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frmMain.vb
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Public Class frmMain
Friend lngMagCalibaration As String = "Mag calibration" & vbCrLf & "is" & vbCrLf & "performed"
Friend lngRebooting As String = "Rebooting"
Private Sub frmMain_FormClosing(sender As Object, e As FormClosingEventArgs) Handles Me.FormClosing
disconnectCOM()
End Sub
Private Sub me_Load(sender As Object, e As EventArgs) Handles MyBase.Load
Me.Text = "Baseflight GUI - Version " & Application.ProductVersion
'tabMain.TabPages.Remove(tpGFWUpdate)
'Me.trbRCExpo.ForeColor = Color.FromArgb(64, 64, 64)
'Me.trbRCRate.ForeColor = Color.FromArgb(64, 64, 64)
'Me.trbTMID.ForeColor = Color.FromArgb(64, 64, 64)
'Me.trbTEXPO.ForeColor = Color.FromArgb(64, 64, 64)
readGUISettings()
initCOMPorts()
initRealtime()
initTPMap()
Me.chkFWShowOutput.Checked = ini.ReadBoolean("GUI", "FirmwareShowOutput", False)
Me.MainMap.Zoom = CDbl(iMapZoom)
Me.tb_mapzoom.Value = iMapZoom
versionCheck()
setButtons(False)
inBuf = New Byte(299) {}
gpsBuffer = New Byte(299) {}
readDTOnlineHelp()
readToolTip()
Me.chk_acc_roll.Checked = ini.ReadBoolean("GUI", "acc_roll", True)
Me.chk_acc_pitch.Checked = ini.ReadBoolean("GUI", "acc_pitch", True)
Me.chk_acc_z.Checked = ini.ReadBoolean("GUI", "acc_z", True)
Me.chk_gyro_roll.Checked = ini.ReadBoolean("GUI", "gyro_roll", True)
Me.chk_gyro_pitch.Checked = ini.ReadBoolean("GUI", "gyro_pitch", True)
Me.chk_gyro_yaw.Checked = ini.ReadBoolean("GUI", "gyro_yaw", True)
Me.chk_mag_roll.Checked = ini.ReadBoolean("GUI", "mag_roll", False)
Me.chk_mag_pitch.Checked = ini.ReadBoolean("GUI", "mag_pitch", False)
Me.chk_mag_yaw.Checked = ini.ReadBoolean("GUI", "mag_yaw", False)
Me.chk_alt.Checked = ini.ReadBoolean("GUI", "alt", False)
Me.chk_head.Checked = ini.ReadBoolean("GUI", "head", False)
Me.chk_dbg1.Checked = ini.ReadBoolean("GUI", "dbg1", False)
Me.chk_dbg2.Checked = ini.ReadBoolean("GUI", "dbg2", False)
Me.chk_dbg3.Checked = ini.ReadBoolean("GUI", "dbg3", False)
Me.chk_dbg4.Checked = ini.ReadBoolean("GUI", "dbg4", False)
Me.lblParameterWarning.Visible = False
Me.lblRealtimeWarning.Visible = False
Me.lblMapWarning.Visible = False
Me.lblRCWarning.Visible = False
Me.lblParameterWarning.BringToFront()
Me.lblRealtimeWarning.BringToFront()
Me.lblMapWarning.BringToFront()
Me.lblRCWarning.BringToFront()
mw_gui = New baseflight_data_gui(iPidItems, iCheckBoxItems, iSoftwareVersion)
isStartup = False
End Sub
Private Sub setTAB()
'timerRealtime.Stop() 'don't stop because of background logging
If isConnected = False Then
Me.cmdLoadSettings.Enabled = False
Me.cmdSaveSettings.Enabled = False
End If
isRealtime = False
Me.cmdLoadSettings.Text = lngLoadSetting
Me.cmdSaveSettings.Text = lngSaveSetting
If isCLI = True And Not tabMain.SelectedTab Is tpCLI Then
endcli()
End If
If isPASSGPS = True And Not tabMain.SelectedTab Is tpPassGPS Then
endPassGPS()
End If
Me.MinimizeBox = True
If tabMain.SelectedTab Is tpParameter Then
'timerRealtime.Stop()
If isConnected = True Then
endcli()
readParameterSettings()
updateParameter()
End If
ElseIf tabMain.SelectedTab Is tpRCSetting Then
LastReceived = Now
endcli()
If isConnected = True Then
Me.timerRealtime.Interval = iRefreshIntervals(Me.cmbRefreshRate.SelectedIndex)
isRealtime = True
timerRealtime.Start()
End If
ElseIf tabMain.SelectedTab Is tpRealtime Then
LastReceived = Now
endcli()
If isConnected = True Then
serialPort.ReadExisting()
Me.timerRealtime.Interval = iRefreshIntervals(Me.cmbRefreshRate.SelectedIndex)
isRealtime = True
timerRealtime.Start()
End If
ElseIf tabMain.SelectedTab Is tpMap Then
LastReceived = Now
endcli()
Me.cmdLoadSettings.Text = lngLoadWayPoints
Me.cmdSaveSettings.Text = lngSaveWayPoints
Me.cmdLoadSettings.Enabled = True
Me.cmdSaveSettings.Enabled = True
'Me.MinimizeBox = False
Me.timerRealtime.Interval = 100 'GPS only every 0.5 sec. iRefreshIntervals(Me.cmbRefreshRate.SelectedIndex)
If isConnected = True Then
isRealtime = True
timerRealtime.Start()
End If
ElseIf tabMain.SelectedTab Is tpPassGPS Then
startPassGPS()
timerRealtime.Start()
ElseIf tabMain.SelectedTab Is tpCLI Then
isCLI = True
timerRealtime.Stop() 'Stop logging! otherwise CLI didn't work!
