = 1000;
int Aux3ActualData = 1000;
int Aux4ActualData = 1000;
int Aux5ActualData = 1000;
int Aux6ActualData = 1000;
int Aux7ActualData = 1000;
int Aux8ActualData = 1000;
int ThrottleAttitudeData = 1000;
int YawAttitudeData = 0;
int PitchAttitudeData = 0;
int RollAttitudeData = 0;
int ReadRoll = 0;
int ReadPitch = 0;
int ReadCompass = 0;
byte CPULoad = 0;
double ReadBarometer = 0;
double BattVoltage = 0;
double GPSLatPrev = 0;
double GPSLonPrev = 0;
double HDOP = 99.99;
double Current = 0;
double Watts = 0;
double Declination = 00.00;
double Temperature = 0;
double HomePointDisctance;
static double xTimeStamp = 0;
byte CommandArmDisarm = 0;
int GPS_NumSat = 0;
byte FailSafeDetect = 0;
byte BattPercentage = 0;
byte FlightMode = 0;
byte FrameMode = 0;
byte HomePointOK = 0;
bool SmallCompass = false;
bool SerialOpen = false;
bool PidAndFiltersCommunicationOpen = false;
bool AccNotCalibrated = false;
string GPSLAT = "0";
string GPSLONG = "0";
string LatitudeHome = "0";
string LongitudeHome = "0";
static Scale aScale;
static Scale bScale;
static Scale cScale;
static Scale dScale;
static Scale eScale;
static Scale fScale;
GraphPane RollGraph;
GraphPane PitchGraph;
GraphPane CompassGraph;
GraphPane BaroGraph;
GraphPane TempGraph;
GraphPane AccGraph;
static RollingPointPairList RollToGraph;
static RollingPointPairList PitchToGraph;
static RollingPointPairList CompassToGraph;
static RollingPointPairList BaroToGraph;
static RollingPointPairList TempToGraph;
static RollingPointPairList AccToGraph;
GMapOverlay OverlayToHome = new GMapOverlay();
static GMapRoute Grout;
static GMapOverlay Routes;
static GMapOverlay AirportsOverlay;
GMapOverlay PositionToRoutes;
GMapOverlay MarkersOverlay = new GMapOverlay("Markers");
GMapOverlay GmapPolygons = new GMapOverlay("Poligonos");
List<PointLatLng> Points = new List<PointLatLng>();
PointLatLng GPS_Position;
PointLatLng GPS_Position2;
int CompassHealthCount = 9999999;
int HeadingCompassPrev = 0;
byte ComboBoxSimpleMode = 0;
byte ComboBoxAltHold = 0;
byte ComboBoxGPSHold = 0;
byte ComboBoxRTH = 0;
byte ComboBoxPPM = 0;
byte ComboBoxGimbal = 0;
byte ComboBoxFrame = 0;
byte ComboBoxParachute = 0;
byte ComboBoxRthAltitude = 0;
byte ComboBoxSafeBtn = 0;
byte ComboBoxAirSpeed = 0;
byte ComboBoxSPI = 0;
byte ComboBoxUART2 = 0;
byte ComboBoxUart1 = 0;
byte ComboBoxCompassRot = 0;
byte ComboBoxAcro = 0;
byte ComboBoxSport = 0;
byte ComboBoxAutoFlip = 0;
byte ComboBoxAuto = 0;
byte ComboBoxArmDisarm = 0;
byte ComboBoxGyroLPF = 0;
byte ComboBoxKalmanState = 0;
byte ComboBoxCompSpeed = 0;
byte ComboBoxAutoLand = 0;
byte SimpleDataGuard = 0;
byte AltHoldGuard = 0;
byte GPSHoldGuard = 0;
byte RTHGuard = 0;
byte PPMGuard = 0;
byte GimbalGuard = 0;
byte FrameGuard = 0;
byte ParachuteGuard = 0;
byte RthAltitudeGuard = 0;
byte OptFlowGuard = 0;
byte SonarGuard = 0;
byte Uart1Guard = 0;
byte CompassRotGuard = 0;
byte AcroGuard = 0;
byte SportGuard = 0;
byte AutoFlipGuard = 0;
byte AutoGuard = 0;
byte ArmDisarmGuard = 0;
byte AutoLandGuard = 0;
byte SafeBtnGuard = 0;
byte AirSpeedGuard = 0;
int AccRollAdjustGuard = 0;
int AccPitchAdjustGuard = 0;
int AccYawAdjustGuard = 0;
int DevicesSum = 0;
double AmperInMah = 0;
int BreakPoint = 1000;
byte TPAFactor = 0;
byte GyroLPF = 0;
int DerivativeLPF;
int RCSmooth;
int ServosLPF;
byte KalmanState;
int BiAccLPF;
int BiGyroLPF;
int BiAccNotch;
int BiGyroNotch;
byte CompSpeed;
int CoG = 0;
Int32 Crosstrack = 0;
bool ItsSafeToUpdate = true;
static int PacketsError = 0;
static int PacketsReceived = 0;
double GetAccGForce = 0;
byte GetAccCalibFlag = 0;
bool MessageRead = false;
bool Reboot = false;
bool SmallFlightData = false;
bool ForceNewLocationToLabels = false;
bool HomePointMarkerOK = false;
