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mw_data_struct.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.IO.Ports;
using System.Xml;
using System.IO;
using System.Reflection;
using System.Windows.Forms;
namespace MultiWiiWinGUI
{
#region GUI_settings
public class GUI_settings
{
public string sLogFolder { get; set; }
public string sCaptureFolder { get; set; }
public string sSettingsFolder { get; set; }
public int iSoftwareVersion { get; set; }
public bool bEnableLogging { get; set; }
public string sPreferedComPort { get; set; }
public string sPreferedSerialSpeed { get; set; }
//Log fields
public bool logGraw { get; set; }
public bool logGatt { get; set; }
public bool logGmag { get; set; }
public bool logGrcc { get; set; }
public bool logGrcx { get; set; }
public bool logGmot { get; set; }
public bool logGsrv { get; set; }
public bool logGnav { get; set; }
public bool logGpar { get; set; }
public bool logGdbg { get; set; }
public int iMapProviderSelectedIndex { get; set; }
public byte max_wp_number { get; set; }
public ushort wp_radius { get; set; }
public bool GpsCorrect { get; set; }
public bool speech_enabled { get; set; }
public bool announce_alt_enabled { get; set; }
public bool announce_vbat_enabled { get; set; }
public bool announce_dist_enabled { get; set; }
public int announce_interval { get; set; }
public byte cellcount { get; set; }
//Constructor, set default values
public GUI_settings()
{
sLogFolder = Directory.GetCurrentDirectory();
sCaptureFolder = Directory.GetCurrentDirectory();
sSettingsFolder = Directory.GetCurrentDirectory();
iSoftwareVersion = 23;
bEnableLogging = false;
iMapProviderSelectedIndex = 1; //Bing Map
GpsCorrect = false;
speech_enabled = true;
announce_alt_enabled = false;
announce_dist_enabled = false;
announce_vbat_enabled = false;
announce_interval = 2;
cellcount = 3;
}
public void save_to_xml(string filename)
{
XmlTextWriter tw = new XmlTextWriter(filename, null);
tw.Formatting = Formatting.Indented;
tw.Indentation = 4;
tw.WriteStartDocument();
// Get the name and version of the current assembly.
Assembly assem = Assembly.GetExecutingAssembly();
AssemblyName assemName = assem.GetName();
Version ver = assemName.Version;
tw.WriteComment(String.Format("{0}, Version {1}", assemName.Name, ver.ToString()));
tw.WriteComment("GUI Settings");
tw.WriteComment("Do not change this file manually, unless you know what are you doing");
tw.WriteStartElement("PARAMETERS");
tw.WriteStartElement("FCVERSION value=\"" + iSoftwareVersion + "\""); tw.WriteEndElement();
tw.WriteStartElement("LOGFOLDER value=\"" + sLogFolder + "\""); tw.WriteEndElement();
tw.WriteStartElement("CAPTUREFOLDER value=\"" + sCaptureFolder + "\""); tw.WriteEndElement();
tw.WriteStartElement("SETTINGSFOLDER value=\"" + sSettingsFolder + "\""); tw.WriteEndElement();
tw.WriteStartElement("LOGATCONNECT value=\"" + bEnableLogging + "\""); tw.WriteEndElement();
tw.WriteStartElement("SERIALPORT value=\"" + sPreferedComPort + "\""); tw.WriteEndElement();
tw.WriteStartElement("SERIALSPEED value=\"" + sPreferedSerialSpeed + "\""); tw.WriteEndElement();
tw.WriteStartElement("LOGRAW value=\"" + logGraw + "\""); tw.WriteEndElement();
tw.WriteStartElement("LOGATT value=\"" + logGatt + "\""); tw.WriteEndElement();
tw.WriteStartElement("LOGMAG value=\"" + logGmag + "\""); tw.WriteEndElement();
tw.WriteStartElement("LOGRCC value=\"" + logGrcc + "\""); tw.WriteEndElement();