startCLI()
ElseIf tabMain.SelectedTab Is tpGFWUpdate Then
timerRealtime.Stop() 'Stop logging! otherwise Firmware update didn't work!
endcli()
initFirmwareUpdate()
End If
End Sub
Delegate Sub ShowRDataCallback(ByVal Text As String)
Private Sub DataReceivedHandler(sender As Object, e As IO.Ports.SerialDataReceivedEventArgs)
If isClosing = True Then Exit Sub
LastReceived = Now
If isRealtime = True Then
readCOM()
ElseIf isCLI = True Then
Try
System.Threading.Thread.Sleep(200)
Do While serialPort.BytesToRead > 0
cliBuffer = serialPort.ReadExisting()
Dim MyDelegate As New ShowRDataCallback(AddressOf ShowRData)
Me.txtCLIResult.Invoke(MyDelegate, cliBuffer)
Loop
If cliBuffer.ToLower.Contains("rebooting") Then
isCLI = False
Dim MyDelegateTab As New ShowRDataCallback(AddressOf setDelegateTab)
Me.tabMain.Invoke(MyDelegateTab, "")
End If
Catch ex As Exception
lostConnection()
End Try
ElseIf isPASSGPS = True Then
ReadGPS()
End If
End Sub
Private Sub ShowRData(ByVal Text As String)
Me.txtCLIResult.AppendText(filterIncomingBuffer(Text))
Me.txtCLIResult.ScrollToCaret()
End Sub
Private Sub setDelegateTab(ByVal Text As String)
lblParameterWarning.Text = lngRebooting
lblParameterWarning.Visible = True
lblMapWarning.Text = lngRebooting
lblMapWarning.Visible = True
lblRealtimeWarning.Text = lngRebooting
lblRealtimeWarning.Visible = True
lblRCWarning.Text = lngRebooting
lblRCWarning.Visible = True
If IsNothing(selectedTab) = True Then
selectedTab = tpParameter
End If
Me.tabMain.SelectedTab = selectedTab
Timeout = RebootTimeout
fcCount = 3
Application.DoEvents()
End Sub
Private Sub cmdRefreshCOM_Click(sender As Object, e As EventArgs) Handles cmdRefreshCOM.Click
initCOMPorts()
End Sub
Private Sub cmbCOMSpeed_SelectedIndexChanged(sender As Object, e As EventArgs) Handles cmbCOMSpeed.SelectedIndexChanged
ini.Write("COM", "DefaultSerialSpeed", Me.cmbCOMSpeed.SelectedItem)
End Sub
Private Sub cmbCOMPort_SelectedIndexChanged(sender As Object, e As EventArgs) Handles cmbCOMPort.SelectedIndexChanged
If isStartup = True Then Exit Sub
Try
Dim port As String = Me.cmbCOMPort.ComboBox.SelectedValue
If Me.cmbCOMPort.ComboBox.SelectedItem("Description").ToString.ToLower.Contains("bluetooth") Then
isBluetooth = True
Else
isBluetooth = False
End If
ini.Write("COM", "DefaultPort", port)
Catch ex As Exception
End Try
End Sub
Private Sub cmdConnect_Click(sender As Object, e As EventArgs) Handles cmdConnect.Click
AddHandler serialPort.DataReceived, AddressOf DataReceivedHandler
Me.lblRealtimeWarning.Visible = False
Me.lblMapWarning.Visible = False
Me.lblRCWarning.Visible = False
Me.lblParameterWarning.Visible = False
If serialPort.IsOpen = True Then
If isCLI = True Then
serialPort.Write("exit" & vbCrLf)
serialPort.ReadExisting()
isCLI = False
End If
disconnectCOM()
setButtons(False)
Else
If Not tabMain.SelectedTab Is Me.tpPassGPS Then
Me.tabMain.SelectedTab = Me.tpParameter
serial_error_count = 0
serial_packet_count = 0
setButtons(True)
If connectCOM() = True Then
readBaseflightBasics()
'readSettings()
setTAB()
Else
setButtons(False)
End If
Else
isPASSGPS = True
serialPort.PortName = Me.cmbCOMPort.ComboBox.SelectedValue
serialPort.BaudRate = CInt(Me.cmbCOMSpeed.Text)
serialPort.Open()
Me.timerRealtime.Interval = iRefreshIntervals(Me.cmbRefreshRate.SelectedIndex)
timerRealtime.Enabled = True
timerRealtime.Start()
Me.cmdConnect.Text = "PassGPS"
Me.cmdConnect.Image = Global.BaseflightGUI.My.Resources.Resources.gps_green_x32
End If
End If
Me.lblVPacketReceived.Text = serial_packet_count
Me.lblVPacketError.Text = serial_error_count
End Sub
Private Sub cmdReadSettings_Click(sender As Object, e As EventArgs) Handles cmdReadSettings.Click
readSettings()