bool ResetTimer = false;
byte Hour_Debug = 0;
int Seconds_Count = 0;
int Hour_Count = 0;
byte MemoryRamUsedPercent = 0;
int MemoryRamUsed = 0;
int GridCounter = 0;
int AirportsCountTime = 0;
public string[] GetString1;
public string[] GetString2;
public string[] GetString3;
public string[] GetString4;
public string[] GetString5;
public string[] GetString6;
public string[] GetString7;
Boolean StringsChecked = false;
int DecodeString = 0;
double[] PushedLatitude = new double[100];
double[] PushedLongitude = new double[100];
Boolean ParamsPushed = false;
Boolean PrintArea2 = false;
Boolean BlockPushParams = false;
Boolean SafeToPushParams = false;
byte CountWP2 = 0;
byte CountToBlock = 0;
int WPRadius = 200;
bool AutoWpPushed = false;
byte ThrottleMiddle = 0;
byte ThrottleExpo = 0;
byte RCRate = 0;
byte RcExpo = 0;
byte YawRate = 0;
int RadioMin = 1000;
int RadioMax = 2000;
byte AHDeadZone;
byte AHSafeAltitude;
byte AHMinVelVertical;
int ThrottleMin;
int YawMin;
int PitchMin;
int RollMin;
int ThrottleMax;
int YawMax;
int PitchMax;
int RollMax;
byte ThrottleDeadZone;
byte YawDeadZone;
byte PitchDeadZone;
byte RollDeadZone;
byte ChannelsReverse;
byte ServosReverse;
int Servo1Min;
int Servo2Min;
int Servo3Min;
int Servo4Min;
int Servo1Med;
int Servo2Med;
int Servo3Med;
int Servo4Med;
int Servo1Max;
int Servo2Max;
int Servo3Max;
int Servo4Max;
int Servo1Rate;
int Servo2Rate;
int Servo3Rate;
int Servo4Rate;
int FailSafeValue;
StreamWriter BlackBoxStream;
static bool BlackBoxRunning = false;
string RamMemString = "8192KB";
Form WaitUart = Program.WaitUart;
Form RebootBoard = Program.RebootBoard;
public GCS()
{
InitializeComponent();
SerialPort.DataBits = 8;
SerialPort.Parity = Parity.None;
SerialPort.StopBits = StopBits.One;
SerialPort.Handshake = Handshake.None;
SerialPort.DtrEnable = false;
SerialPort.ReadBufferSize = 4096;
SerialPort.ReadTimeout = 500;
foreach (string PortsName in SerialPorts) comboBox7.Items.Add(PortsName);
SerialPort.DataReceived += new SerialDataReceivedEventHandler(SerialPort1_DataReceived);
circularProgressBar1.Value = 0;
circularProgressBar2.Value = 0;
comboBox7.MouseWheel += new MouseEventHandler(comboBox7_MouseWheel);
metroTrackBar1.MouseWheel += new MouseEventHandler(metroTrackBar1_MouseWheel);
}
private void GCS_Load(object sender, EventArgs e)
{
MyGMap.PolygonsEnabled = true;
//MAPAS
//MyGMap.MapProvider = GMapProviders.GoogleMap;
MyGMap.MapProvider = GMapProviders.GoogleSatelliteMap;
//MyGMap.MapProvider = GMapProviders.BingHybridMap;
MyGMap.ShowCenter = false;
MyGMap.Manager.Mode = AccessMode.ServerAndCache;
MyGMap.Zoom = 2;
MyGMap.DragButton = MouseButtons.Left;
PositionToRoutes = new GMapOverlay("PositionToRoutes");
MyGMap.Overlays.Add(PositionToRoutes);
PositionToRoutes.Markers.Clear();
Routes = new GMapOverlay("Routes");
MyGMap.Overlays.Add(Routes);
Pen PenRoute = new Pen(Color.Purple, 5);
Grout = new GMapRoute(Points, "Track");
Grout.Stroke = PenRoute;
Routes.Routes.Add(Grout);
AirportsOverlay = new GMapOverlay("AirportsOverlay");
MyGMap.Overlays.Add(AirportsOverlay);
MyGMap.Invalidate(false);
//PLOTTER ROLL
RollGraph = zedGraphControl1.GraphPane;
RollGraph.Title.Text = "ATTITUDE ROLL";
RollGraph.XAxis.Title.Text = "";
RollGraph.YAxis.Title.Text = "";
RollGraph.XAxis.MajorGrid.IsVisible = true;
RollGraph.YAxis.MajorGrid.IsVisible = true;
RollGraph.XAxis.Scale.IsVisible = false;
RollGraph.YAxis.Scale.FontSpec.FontColor = Color.White;
RollGraph.YAxis.Title.FontSpec.FontColor = Color.White;
RollGraph.YAxis.MajorTic.IsOpposite = false;
RollGraph.YAxis.MinorTic.IsOpposite = false;
RollGraph.YAxis.MajorGrid.IsZeroLine = true;
RollGraph.YAxis.Scale.Align = AlignP.Inside;
RollGraph.YAxis.Scale.IsVisible = false;