tw.WriteStartElement("LOGRCX value=\"" + logGrcx + "\""); tw.WriteEndElement();
tw.WriteStartElement("LOGMOT value=\"" + logGmot + "\""); tw.WriteEndElement();
tw.WriteStartElement("LOGSRV value=\"" + logGsrv + "\""); tw.WriteEndElement();
tw.WriteStartElement("LOGNAV value=\"" + logGnav + "\""); tw.WriteEndElement();
tw.WriteStartElement("LOGPAR value=\"" + logGpar + "\""); tw.WriteEndElement();
tw.WriteStartElement("LOGDBG value=\"" + logGdbg + "\""); tw.WriteEndElement();
tw.WriteStartElement("MAPPROVIDER value=\"" + iMapProviderSelectedIndex + "\""); tw.WriteEndElement();
tw.WriteStartElement("SPEECH_ENABLED value=\"" + speech_enabled + "\""); tw.WriteEndElement();
tw.WriteStartElement("ANNOUNCE_ALT value=\"" + announce_alt_enabled + "\""); tw.WriteEndElement();
tw.WriteStartElement("ANNOUNCE_VBAT value=\"" + announce_vbat_enabled + "\""); tw.WriteEndElement();
tw.WriteStartElement("ANNOUNCE_DIST value=\"" + announce_dist_enabled + "\""); tw.WriteEndElement();
tw.WriteStartElement("ANNOUNCE_INTERVAL value=\"" + announce_interval + "\""); tw.WriteEndElement();
tw.WriteStartElement("CELLCOUNT value=\"" + cellcount + "\""); tw.WriteEndElement();
tw.WriteStartElement("MAX_WP_NUMBER value=\"" + max_wp_number + "\""); tw.WriteEndElement();
tw.WriteStartElement("WP_RADIUS value=\"" + wp_radius + "\""); tw.WriteEndElement();
tw.WriteStartElement("GpsCorrect value=\"" + GpsCorrect + "\""); tw.WriteEndElement();
tw.WriteEndElement();
tw.WriteEndDocument();
tw.Close();
}
public bool read_from_xml(string filename)
{
XmlTextReader reader;
if (!File.Exists(filename))
{
MessageBoxEx.Show("Error opening config file :" + filename + "\r\nUnable to continue!!", "Config File not found", MessageBoxButtons.OK, MessageBoxIcon.Stop);
return (false);
}
reader = new XmlTextReader(filename);
try
{
while (reader.Read())
{
switch (reader.NodeType)
{
case XmlNodeType.Element:
if (String.Compare(reader.Name, "fcversion", true) == 0 && reader.HasAttributes) { iSoftwareVersion = Convert.ToInt16(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "logfolder", true) == 0 && reader.HasAttributes) { sLogFolder = reader.GetAttribute("value"); }
if (String.Compare(reader.Name, "capturefolder", true) == 0 && reader.HasAttributes) { sCaptureFolder = reader.GetAttribute("value"); }
if (String.Compare(reader.Name, "settingsfolder", true) == 0 && reader.HasAttributes) { sSettingsFolder = reader.GetAttribute("value"); }
if (String.Compare(reader.Name, "logatconnect", true) == 0 && reader.HasAttributes) { bEnableLogging = Convert.ToBoolean(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "serialport", true) == 0 && reader.HasAttributes) { sPreferedComPort = reader.GetAttribute("value"); }
if (String.Compare(reader.Name, "serialspeed", true) == 0 && reader.HasAttributes) { sPreferedSerialSpeed = reader.GetAttribute("value"); }
if (String.Compare(reader.Name, "lograw", true) == 0 && reader.HasAttributes) { logGraw = Convert.ToBoolean(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "logatt", true) == 0 && reader.HasAttributes) { logGatt = Convert.ToBoolean(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "logmag", true) == 0 && reader.HasAttributes) { logGmag = Convert.ToBoolean(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "logrcc", true) == 0 && reader.HasAttributes) { logGrcc = Convert.ToBoolean(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "logrcx", true) == 