End Sub
Private Sub cmdWriteSettings_Click(sender As Object, e As EventArgs) Handles cmdWriteSettings.Click
writeSettings()
End Sub
Private Sub cmdResetSettings_Click(sender As Object, e As EventArgs) Handles cmdResetSettings.Click
MSPquery(MSP_RESET_CONF)
System.Threading.Thread.Sleep(1000)
readSettings()
End Sub
Private Sub cmdSaveSettings_Click(sender As Object, e As EventArgs) Handles cmdSaveSettings.Click
If Me.tabMain.SelectedTab Is Me.tpMap Then
saveWayPointToDisc()
Else
saveParamterToDisk()
End If
End Sub
Private Sub saveParamterToDisk()
fillGUI2Parameter()
'Move values from GUI to the settings object
Dim sfdSaveParameters As New SaveFileDialog()
sfdSaveParameters.Filter = "Baseflight Settings File|*.bfs"
sfdSaveParameters.Title = "Save parameters to file"
sfdSaveParameters.InitialDirectory = sConfigFolder
Dim invalidChars As String = System.Text.RegularExpressions.Regex.Escape(New String(IO.Path.GetInvalidFileNameChars()))
Dim invalidReStr As String = String.Format("[{0} ]+", invalidChars)
Dim fn As String = System.Text.RegularExpressions.Regex.Replace(txtComment.Text, invalidReStr, "_")
fn = fn & [String].Format("{0:yymmdd-hhmm}", DateTime.Now)
sfdSaveParameters.FileName = fn
sfdSaveParameters.ShowDialog()
If sfdSaveParameters.FileName <> "" Then
mw_params.save_to_xml(sfdSaveParameters.FileName)
sConfigFolder = System.IO.Path.GetDirectoryName(sfdSaveParameters.FileName)
ini.Write("GUI", "ConfigFolder", sConfigFolder)
End If
End Sub
Private Sub cmdLoadSettings_Click(sender As Object, e As EventArgs) Handles cmdLoadSettings.Click
If Me.tabMain.SelectedTab Is Me.tpMap Then
loadWayPointFromDisc()
Else
loadParamterFromDisk()
End If
End Sub
Private Sub loadParamterFromDisk()
Dim ofdLoadParameters As New OpenFileDialog()
ofdLoadParameters.Filter = "Baseflight Settings File|*.bfs"
ofdLoadParameters.Title = "Load parameters from file"
ofdLoadParameters.InitialDirectory = sConfigFolder
If ofdLoadParameters.ShowDialog() = System.Windows.Forms.DialogResult.OK Then
'we have file to open
If mw_params.read_from_xml(ofdLoadParameters.FileName) Then
updateParameter() 'fillParameter2GUI()
sConfigFolder = System.IO.Path.GetDirectoryName(ofdLoadParameters.FileName)
ini.Write("GUI", "ConfigFolder", sConfigFolder)
End If
End If
End Sub
Private Sub cmdUpdateOnlineHelp_Click(sender As Object, e As EventArgs) Handles cmdUpdateOnlineHelp.Click
DownloadHelpXML()
End Sub
Dim isClosing As Boolean = False
Private Sub cmdExit_Click(sender As Object, e As EventArgs) Handles cmdExit.Click
isClosing = True
ini.Write("COM", "ComTimeout", comTimeOut)
ini.Write("COM", "RebootTimeout", RebootTimeout)
ini.Write("COM", "USBTimeout", USBTimeout)
ini.Write("COM", "BluetoothTimeout", BluetoothTimeout)
Try
If isCLI = True Then
endcli()
End If
If serialPort.IsOpen = True Then
serialPort.Close()
End If
Catch ex As Exception
End Try
Application.Exit()
End Sub
Public Sub updateStatus()
Me.lblVPacketReceived.Text = serial_packet_count
Me.lblVPacketError.Text = serial_error_count
Application.DoEvents()
End Sub
Private Sub readSettings()
timerRealtime.Stop()
isRealtime = False
Timeout = 120
fcCount = 5
System.Threading.Thread.Sleep(200)
serialPort.ReadExisting()
If tabMain.SelectedTab Is tpMap Then
readWayPointSettings()
Else
readParameterSettings()
End If
LastReceived = Now
setTAB()
End Sub
Private Sub writeSettings()
timerRealtime.Stop()
isRealtime = False
Timeout = 120
fcCount = 5
System.Threading.Thread.Sleep(200)
serialPort.ReadExisting()
If tabMain.SelectedTab Is tpMap Then
writeWayPointSettings()
Else
writeParameterSettings()
End If
LastReceived = Now
setTAB()
End Sub
Friend lngMsgboxStopLogging As String = "Please stop logging first!"