RollGraph.Chart.Fill = new Fill(Color.DimGray, Color.DarkGray, 45.0f);
RollGraph.Fill = new Fill(Color.DimGray, Color.DimGray, 45.0f);
RollGraph.Legend.IsVisible = false;
RollGraph.XAxis.Scale.IsVisible = false;
RollGraph.YAxis.Scale.IsVisible = true;
RollGraph.XAxis.Scale.MagAuto = true;
RollGraph.YAxis.Scale.MagAuto = false;
RollGraph.YAxis.Title.FontSpec.FontColor = Color.White;
RollGraph.XAxis.Title.FontSpec.FontColor = Color.White;
RollGraph.XAxis.Scale.Min = 0;
RollGraph.XAxis.Scale.Max = 300;
RollGraph.XAxis.Type = AxisType.Linear;
RollToGraph = new RollingPointPairList(300);
RollGraph.AddCurve("Attitude Roll", RollToGraph, Color.Blue, SymbolType.None);
zedGraphControl1.ScrollGrace = 0;
aScale = zedGraphControl1.GraphPane.XAxis.Scale;
zedGraphControl1.AxisChange();
//PLOTTER PITCH
PitchGraph = zedGraphControl2.GraphPane;
PitchGraph.Title.Text = "ATTITUDE PITCH";
PitchGraph.XAxis.Title.Text = "";
PitchGraph.YAxis.Title.Text = "";
PitchGraph.XAxis.MajorGrid.IsVisible = true;
PitchGraph.YAxis.MajorGrid.IsVisible = true;
PitchGraph.XAxis.Scale.IsVisible = false;
PitchGraph.YAxis.Scale.FontSpec.FontColor = Color.White;
PitchGraph.YAxis.Title.FontSpec.FontColor = Color.White;
PitchGraph.YAxis.MajorTic.IsOpposite = false;
PitchGraph.YAxis.MinorTic.IsOpposite = false;
PitchGraph.YAxis.MajorGrid.IsZeroLine = true;
PitchGraph.YAxis.Scale.Align = AlignP.Inside;
PitchGraph.YAxis.Scale.IsVisible = false;
PitchGraph.Chart.Fill = new Fill(Color.DimGray, Color.DarkGray, 45.0f);
PitchGraph.Fill = new Fill(Color.DimGray, Color.DimGray, 45.0f);
PitchGraph.Legend.IsVisible = false;
PitchGraph.XAxis.Scale.IsVisible = false;
PitchGraph.YAxis.Scale.IsVisible = true;
PitchGraph.XAxis.Scale.MagAuto = true;
PitchGraph.YAxis.Scale.MagAuto = false;
PitchGraph.YAxis.Title.FontSpec.FontColor = Color.White;
PitchGraph.XAxis.Title.FontSpec.FontColor = Color.White;
PitchGraph.XAxis.Scale.Min = 0;
PitchGraph.XAxis.Scale.Max = 300;
PitchGraph.XAxis.Type = AxisType.Linear;
PitchToGraph = new RollingPointPairList(300);
PitchGraph.AddCurve("Attitude Pitch", PitchToGraph, Color.Orange, SymbolType.None);
zedGraphControl2.ScrollGrace = 0;
bScale = zedGraphControl2.GraphPane.XAxis.Scale;
zedGraphControl2.AxisChange();
//PLOTTER COMPASS
CompassGraph = zedGraphControl3.GraphPane;
CompassGraph.Title.Text = "COMPASS (YAW)";
CompassGraph.XAxis.Title.Text = "";
CompassGraph.YAxis.Title.Text = "";
CompassGraph.XAxis.MajorGrid.IsVisible = true;
CompassGraph.YAxis.MajorGrid.IsVisible = true;
CompassGraph.XAxis.Scale.IsVisible = false;
CompassGraph.YAxis.Scale.FontSpec.FontColor = Color.White;
CompassGraph.YAxis.Title.FontSpec.FontColor = Color.White;
CompassGraph.YAxis.MajorTic.IsOpposite = false;
CompassGraph.YAxis.MinorTic.IsOpposite = false;
CompassGraph.YAxis.MajorGrid.IsZeroLine = true;
CompassGraph.YAxis.Scale.Align = AlignP.Inside;
CompassGraph.YAxis.Scale.IsVisible = false;
CompassGraph.Chart.Fill = new Fill(Color.DimGray, Color.DarkGray, 45.0f);
CompassGraph.Fill = new Fill(Color.DimGray, Color.DimGray, 45.0f);
CompassGraph.Legend.IsVisible = false;
CompassGraph.XAxis.Scale.IsVisible = false;
CompassGraph.YAxis.Scale.IsVisible = true;
CompassGraph.XAxis.Scale.MagAuto = true;
CompassGraph.YAxis.Scale.MagAuto = false;
CompassGraph.YAxis.Title.FontSpec.FontColor = Color.White;
CompassGraph.XAxis.Title.FontSpec.FontColor = Color.White;
CompassGraph.XAxis.Scale.Min = 0;
CompassGraph.XAxis.Scale.Max = 300;
CompassGraph.XAxis.Type = AxisType.Linear;
CompassToGraph = new RollingPointPairList(300);
CompassGraph.AddCurve("Compass", CompassToGraph, Color.Red, SymbolType.None);
zedGraphControl3.ScrollGrace = 0;
cScale = zedGraphControl3.GraphPane.XAxis.Scale;
zedGraphControl3.AxisChange();