0 && reader.HasAttributes) { logGrcx = Convert.ToBoolean(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "logmot", true) == 0 && reader.HasAttributes) { logGmot = Convert.ToBoolean(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "logsrv", true) == 0 && reader.HasAttributes) { logGsrv = Convert.ToBoolean(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "lognav", true) == 0 && reader.HasAttributes) { logGnav = Convert.ToBoolean(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "logpar", true) == 0 && reader.HasAttributes) { logGpar = Convert.ToBoolean(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "logdbg", true) == 0 && reader.HasAttributes) { logGdbg = Convert.ToBoolean(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "GpsCorrect", true) == 0 && reader.HasAttributes) { GpsCorrect = Convert.ToBoolean(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "mapprovider", true) == 0 && reader.HasAttributes) { iMapProviderSelectedIndex = Convert.ToInt16(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "max_wp_number", true) == 0 && reader.HasAttributes) { max_wp_number = Convert.ToByte(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "wp_radius", true) == 0 && reader.HasAttributes) { wp_radius = Convert.ToUInt16(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "speech_enabled", true) == 0 && reader.HasAttributes) { speech_enabled = Convert.ToBoolean(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "announce_alt", true) == 0 && reader.HasAttributes) { announce_alt_enabled = Convert.ToBoolean(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "announce_vbat", true) == 0 && reader.HasAttributes) { announce_vbat_enabled = Convert.ToBoolean(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "announce_dist", true) == 0 && reader.HasAttributes) { announce_dist_enabled = Convert.ToBoolean(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "announce_interval", true) == 0 && reader.HasAttributes) { announce_interval = Convert.ToInt16(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "cellcount", true) == 0 && reader.HasAttributes) { cellcount = Convert.ToByte(reader.GetAttribute("value")); }
break;
}
}
}
catch
{
MessageBoxEx.Show("Options file contains invalid data around Line : " + reader.LineNumber + "\r\nUnable to continue!!", "Invalid Data", MessageBoxButtons.OK, MessageBoxIcon.Stop);
return (false);
}
finally
{
if (reader != null)
reader.Close();
}
return (true);
}
}
#endregion
#region PID
public class PID
{
//public fields
public string name;
public string description;
public Label pidLabel;
public byte P;
public bool Pshown;
public decimal Pmin;
public decimal Pmax;
public int Pprec;
public Label Plabel;
public NumericUpDown Pfield;
public byte I;
public bool Ishown;
public decimal Imin;
public decimal Imax;
public int Iprec;
public Label Ilabel;
public NumericUpDown Ifield;
public byte D;
public bool Dshown;
public decimal Dmin;
public decimal Dmax;
public int Dprec;
public Label Dlabel;
public NumericUpDown Dfield;
public PID()
{
P = 0;
}
}
#endregion
#region mw_settings
public class mw_settings
{
//public fields
public byte currentSet; //Current settings
//PID's
public byte[] pidP; //P values
public byte[] pidI; //I values
public byte[] pidD; //D values
//RC Tuning
public byte rcRate;
public byte rcExpo;
public byte RollPitchRate;
public byte YawRate;
public byte DynThrPID;
public byte ThrottleMID;