Private Sub tabMain_Selecting(sender As Object, e As TabControlCancelEventArgs) Handles tabMain.Selecting
If bKMLLogRunning Then
If tabMain.SelectedTab Is tpCLI Or tabMain.SelectedTab Is tpGFWUpdate Then
e.Cancel = True
MessageBox.Show(Me, lngMsgboxStopLogging, "", MessageBoxButtons.OK, MessageBoxIcon.Error)
End If
End If
End Sub
Private Sub tabMain_SelectedIndexChanged(sender As Object, e As EventArgs) Handles tabMain.SelectedIndexChanged
If Not Me.tabMain.SelectedTab Is Me.tpCLI Then
selectedTab = Me.tabMain.SelectedTab
End If
setTAB()
End Sub
Friend lngSaveSetting As String = "Save Setting"
Friend lngLoadSetting As String = "Load Setting"
Friend lngSaveWayPoints As String = "Save WayPoints"
Friend lngLoadWayPoints As String = "Load WayPoints"
Dim selectedTab As System.Windows.Forms.TabPage = Nothing
Public Sub setButtons(ByVal value As Boolean)
cmbCOMPort.Enabled = Not value
cmbCOMSpeed.Enabled = Not value
cmdRefreshCOM.Enabled = Not value
cmdReadSettings.Enabled = value
cmdResetSettings.Enabled = value
cmdWriteSettings.Enabled = value
cmdSaveSettings.Enabled = value
cmdLoadSettings.Enabled = value
cmdCalibrateMag.Enabled = value
cmdCalibrateAcc.Enabled = value
cmdCLIDefaults.Enabled = value
cmdCLIDump.Enabled = value
cmdCLIFeature.Enabled = value
cmdCLIHelp.Enabled = value
cmdCLILoad.Enabled = value
cmdCLIMap.Enabled = value
cmdCLISave.Enabled = value
cmdCLISend.Enabled = value
cmdCLIDump.Enabled = value
cmdCLIMixer.Enabled = value
cmdCLISet.Enabled = value
cmdCLIStatus.Enabled = value
cmdCLIVersion.Enabled = value
End Sub
'Private Sub updateGUI()
' If tabMain.SelectedTab Is tpParameter Then
' fillParameter2GUI()
' ElseIf tabMain.SelectedTab Is tpRCSetting Then
' fillParameter2GUI()
' ElseIf tabMain.SelectedTab Is tpRealtime Then
' updateTPRealtime()
' ElseIf tabMain.SelectedTab Is tpCLI Then
' ElseIf tabMain.SelectedTab Is tpGFWUpdate Then
' ElseIf tabMain.SelectedTab Is tpMap Then
' End If
'End Sub
#Region "tpParameter"
Private Sub numRoll_P_ValueChanged(sender As Object, e As EventArgs) Handles numRoll_P.ValueChanged, numRoll_I.ValueChanged, numRoll_D.ValueChanged, _
numPitch_P.ValueChanged, numPitch_I.ValueChanged, numPitch_D.ValueChanged, _
numYaw_P.ValueChanged, numYaw_I.ValueChanged, numYaw_D.ValueChanged, _
numAltitude_P.ValueChanged, numAltitude_I.ValueChanged, numAltitude_D.ValueChanged, _
numPosHold_P.ValueChanged, numPosHold_I.ValueChanged, _
numPosHoldRate_P.ValueChanged, numPosHoldRate_I.ValueChanged, numPosHoldRate_D.ValueChanged, _
numNavigationRate_P.ValueChanged, numNavigationRate_I.ValueChanged, numNavigationRate_D.ValueChanged, _
numLevel_P.ValueChanged, numLevel_I.ValueChanged, numLevel_D.ValueChanged, _
numMag_P.ValueChanged, _
numVelocity_P.ValueChanged, numVelocity_I.ValueChanged, numVelocity_D.ValueChanged, _
numRATE_rp.ValueChanged, _
numRATE_yaw.ValueChanged, _
numRATE_tpid.ValueChanged, _
numPowerMeterAlarm.ValueChanged
valueChange(sender, e)
End Sub
Private Sub tbrRCExpo_Scroll(sender As Object, e As EventArgs) Handles trbRCExpo.Scroll
RCExpo_Scroll()
End Sub
Private Sub trbRCRate_Scroll(sender As Object, e As EventArgs) Handles trbRCRate.Scroll
RCRate_Scroll()
End Sub
Private Sub numRCExpo_ValueChanged(sender As Object, e As EventArgs) Handles numRCExpo.ValueChanged
RCExpo_ValueChanged()
End Sub
Private Sub numRCRate_ValueChanged(sender As Object, e As EventArgs) Handles numRCRate.ValueChanged
RCRate_ValueChanged()
End Sub
Private Sub trbTMID_Scroll(sender As Object, e As EventArgs) Handles trbTMID.Scroll
TMID_Scroll()
End Sub