//PLOTTER BARO
BaroGraph = zedGraphControl4.GraphPane;
BaroGraph.Title.Text = "BARÔMETRO";
BaroGraph.XAxis.Title.Text = "";
BaroGraph.YAxis.Title.Text = "";
BaroGraph.XAxis.MajorGrid.IsVisible = true;
BaroGraph.YAxis.MajorGrid.IsVisible = true;
BaroGraph.XAxis.Scale.IsVisible = false;
BaroGraph.YAxis.Scale.FontSpec.FontColor = Color.White;
BaroGraph.YAxis.Title.FontSpec.FontColor = Color.White;
BaroGraph.YAxis.MajorTic.IsOpposite = false;
BaroGraph.YAxis.MinorTic.IsOpposite = false;
BaroGraph.YAxis.MajorGrid.IsZeroLine = true;
BaroGraph.YAxis.Scale.Align = AlignP.Inside;
BaroGraph.YAxis.Scale.IsVisible = false;
BaroGraph.Chart.Fill = new Fill(Color.DimGray, Color.DarkGray, 45.0f);
BaroGraph.Fill = new Fill(Color.DimGray, Color.DimGray, 45.0f);
BaroGraph.Legend.IsVisible = false;
BaroGraph.XAxis.Scale.IsVisible = false;
BaroGraph.YAxis.Scale.IsVisible = true;
BaroGraph.XAxis.Scale.MagAuto = true;
BaroGraph.YAxis.Scale.MagAuto = false;
BaroGraph.YAxis.Title.FontSpec.FontColor = Color.White;
BaroGraph.XAxis.Title.FontSpec.FontColor = Color.White;
BaroGraph.XAxis.Scale.Min = 0;
BaroGraph.XAxis.Scale.Max = 300;
BaroGraph.XAxis.Type = AxisType.Linear;
BaroToGraph = new RollingPointPairList(300);
BaroGraph.AddCurve("Baro", BaroToGraph, Color.Green, SymbolType.None);
zedGraphControl4.ScrollGrace = 0;
dScale = zedGraphControl4.GraphPane.XAxis.Scale;
zedGraphControl4.AxisChange();
//PLOTTER TEMPERATURA
TempGraph = zedGraphControl5.GraphPane;
TempGraph.Title.Text = "TEMPERATURA °C";
TempGraph.XAxis.Title.Text = "";
TempGraph.YAxis.Title.Text = "";
TempGraph.XAxis.MajorGrid.IsVisible = true;
TempGraph.YAxis.MajorGrid.IsVisible = true;
TempGraph.XAxis.Scale.IsVisible = false;
TempGraph.YAxis.Scale.FontSpec.FontColor = Color.White;
TempGraph.YAxis.Title.FontSpec.FontColor = Color.White;
TempGraph.YAxis.MajorTic.IsOpposite = false;
TempGraph.YAxis.MinorTic.IsOpposite = false;
TempGraph.YAxis.MajorGrid.IsZeroLine = true;
TempGraph.YAxis.Scale.Align = AlignP.Inside;
TempGraph.YAxis.Scale.IsVisible = false;
TempGraph.Chart.Fill = new Fill(Color.DimGray, Color.DarkGray, 45.0f);
TempGraph.Fill = new Fill(Color.DimGray, Color.DimGray, 45.0f);
TempGraph.Legend.IsVisible = false;
TempGraph.XAxis.Scale.IsVisible = false;
TempGraph.YAxis.Scale.IsVisible = true;
TempGraph.XAxis.Scale.MagAuto = true;
TempGraph.YAxis.Scale.MagAuto = false;
TempGraph.YAxis.Title.FontSpec.FontColor = Color.White;
TempGraph.XAxis.Title.FontSpec.FontColor = Color.White;
TempGraph.XAxis.Scale.Min = 0;
TempGraph.XAxis.Scale.Max = 300;
TempGraph.XAxis.Type = AxisType.Linear;
TempToGraph = new RollingPointPairList(300);
TempGraph.AddCurve("Temperatura", TempToGraph, Color.Violet, SymbolType.None);
zedGraphControl5.ScrollGrace = 0;
eScale = zedGraphControl5.GraphPane.XAxis.Scale;
zedGraphControl5.AxisChange();
//PLOTTER DA FORÇA G NO ACELEROMETRO
AccGraph = zedGraphControl6.GraphPane;
AccGraph.Title.Text = "FORÇA G NO ACELERÔMETRO";
AccGraph.XAxis.Title.Text = "";
AccGraph.YAxis.Title.Text = "";
AccGraph.XAxis.MajorGrid.IsVisible = true;
AccGraph.YAxis.MajorGrid.IsVisible = true;
AccGraph.XAxis.Scale.IsVisible = false;
AccGraph.YAxis.Scale.FontSpec.FontColor = Color.White;
AccGraph.YAxis.Title.FontSpec.FontColor = Color.White;
AccGraph.YAxis.MajorTic.IsOpposite = false;
AccGraph.YAxis.MinorTic.IsOpposite = false;
AccGraph.YAxis.MajorGrid.IsZeroLine = true;
AccGraph.YAxis.Scale.Align = AlignP.Inside;
AccGraph.YAxis.Scale.IsVisible = false;
AccGraph.Chart.Fill = new Fill(Color.DimGray, Color.DarkGray, 45.0f);
AccGraph.Fill = new Fill(Color.DimGray, Color.DimGray, 45.0f);
AccGraph.Legend.IsVisible = false;
AccGraph.XAxis.Scale.IsVisible = false;
AccGraph.YAxis.Scale.IsVisible = true;