public byte ThrottleEXPO;
//Servo
public int[] servoMin;
public int[] servoMax;
public int[] servoMiddle;
public sbyte[] servoRate;
//NAV settings
public byte flags1;
public byte flags2;
public UInt16 wp_radius;
public UInt16 safe_wp_distance;
public UInt16 nav_max_altitude;
public UInt16 nav_speed_max;
public UInt16 nav_speed_min;
public byte crosstrack_gain;
public UInt16 nav_bank_max;
public UInt16 rth_altitude;
public UInt16 fence;
public byte land_speed;
public byte max_wp_number;
//Other parameters
public Int16 PowerTrigger;
public UInt16 minThrottle;
public UInt16 failsafe_throttle;
public Int16 mag_declination;
public byte vbatscale;
public byte vbatlevel_warn1;
public byte vbatlevel_warn2;
public byte vbatlevel_crit;
//Rc command parsing
public UInt32[] activation;
//For GUI only
public string[] pidnames;
private int iPIDItems, iCheckBoxItems;
private int iSwVer;
private bool bExtendedAux;
//Constructor
public mw_settings(int pidItems, int checkboxItems, int iSoftwareVersion)
{
pidP = new byte[pidItems];
pidI = new byte[pidItems];
pidD = new byte[pidItems];
activation = new UInt32[checkboxItems];
servoMin = new int[8];
servoMax = new int[8];
servoMiddle = new int[8];
servoRate = new sbyte[8];
iPIDItems = pidItems;
iCheckBoxItems = checkboxItems;
iSwVer = iSoftwareVersion;
pidnames = new string[pidItems];
}
public void write_settings( SerialPort serialport, int cbItems, bool extended_aux)
{
byte[] buffer = new byte[250]; //this must be long enough
int bptr = 0; //buffer pointer
byte[] bInt16 = new byte[2]; //two byte buffer for converting int to two separated bytes
byte checksum = 0;
int icbItems = cbItems;
//Write out settings
if (serialport.IsOpen)
{
//Write RC_TUNING
bptr = 0;
checksum = 0;
buffer[bptr++] = (byte)'$';
buffer[bptr++] = (byte)'M';
buffer[bptr++] = (byte)'<';
buffer[bptr++] = 7;
buffer[bptr++] = (byte)MSP.MSP_SET_RC_TUNING;
buffer[bptr++] = rcRate;
buffer[bptr++] = rcExpo;
buffer[bptr++] = RollPitchRate;
buffer[bptr++] = YawRate;
buffer[bptr++] = DynThrPID;
buffer[bptr++] = ThrottleMID;
buffer[bptr++] = ThrottleEXPO;
for (int i = 3; i < bptr; i++) checksum ^= buffer[i];
buffer[bptr++] = checksum;
serialport.Write(buffer, 0, bptr);
// while (serialport.BytesToWrite > 0) ;
//Write PID's
bptr = 0;
checksum = 0;
buffer[bptr++] = (byte)'$';
buffer[bptr++] = (byte)'M';
buffer[bptr++] = (byte)'<';
buffer[bptr++] = (byte)(3 * iPIDItems);
buffer[bptr++] = (byte)MSP.MSP_SET_PID;
for (int i = 0; i < iPIDItems; i++)
{
buffer[bptr++] = pidP[i];
buffer[bptr++] = pidI[i];
buffer[bptr++] = pidD[i];
}
for (int i = 3; i < bptr; i++) checksum ^= buffer[i];
buffer[bptr++] = checksum;
serialport.Write(buffer, 0, bptr);
//Then write checkboxitems
bptr = 0;
checksum = 0;
buffer[bptr++] = (byte)'$';
buffer[bptr++] = (byte)'M';
buffer[bptr++] = (byte)'<';
if (extended_aux)
buffer[bptr++] = (byte)(4 * icbItems);
else
buffer[bptr++] = (byte)(2 * icbItems);
buffer[bptr++] = (byte)MSP.MSP_SET_BOX;
for (int i = 0; i < icbItems; i++)
{
buffer[bptr++] = (byte)(activation[i] & 0x00ff);
buffer[bptr++] = (byte)((activation[i] >> 8) & 0x00ff);
if (extended_aux)
{
buffer[bptr++] = (byte)((activation[i] >> 16) & 0x00ff);
buffer[bptr++] = (byte)((activation[i] >> 24) & 0x00ff);
}
}
for (int i = 3; i < bptr; i++) checksum ^= buffer[i];
buffer[bptr++] = checksum;
serialport.Write(buffer, 0, bptr);
//Servo_conf
bptr = 0;
checksum = 0;
buffer[bptr++] = (byte)'$';