Private Sub trbTEXPO_Scroll(sender As Object, e As EventArgs) Handles trbTEXPO.Scroll
TEXPO_Scroll()
End Sub
Private Sub numTMID_ValueChanged(sender As Object, e As EventArgs) Handles numTMID.ValueChanged
TMID_ValueChanged()
End Sub
Private Sub numTEXPO_ValueChanged(sender As Object, e As EventArgs) Handles numTEXPO.ValueChanged
TEXPO_ValueChanged()
End Sub
Public Sub initRCChannel()
Dim auxChannel As Integer = 1
Dim visible As Boolean = True
lblRC_AUX1.Visible = visible
lblVRC_AUX1.Visible = visible
pgbRC_AUX1.Visible = visible
auxChannel += 1
If auxChannel > AUX_CHANNELS Then visible = False
lblRC_AUX2.Visible = visible
lblVRC_AUX2.Visible = visible
pgbRC_AUX2.Visible = visible
auxChannel += 1
If auxChannel > AUX_CHANNELS Then visible = False
lblRC_AUX3.Visible = visible
lblVRC_AUX3.Visible = visible
pgbRC_AUX3.Visible = visible
auxChannel += 1
If auxChannel > AUX_CHANNELS Then visible = False
lblRC_AUX4.Visible = visible
lblVRC_AUX4.Visible = visible
pgbRC_AUX4.Visible = visible
auxChannel += 1
If auxChannel > AUX_CHANNELS Then visible = False
lblRC_AUX5.Visible = visible
lblVRC_AUX5.Visible = visible
pgbRC_AUX5.Visible = visible
auxChannel += 1
If auxChannel > AUX_CHANNELS Then visible = False
lblRC_AUX6.Visible = visible
lblVRC_AUX6.Visible = visible
pgbRC_AUX6.Visible = visible
auxChannel += 1
If auxChannel > AUX_CHANNELS Then visible = False
lblRC_AUX7.Visible = visible
lblVRC_AUX7.Visible = visible
pgbRC_AUX7.Visible = visible
auxChannel += 1
If auxChannel > AUX_CHANNELS Then visible = False
lblRC_AUX8.Visible = visible
lblVRC_AUX8.Visible = visible
pgbRC_AUX8.Visible = visible
End Sub
Public Sub updateRCChannels()
lblVRC_THR.Text = mw_gui.rcThrottle
pgbRC_THR.Value = mw_gui.rcThrottle
lblVRC_PITCH.Text = mw_gui.rcPitch
pgbRC_PITCH.Value = mw_gui.rcPitch
lblVRC_ROLL.Text = mw_gui.rcRoll
pgbRC_ROLL.Value = mw_gui.rcRoll
lblVRC_YAW.Text = mw_gui.rcYaw
pgbRC_YAW.Value = mw_gui.rcYaw
Dim auxChannel As Integer = 0
lblVRC_AUX1.Text = mw_gui.rcAUX(0)
pgbRC_AUX1.Value = mw_gui.rcAUX(0)
auxChannel += 1
If auxChannel > AUX_CHANNELS Then Exit Sub
lblVRC_AUX2.Text = mw_gui.rcAUX(1)
pgbRC_AUX2.Value = mw_gui.rcAUX(1)
auxChannel += 1
If auxChannel > AUX_CHANNELS Then Exit Sub
lblVRC_AUX3.Text = mw_gui.rcAUX(2)
pgbRC_AUX3.Value = mw_gui.rcAUX(2)
auxChannel += 1
If auxChannel > AUX_CHANNELS Then Exit Sub
lblVRC_AUX4.Text = mw_gui.rcAUX(3)
pgbRC_AUX4.Value = mw_gui.rcAUX(3)
auxChannel += 1
If auxChannel > AUX_CHANNELS Then Exit Sub
lblVRC_AUX5.Text = mw_gui.rcAUX(4)
pgbRC_AUX5.Value = mw_gui.rcAUX(4)
auxChannel += 1
If auxChannel > AUX_CHANNELS Then Exit Sub
lblVRC_AUX6.Text = mw_gui.rcAUX(5)
pgbRC_AUX6.Value = mw_gui.rcAUX(5)
auxChannel += 1
If auxChannel > AUX_CHANNELS Then Exit Sub
lblVRC_AUX7.Text = mw_gui.rcAUX(6)
pgbRC_AUX7.Value = mw_gui.rcAUX(6)
auxChannel += 1
If auxChannel > AUX_CHANNELS Then Exit Sub
lblVRC_AUX8.Text = mw_gui.rcAUX(7)
pgbRC_AUX8.Value = mw_gui.rcAUX(7)
End Sub
#End Region
Private Sub cmbRefreshRate_SelectedIndexChanged(sender As Object, e As EventArgs) Handles cmbRefreshRate.SelectedIndexChanged
If isStartup = True Then Exit Sub
Me.timerRealtime.Interval = iRefreshIntervals(Me.cmbRefreshRate.SelectedIndex)
ini.Write("GUI", "DefaultRate", Me.cmbRefreshRate.SelectedItem)
End Sub
Private Sub timerRealtime_Tick(sender As Object, e As EventArgs) Handles timerRealtime.Tick
If Me.WindowState <> FormWindowState.Minimized Then
If comError = False And isConnected = True Or isPASSGPS = True Then
If isPASSGPS = False Then
If Timeout < 120 Then
Me.lblRealtimeWarning.Visible = False