AccGraph.XAxis.Scale.MagAuto = true;
AccGraph.YAxis.Scale.MagAuto = false;
AccGraph.YAxis.Title.FontSpec.FontColor = Color.White;
AccGraph.XAxis.Title.FontSpec.FontColor = Color.White;
AccGraph.XAxis.Scale.Min = 0;
AccGraph.XAxis.Scale.Max = 300;
AccGraph.XAxis.Type = AxisType.Linear;
AccToGraph = new RollingPointPairList(300);
AccGraph.AddCurve("Força G", AccToGraph, Color.Pink, SymbolType.None);
zedGraphControl6.ScrollGrace = 0;
fScale = zedGraphControl6.GraphPane.XAxis.Scale;
zedGraphControl6.AxisChange();
Load_Data_Grid();
this.MaximumSize = Screen.PrimaryScreen.WorkingArea.Size; //NÃO CUBRA A BARRA DE TAREFAS
this.WindowState = FormWindowState.Maximized;
maximinizar.Visible = true;
iconmaximizar.Visible = true;
preArmNotification2.Visible = false;
HUD2.Visible = false;
label159.BackColor = Color.Blue;
label159.ForeColor = Color.Red;
label156.BackColor = Color.Blue;
label156.ForeColor = Color.White;
label160.BackColor = Color.Blue;
label160.ForeColor = Color.Orange;
label157.BackColor = Color.Blue;
label157.ForeColor = Color.White;
label158.BackColor = Color.Blue;
label158.ForeColor = Color.White;
if (!GCSSettings.Read_From_XML(Settings.GetRunningDirectory() + "GCSSettings.xml"))
{
MessageBox.Show("Error ao ler o arquivo de configuração do GCS.");
}
Airports.ReadOurairports(Settings.GetRunningDirectory() + "Airports.csv");
Airports.checkdups = true;
this.ResumeLayout();
//FECHA O SPLASH SCREEN
Program.Splash?.Close();
}
private void iconmaximizar_Click(object sender, EventArgs e)
{
if (this.WindowState == FormWindowState.Maximized)
{
this.WindowState = FormWindowState.Normal;
maximinizar.Visible = false;
iconmaximizar.Visible = true;
return;
}
this.MaximumSize = Screen.PrimaryScreen.WorkingArea.Size; //NÃO CUBRA A BARRA DE TAREFAS
this.WindowState = FormWindowState.Maximized;
if (!ForceNewLocationToLabels)
{
MyGMap.Width = 800;
MyGMap.Height = 555;
}
else
{
MyGMap.Size = new Size(850, 555);
}
maximinizar.Visible = true;
iconmaximizar.Visible = true;
}
private void maximinizar_Click(object sender, EventArgs e)
{
this.WindowState = FormWindowState.Normal;
if (!ForceNewLocationToLabels)
{
MyGMap.Width = 740;
MyGMap.Height = 555;
}
else
{
MyGMap.Size = new Size(790, 555);
}
maximinizar.Visible = false;
iconmaximizar.Visible = true;
}
private void iconminimizar_Click(object sender, EventArgs e)
{
this.WindowState = FormWindowState.Minimized;
}
[DllImport("user32.DLL", EntryPoint = "ReleaseCapture")]
private extern static void ReleaseCapture();
[DllImport("user32.DLL", EntryPoint = "SendMessage")]
private extern static void SendMessage(System.IntPtr hwnd, int wmsg, int wparam, int lparam);
private void BarraTitulo_MouseDown(object sender, MouseEventArgs e)
{
ReleaseCapture();
SendMessage(this.Handle, 0x112, 0xf012, 0);
}
private void encerrar_Click_1(object sender, EventArgs e)
{
if (SerialPort.IsOpen == true)
{
SerialPort.DiscardInBuffer();
SerialPort.Close();
}
MyGMap.Dispose();
MyGMap.Invalidate();
this.Close();
}
public delegate bool ProcessCmdKeyHandler(ref Message msg, Keys keyData);
public event ProcessCmdKeyHandler ProcessCmdKeyCallback;
protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
{
if (keyData == (Keys.F1))
{
button1_Click(null, null);
return true;
}
if (keyData == (Keys.F2))
{
button6_Click(null, null);
return true;
}
if (keyData == (Keys.F3))
{
button2_Click(null, null);
return true;
}
if (keyData == (Keys.F4))
{
button3_Click(null, null);
return true;
}
if (keyData == (Keys.F5))
{
button4_Click(null, null);
return true;
}
if (keyData == (Keys.F6))
{
button5_Click(null, null);
return true;
}
if (keyData == (Keys.F7))
{
button10_Click_1(null, null);
return true;
}
if (keyData == (Keys.F8))
{