Me.lblMapWarning.Visible = False
Me.lblRCWarning.Visible = False
Me.lblParameterWarning.Visible = False
End If
If isRealtime = True Then
If DateDiff(DateInterval.Second, LastReceived, Now) > Timeout Then
timeoutError()
End If
End If
If tabMain.SelectedTab Is tpParameter Then
If bKMLLogRunning Then askForMapData()
ElseIf tabMain.SelectedTab Is tpRCSetting Then
MSPquery(MSP_STATUS)
Me.lblV_cycletime.Text = [String].Format("{0:0000} µs", mw_gui.cycleTime)
MSPquery(MSP_RC)
'readCOM()
updateRCChannels()
updateRCControlSettings()
If bKMLLogRunning Then
askForMapData()
updateTPMap()
End If
ElseIf tabMain.SelectedTab Is tpRealtime Then
askForRealtimeValues()
updateTPRealtime()
If bKMLLogRunning Then
askForMapData()
updateTPMap()
End If
ElseIf tabMain.SelectedTab Is tpMap Then
askForMapData()
updateTPMap()
End If
Me.lblVPacketReceived.Text = serial_packet_count
Me.lblVPacketError.Text = serial_error_count
Else
updatePassGPS()
End If
Else
timerRealtime.Stop()
End If
Application.DoEvents()
End If
End Sub
#Region "CLI"
Private Sub cmdClearScreen_Click(sender As Object, e As EventArgs) Handles cmdCLIClearScreen.Click
Me.txtCLIResult.Text = ""
End Sub
Private Sub cmdHelp_Click(sender As Object, e As EventArgs) Handles cmdCLIHelp.Click
serialPort.Write("Help" & vbCr & vbLf)
End Sub
Private Sub cmdVersion_Click(sender As Object, e As EventArgs) Handles cmdCLIVersion.Click
serialPort.Write("Version" & vbCr & vbLf)
End Sub
Private Sub cmdStatus_Click(sender As Object, e As EventArgs) Handles cmdCLIStatus.Click
serialPort.Write("status" & vbCr & vbLf)
End Sub
Private Sub cmdDefaults_Click(sender As Object, e As EventArgs) Handles cmdCLIDefaults.Click
serialPort.Write("Defaults" & vbCr & vbLf)
End Sub
Private Sub cmdMap_Click(sender As Object, e As EventArgs) Handles cmdCLIMap.Click
If frmMap.ShowDialog = Windows.Forms.DialogResult.OK Then
End If
'Static lastclick As Double = 0
'Dim ThisClick As Double = DateAndTime.Timer
'If ThisClick > lastclick + 0.5 Then
' Me.lblCLIHelp.Text = "Help: T=Throttle A=Aileron E=Elevator R=Ruder / Example: MAP TAER1234"
' Me.txtCLICommand.AppendText("Map")
'Else
' Me.txtCLICommand.Text = ""
' serialPort.Write("Map" & vbCr & vbLf)
'End If
'lastclick = DateAndTime.Timer
End Sub
Private Sub cmdMixer_Click(sender As Object, e As EventArgs) Handles cmdCLIMixer.Click
If frmMixer.ShowDialog = Windows.Forms.DialogResult.OK Then
End If
End Sub
Private Sub cmdFeature_Click(sender As Object, e As EventArgs) Handles cmdCLIFeature.Click
If "" = "" Then
If frmFeature.ShowDialog = Windows.Forms.DialogResult.OK Then
End If
Else
Static lastclick As Double = 0
Dim ThisClick As Double = DateAndTime.Timer
If ThisClick > lastclick + 0.5 Then
Me.txtCLICommand.AppendText("Feature")
setCLICmdEnterCommand()
Else
Me.txtCLICommand.Text = ""
serialPort.Write("Feature" & vbCr & vbLf)
End If
lastclick = DateAndTime.Timer
End If
End Sub
Private Sub cmdSet_Click(sender As Object, e As EventArgs) Handles cmdCLISet.Click
If "" = "" Then
If frmSet.ShowDialog = Windows.Forms.DialogResult.OK Then
End If
Else
Static lastclick As Double = 0
Dim ThisClick As Double = DateAndTime.Timer
If ThisClick > lastclick + 0.5 Then
Me.txtCLICommand.AppendText("Set")
setCLICmdEnterCommand()
Else
Me.txtCLICommand.Text = ""
serialPort.Write("Set" & vbCr & vbLf)
End If
lastclick = DateAndTime.Timer
End If
End Sub
Private Sub cmdList_Click(sender As Object, e As EventArgs)
Me.txtCLICommand.AppendText(" LIST")
CLISendComamand()
End Sub
Friend lngMsgboxSaveDump As String = "Do you want to save the DUMP to disk?"