button13_Click(null, null);
return true;
}
if (keyData == (Keys.F9))
{
button12_Click(null, null);
return true;
}
if (keyData == (Keys.F10))
{
button19_Click(null, null);
return true;
}
if (keyData == (Keys.F11))
{
button18_Click(null, null);
return true;
}
if (keyData == (Keys.F12))
{
button11_Click(null, null);
return true;
}
if (keyData == (Keys.Control | Keys.P))
{
Form Form = new BoardInfo();
Form.Show();
return true;
}
if (ProcessCmdKeyCallback != null)
{
return ProcessCmdKeyCallback(ref msg, keyData);
}
return base.ProcessCmdKey(ref msg, keyData);
}
private void RealTimer_Tick(object sender, EventArgs e)
{
CheckCompassState(ReadCompass);
Edit_Labels_To_Aero();
UpdateDevices();
DateTime DateTimeNow = DateTime.UtcNow;
TimeZoneInfo HRBrasilia = TimeZoneInfo.FindSystemTimeZoneById("E. South America Standard Time");
label72.Text = Convert.ToString(TimeZoneInfo.ConvertTimeFromUtc(DateTimeNow, HRBrasilia));
PushWayPointCoordinatesOfFlightController();
if (BlackBoxRunning && BlackBoxStream.BaseStream != null)
{
UpdateBlackBoxData();
}
throttleExpo1.SetRCExpoParameters((double)ThrottleMiddle / 100, (double)ThrottleExpo / 100, ThrottleData);
rcExpo1.SetRCExpoParameters((double)RCRate / 100, (double)RcExpo / 100);
throttleExpo2.SetRCExpoParameters((double)numericUpDown25.Value, (double)numericUpDown26.Value, ThrottleData);
rcExpo2.SetRCExpoParameters((double)numericUpDown27.Value, (double)numericUpDown28.Value);
InertialSensor.AccCalcVibrationAndClipping();
}
private void SerialPort1_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
byte CheckState;
try
{
if (SerialPort.IsOpen == false)
{
return;
}
}
catch { }
while (SerialPort.BytesToRead > 0)
{
try
{
if (SerialPort.IsOpen == false) break;
}
catch (UnauthorizedAccessException) { }
if (SerialPort.BytesToRead == 0)
{
break;
}
else
{
CheckState = (byte)SerialPort.ReadByte();
}
switch (Read_State)
{
case 0:
if (CheckState == 0x4a)
{
Read_State = 1;
}
break;
case 1:
Read_State = (CheckState == 0x43) ? (byte)2 : (byte)0;
break;
case 2:
if (CheckState == 0x46)
{
Read_State = 3;
}
else if (CheckState == 0x21)
{
Read_State = 6;
}
else
{
Read_State = 0;
}
break;
case 3:
case 6:
Error_Received = (Read_State == 6);
DataSize = CheckState;
OffSet = 0;
CheckSum = 0;
CheckSum ^= CheckState;
Read_State = 4;
if (DataSize > 254)
{
Read_State = 0;
}
break;
case 4:
Command = CheckState;
CheckSum ^= CheckState;
Read_State = 5;
break;
case 5:
if (OffSet < DataSize)
{
CheckSum ^= CheckState;
InBuffer[OffSet++] = CheckState;
}
else
{
if (CheckSum == CheckState)
{
if (!Error_Received)
{
PacketsReceived++;
Serial_Parse(Command);
}
}
else
{
PacketsError++;
}
Read_State = 0;
}
break;
}
}
}
private void Serial_Parse(byte Command)
{
int ptr;
switch (Command)
{
case 1:
ptr = 0;
if (!ParamsPushed)
{
PushedLatitude[0] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLatitude[1] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLatitude[2] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLatitude[3] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLatitude[4] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLatitude[5] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLatitude[6] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLatitude[7] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLatitude[8] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLatitude[9] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLongitude[0] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLongitude[1] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLongitude[2] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLongitude[3] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLongitude[4] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLongitude[5] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLongitude[6] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLongitude[7] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLongitude[8] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
PushedLongitude[9] = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr) / 1e7); ptr += 4;
}
if (!BlockPushParams) ParamsPushed = true;
break;
case 7:
ptr = 0;
GetValues.ReadAttitudePitch = ReadPitch = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
GetValues.ReadAttitudeRoll = ReadRoll = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
GetValues.ReadAttitudeYaw = ReadCompass = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
DevicesSum = (byte)InBuffer[ptr++];
ThrottleData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
YawData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
PitchData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
RollData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
Aux1Data = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
Aux2Data = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
Aux3Data = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
Aux4Data = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
Aux5Data = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
Aux6Data = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
Aux7Data = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
Aux8Data = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
GPS_NumSat = (byte)InBuffer[ptr++];
GPSLAT = Convert.ToString(BitConverter.ToInt32(InBuffer, ptr)); ptr += 4;
GPSLONG = Convert.ToString(BitConverter.ToInt32(InBuffer, ptr)); ptr += 4;
LatitudeHome = Convert.ToString(BitConverter.ToInt32(InBuffer, ptr)); ptr += 4;
LongitudeHome = Convert.ToString(BitConverter.ToInt32(InBuffer, ptr)); ptr += 4;
GetValues.ReadBarometer = ReadBarometer = Convert.ToDouble(BitConverter.ToInt32(InBuffer, ptr)) / 100; ptr += 4;
FailSafeDetect = (byte)InBuffer[ptr++];
GetValues.ReadBattVoltage = BattVoltage = Convert.ToDouble(BitConverter.ToInt16(InBuffer, ptr)) / 100; ptr += 2;
GetValues.ReadBattPercentage = BattPercentage = (byte)InBuffer[ptr++];
CommandArmDisarm = (byte)InBuffer[ptr++];
HDOP = Convert.ToDouble(BitConverter.ToInt16(InBuffer, ptr)) / 100; ptr += 2;
GetValues.ReadBattCurrent = Current = (double)BitConverter.ToInt16(InBuffer, ptr) / 1000.0; ptr += 2;
GetValues.ReadBattWatts = Watts = (double)BitConverter.ToInt32(InBuffer, ptr) / 1000.0; ptr += 4;
Declination = Convert.ToDouble(BitConverter.ToInt16(InBuffer, ptr)) / 100; ptr += 2;
FlightMode = (byte)InBuffer[ptr++];
FrameMode = (byte)InBuffer[ptr++];
HomePointOK = (byte)InBuffer[ptr++];
GetValues.ReadTemperature = Temperature = (byte)InBuffer[ptr++];
HomePointDisctance = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
AmperInMah = (double)BitConverter.ToInt16(InBuffer, ptr) / 1000.0; ptr += 2;
GetValues.ReadGroundCourse = CoG = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
Crosstrack = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
GetAccGForce = Convert.ToDouble(BitConverter.ToInt16(InBuffer, ptr)) / 100; ptr += 2;
GetAccCalibFlag = (byte)InBuffer[ptr++];
GetValues.CompassX = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
GetValues.CompassY = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
GetValues.CompassZ = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
break;
case 8:
ptr = 0;
FrameGuard = (byte)InBuffer[ptr++];
PPMGuard = (byte)InBuffer[ptr++];
GimbalGuard = (byte)InBuffer[ptr++];
ParachuteGuard = (byte)InBuffer[ptr++];
OptFlowGuard = (byte)InBuffer[ptr++];
SonarGuard = (byte)InBuffer[ptr++];