Friend lngMsgboxQuestion As String = "Question"
Private Sub cmdDump_Click(sender As Object, e As EventArgs) Handles cmdCLIDump.Click
If MessageBox.Show(Me, lngMsgboxSaveDump, lngMsgboxQuestion, MessageBoxButtons.YesNo, MessageBoxIcon.Question) = Windows.Forms.DialogResult.Yes Then
Dim fd As New SaveFileDialog
fd.InitialDirectory = sConfigFolder
fd.FileName = Now.ToString("yyyyMMdd-HHmm") & ".txt"
fd.DefaultExt = ".txt"
fd.Filter = "txt files (*.txt)|*.txt|All files (*.*)|*.*"
If fd.ShowDialog = Windows.Forms.DialogResult.OK Then
isCLI = False
serialPort.Write("DUMP" & vbCr & vbLf)
System.Threading.Thread.Sleep(500)
Dim dump() As String = serialPort.ReadExisting().Split(vbCrLf)
Dim lineNo As Integer = 0
For Each line As String In dump
lineNo += 1
If lineNo > 2 Then
If line.Trim.Length > 0 Then
If line.Trim.Substring(0, 1) <> "#" Then
System.IO.File.AppendAllText(fd.FileName, line)
End If
End If
End If
Next
isCLI = True
End If
Else
Me.txtCLICommand.Text = "DUMP"
CLISendComamand()
End If
End Sub
Private Sub cmdLoad_Click(sender As Object, e As EventArgs) Handles cmdCLILoad.Click
loadCLIFile()
End Sub
Private Sub cmdSave_Click(sender As Object, e As EventArgs) Handles cmdCLISave.Click
Me.txtCLICommand.Text = "SAVE"
CLISendComamand()
End Sub
Private Sub cmdCLISend_Click(sender As Object, e As EventArgs) Handles cmdCLISend.Click
CLISendComamand()
End Sub
'Private Sub txtCLICommand_KeyDown(sender As Object, e As KeyEventArgs) Handles txtCLICommand.KeyDown
' If e.KeyCode = Keys.Enter Then
' CLISendComamand()
' ElseIf e.KeyCode = (Keys.Control Or Keys.E) Then
' CommandHistory()
' End If
'End Sub
Private Sub txtCLICommand_KeyPress(sender As Object, e As KeyPressEventArgs) Handles txtCLICommand.KeyPress
If isConnected = True Then
If e.KeyChar = Convert.ToChar(13) Then
CLISendComamand()
ElseIf e.KeyChar = Convert.ToChar(5) Then
CommandHistory()
End If
End If
End Sub
#End Region
#Region "Realtime"
Private Sub chk_acc_roll_CheckedChanged(sender As Object, e As EventArgs) Handles chk_acc_roll.CheckedChanged
ini.Write("GUI", "acc_roll", Me.chk_acc_roll.Checked)
End Sub
Private Sub chk_acc_pitch_CheckedChanged(sender As Object, e As EventArgs) Handles chk_acc_pitch.CheckedChanged
ini.Write("GUI", "acc_pitch", Me.chk_acc_pitch.Checked)
End Sub
Private Sub chk_acc_z_CheckedChanged(sender As Object, e As EventArgs) Handles chk_acc_z.CheckedChanged
ini.Write("GUI", "acc_z", Me.chk_acc_z.Checked)
End Sub
Private Sub chk_gyro_roll_CheckedChanged(sender As Object, e As EventArgs) Handles chk_gyro_roll.CheckedChanged
ini.Write("GUI", "gyro_roll", Me.chk_gyro_roll.Checked)
End Sub
Private Sub chk_gyro_pitch_CheckedChanged(sender As Object, e As EventArgs) Handles chk_gyro_pitch.CheckedChanged
ini.Write("GUI", "gyro_pitch", Me.chk_gyro_pitch.Checked)
End Sub
Private Sub chk_gyro_yaw_CheckedChanged(sender As Object, e As EventArgs) Handles chk_gyro_yaw.CheckedChanged
ini.Write("GUI", "gyro_yaw", Me.chk_gyro_yaw.Checked)
End Sub
Private Sub chk_mag_roll_CheckedChanged(sender As Object, e As EventArgs) Handles chk_mag_roll.CheckedChanged
ini.Write("GUI", "mag_roll", Me.chk_mag_roll.Checked)
End Sub
Private Sub chk_mag_pitch_CheckedChanged(sender As Object, e As EventArgs) Handles chk_mag_pitch.CheckedChanged
ini.Write("GUI", "mag_pitch", Me.chk_mag_pitch.Checked)
End Sub
Private Sub chk_mag_yaw_CheckedChanged(sender As Object, e As EventArgs) Handles chk_mag_yaw.CheckedChanged
ini.Write("GUI", "mag_yaw", Me.chk_mag_yaw.Checked)
End Sub
Private Sub chk_alt_CheckedChanged(sender As Object, e As EventArgs) Handles chk_alt.CheckedChanged
ini.Write("GUI", "alt", Me.chk_alt.Checked)
End Sub
Private Sub chk_head_CheckedChanged(sender As Object, e As EventArgs) Handles chk_head.CheckedChanged
ini.Write("GUI", "head", Me.chk_head.Checked)
End Sub
Private Sub chk_dbg1_CheckedChanged(sender As Object, e As EventArgs) Handles chk_dbg1.CheckedChanged
ini.Write("GUI", "dbg1", Me.chk_dbg1.Checked)
End Sub
Private Sub chk_dbg2_CheckedChanged(sender As Object, e As EventArgs) Handles chk_dbg2.CheckedChanged
ini.Write("GUI", "dbg2", Me.chk_dbg2.Checked)
End Sub
Private Sub chk_dbg3_CheckedChanged(sender As Object, e As EventArgs) Handles chk_dbg3.CheckedChanged
ini.Write("GUI", "dbg3", Me.chk_dbg3.Checked)
End Sub
Private Sub chk_dbg4_CheckedChanged(sender As Object, e As EventArgs) Handles chk_dbg4.CheckedChanged
ini.Write("GUI", "dbg4", Me.chk_dbg4.Checked)
End Sub
Friend lngCalibrateAccelerometerBody As String = "Make sure that your copter is leveled!" & vbCrLf & "Press OK when ready, then keep copter steady for 5 seconds."