Uart1Guard = (byte)InBuffer[ptr++];
CompassRotGuard = (byte)InBuffer[ptr++];
RthAltitudeGuard = (byte)InBuffer[ptr++];
AcroGuard = (byte)InBuffer[ptr++];
AltHoldGuard = (byte)InBuffer[ptr++];
GPSHoldGuard = (byte)InBuffer[ptr++];
SimpleDataGuard = (byte)InBuffer[ptr++];
RTHGuard = (byte)InBuffer[ptr++];
SportGuard = (byte)InBuffer[ptr++];
AutoFlipGuard = (byte)InBuffer[ptr++];
AutoGuard = (byte)InBuffer[ptr++];
ArmDisarmGuard = (byte)InBuffer[ptr++];
AutoLandGuard = (byte)InBuffer[ptr++];
SafeBtnGuard = (byte)InBuffer[ptr++];
GetValues.AirSpeedEnabled = AirSpeedGuard = (byte)InBuffer[ptr++];
AccRollAdjustGuard = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
AccPitchAdjustGuard = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
AccYawAdjustGuard = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
break;
case 9:
ptr = 0;
TPAFactor = (byte)InBuffer[ptr++];
BreakPoint = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
GyroLPF = (byte)InBuffer[ptr++];
DerivativeLPF = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
RCSmooth = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
KalmanState = (byte)InBuffer[ptr++];
BiAccLPF = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
BiGyroLPF = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
BiAccNotch = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
BiGyroNotch = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
CompSpeed = (byte)InBuffer[ptr++];
NumericConvert[0] = (byte)InBuffer[ptr++];
NumericConvert[1] = (byte)InBuffer[ptr++];
NumericConvert[2] = (byte)InBuffer[ptr++];
NumericConvert[3] = (byte)InBuffer[ptr++];
NumericConvert[4] = (byte)InBuffer[ptr++];
NumericConvert[5] = (byte)InBuffer[ptr++];
NumericConvert[6] = (byte)InBuffer[ptr++];
NumericConvert[7] = (byte)InBuffer[ptr++];
NumericConvert[8] = (byte)InBuffer[ptr++];
NumericConvert[9] = (byte)InBuffer[ptr++];
NumericConvert[10] = (byte)InBuffer[ptr++];
NumericConvert[11] = (byte)InBuffer[ptr++];
ServosLPF = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
NumericConvert[12] = (byte)InBuffer[ptr++];
NumericConvert[13] = (byte)InBuffer[ptr++];
NumericConvert[14] = (byte)InBuffer[ptr++];
NumericConvert[15] = (byte)InBuffer[ptr++];
NumericConvert[16] = (byte)InBuffer[ptr++];
NumericConvert[17] = (byte)InBuffer[ptr++];
NumericConvert[18] = (byte)InBuffer[ptr++];
GetValues.BankAngleRollValue = NumericConvert[19] = (byte)InBuffer[ptr++];
NumericConvert[20] = (byte)InBuffer[ptr++];
NumericConvert[21] = (byte)InBuffer[ptr++];
NumericConvert[22] = (byte)InBuffer[ptr++];
NumericConvert[23] = (byte)InBuffer[ptr++];
break;
case 10:
ptr = 0;
ThrottleActualData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
YawActualData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
PitchActualData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
RollActualData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
Aux1ActualData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
Aux2ActualData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
Aux3ActualData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
Aux4ActualData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
Aux5ActualData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
Aux6ActualData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
Aux7ActualData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
Aux8ActualData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
ThrottleAttitudeData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
YawAttitudeData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
PitchAttitudeData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;
RollAttitudeData = BitConverter.ToInt16(InBuffer, ptr); ptr += 2;