Friend lngCalibrateAccelerometerHeader As String = "Calibrating Accelerometer"
Private Sub cmdCalibrateAcc_Click(sender As Object, e As EventArgs) Handles cmdCalibrateAcc.Click
If Not isConnected Then
MessageBox.Show(Me, "You have to connect to the FC first!", "Not connected", MessageBoxButtons.OK, MessageBoxIcon.Error)
Return
End If
If MessageBox.Show(Me, lngCalibrateAccelerometerBody, lngCalibrateAccelerometerHeader, MessageBoxButtons.OKCancel, MessageBoxIcon.Information) = DialogResult.OK Then
MSPquery(MSP_ACC_CALIBRATION)
End If
End Sub
Friend lngCalibrateMagBody As String = "After pressing OK please rotate your copter around all three axes" & vbCrLf & " at least a full 360° turn for each axes. You will have 1 minute to finish"
Friend lngCalibrateMagHeader As String = "Calibrating Magnetometer"
Private Sub cmdCalibrateMag_Click(sender As Object, e As EventArgs) Handles cmdCalibrateMag.Click
If Not isConnected Then
MessageBox.Show(Me, "You have to connect to the FC first!", "Not connected", MessageBoxButtons.OK, MessageBoxIcon.[Error])
Return
End If
If MessageBox.Show(Me, lngCalibrateMagBody, lngCalibrateMagHeader, MessageBoxButtons.OKCancel, MessageBoxIcon.Information) = DialogResult.OK Then
MSPquery(MSP_MAG_CALIBRATION)
Timeout = 120
fcCount = 5
lblRealtimeWarning.Text = lngMagCalibaration
lblRealtimeWarning.Visible = True
End If
End Sub
Friend lngContinue As String = "Continue"
Friend lngPause As String = "Pause"
Private Sub cmdPause_Click(sender As Object, e As EventArgs) Handles cmdPause.Click
If cmdPause.Text = lngPause Then
cmdPause.ForeColor = Color.Red
cmdPause.Text = lngContinue
timerRealtime.Stop()
Else
cmdPause.ForeColor = Color.Black
cmdPause.Text = lngPause
If isConnected Then
timerRealtime.Start()
End If
End If
End Sub
Private Sub ctrlHORIZON_Click(sender As Object, e As EventArgs) Handles ctrlHORIZON.Click
Dim c As Point = System.Windows.Forms.Cursor.Position
Dim p As Point = ctrlHORIZON.PointToClient(c)
ctrlHORIZON.ToggleArtificalHorizonType()
End Sub
Private Sub cmdCheck_all_ACC_Click(sender As Object, e As EventArgs) Handles cmdCheck_all_ACC.Click
Me.chk_acc_pitch.Checked = True
Me.chk_acc_roll.Checked = True
Me.chk_acc_z.Checked = True
End Sub
Private Sub cmdUncheck_all_ACC_Click(sender As Object, e As EventArgs) Handles cmdUncheck_all_ACC.Click
Me.chk_acc_pitch.Checked = False
Me.chk_acc_roll.Checked = False
Me.chk_acc_z.Checked = False
End Sub
Private Sub cmdCheck_all_GYRO_Click(sender As Object, e As EventArgs) Handles cmdCheck_all_GYRO.Click
Me.chk_gyro_pitch.Checked = True
Me.chk_gyro_roll.Checked = True
Me.chk_gyro_yaw.Checked = True
End Sub
Private Sub cmdUncheck_all_GYRO_Click(sender As Object, e As EventArgs) Handles cmdUncheck_all_GYRO.Click
Me.chk_gyro_pitch.Checked = False
Me.chk_gyro_roll.Checked = False
Me.chk_gyro_yaw.Checked = False
End Sub
Private Sub cmdCheck_all_MAG_Click(sender As Object, e As EventArgs) Handles cmdCheck_all_MAG.Click
Me.chk_mag_pitch.Checked = True
Me.chk_mag_roll.Checked = True
Me.chk_mag_yaw.Checked = True
End Sub
Private Sub cmdUncheck_all_MAG_Click(sender As Object, e As EventArgs) Handles cmdUncheck_all_MAG.Click
Me.chk_mag_pitch.Checked = False
Me.chk_mag_roll.Checked = False
Me.chk_mag_yaw.Checked = False
End Sub
Public Sub initRealtimeChannel()
Dim auxChannel As Integer = 1
Dim visible As Boolean = True
lblRT_AUX1.Visible = visible
lblVRT_AUX1.Visible = visible
pgbRT_AUX1.Visible = visible
auxChannel += 1
If auxChannel > AUX_CHANNELS Then visible = False
lblRT_AUX2.Visible = visible
lblVRT_AUX2.Visible = visible
pgbRT_AUX2.Visible = visible
auxChannel += 1
If auxChannel > AUX_CHANNELS Then visible = False
lblRT_AUX3.Visible = visible
lblVRT_AUX3.Visible = visible
pgbRT_AUX3.Visible = visible
auxChannel += 1
If auxChannel > AUX_CHANNELS Then visible = False
lblRT_AUX4.Visible = visible
lblVRT_AUX4.Visible = visible
pgbRT_AUX4.Visible = visible
auxChannel += 1
If auxChannel > AUX_CHANNELS Then visible = False
lblRT_AUX5.Visible = visible
lblVRT_AUX5.Visible = visible
pgbRT_AUX5.Visible = visible
auxChannel += 1
If auxChannel > AUX_CHANNELS Then visible = False
lblRT_AUX6.Visible = visible
lblVRT_AUX6.Visible = visible
pgbRT_AUX6.Visible = visible
auxChannel += 1
If auxChannel > AUX_CHANNELS Then visible = False
lblRT_AUX7.Visible = visible
lblVRT_AUX7.Visible = visible
pgbRT_AUX7.Visible = visible