buffer[bptr++] = (byte)'M';
buffer[bptr++] = (byte)'<';
buffer[bptr++] = (byte)(56);
buffer[bptr++] = (byte)MSP.MSP_SET_SERVO_CONF;
for (int i = 0; i < 8; i++)
{
buffer[bptr++] = (byte)(servoMin[i] & 0x00ff);
buffer[bptr++] = (byte)((servoMin[i] >> 8) & 0x00ff);
buffer[bptr++] = (byte)(servoMax[i] & 0x00ff);
buffer[bptr++] = (byte)((servoMax[i] >> 8) & 0x00ff);
buffer[bptr++] = (byte)(servoMiddle[i] & 0x00ff);
buffer[bptr++] = (byte)((servoMiddle[i] >> 8) & 0x00ff);
buffer[bptr++] = (byte)(servoRate[i]);
}
for (int i = 3; i < bptr; i++) checksum ^= buffer[i];
buffer[bptr++] = checksum;
serialport.Write(buffer, 0, bptr);
//then the rest
bptr = 0;
checksum = 0;
buffer[bptr++] = (byte)'$';
buffer[bptr++] = (byte)'M';
buffer[bptr++] = (byte)'<';
buffer[bptr++] = (byte)(22);
buffer[bptr++] = (byte)MSP.MSP_SET_MISC;
buffer[bptr++] = (byte)(PowerTrigger & 0x00ff);
buffer[bptr++] = (byte)((PowerTrigger >> 8) & 0x00ff);
buffer[bptr++] = (byte)(minThrottle & 0x00ff);
buffer[bptr++] = (byte)((minThrottle >> 8) & 0x00ff);
bptr++; bptr++; //not used MAXThrottle
bptr++; bptr++; //not used MinCommand
buffer[bptr++] = (byte)(failsafe_throttle & 0x00ff);
buffer[bptr++] = (byte)((failsafe_throttle >> 8) & 0x00ff);
bptr++; bptr++; //not used arm
bptr++; bptr++; bptr++; bptr++; // not used lifetime
buffer[bptr++] = (byte)(mag_declination & 0x00ff);
buffer[bptr++] = (byte)((mag_declination >> 8) & 0x00ff);
buffer[bptr++] = vbatscale;
buffer[bptr++] = vbatlevel_warn1;
buffer[bptr++] = vbatlevel_warn2;
buffer[bptr++] = vbatlevel_crit;
for (int i = 3; i < bptr; i++) checksum ^= buffer[i];
buffer[bptr++] = checksum;
serialport.Write(buffer, 0, bptr);
// write navi parameters
bptr = 0;
checksum = 0;
buffer[bptr++] = (byte)'$';
buffer[bptr++] = (byte)'M';
buffer[bptr++] = (byte)'<';
buffer[bptr++] = (byte)(21);
buffer[bptr++] = (byte)MSP.MSP_SET_NAV_CONFIG;
buffer[bptr++] = (byte)flags1;
buffer[bptr++] = (byte)flags2;
buffer[bptr++] = (byte)(wp_radius & 0x00ff);
buffer[bptr++] = (byte)((wp_radius >> 8) & 0x00ff);
buffer[bptr++] = (byte)(safe_wp_distance & 0x00ff);
buffer[bptr++] = (byte)((safe_wp_distance >> 8) & 0x00ff);
buffer[bptr++] = (byte)(nav_max_altitude & 0x00ff);
buffer[bptr++] = (byte)((nav_max_altitude >> 8) & 0x00ff);
buffer[bptr++] = (byte)(nav_speed_max & 0x00ff);
buffer[bptr++] = (byte)((nav_speed_max >> 8) & 0x00ff);
buffer[bptr++] = (byte)(nav_speed_min & 0x00ff);
buffer[bptr++] = (byte)((nav_speed_min >> 8) & 0x00ff);
buffer[bptr++] = (byte)crosstrack_gain;
buffer[bptr++] = (byte)(nav_bank_max & 0x00ff);
buffer[bptr++] = (byte)((nav_bank_max >> 8) & 0x00ff);
buffer[bptr++] = (byte)(rth_altitude & 0x00ff);
buffer[bptr++] = (byte)((rth_altitude >> 8) & 0x00ff);
buffer[bptr++] = land_speed;
buffer[bptr++] = (byte)(fence & 0x00ff);
buffer[bptr++] = (byte)((fence >> 8) & 0x00ff);
buffer[bptr++] = max_wp_number;
for (int i = 3; i < bptr; i++) checksum ^= buffer[i];
buffer[bptr++] = checksum;
serialport.Write(buffer, 0, bptr);
while (serialport.BytesToWrite > 0) ;
while (serialport.BytesToRead > 0) ;
byte c = 0;
byte[] o;
o = new byte[10];
// with checksum
o[0] = (byte)'$';
o[1] = (byte)'M';
o[2] = (byte)'<';
o[3] = (byte)0; c ^= o[3]; //no payload
o[4] = (byte)MSP.MSP_EEPROM_WRITE; c ^= o[4];
o[5] = (byte)c;
serialport.Write(o, 0, 6);
// DateTime startTime = DateTime.Now;
// while ((serialport.BytesToRead == 0) && (DateTime.Now.Subtract(startTime).TotalMilliseconds < 2000)) ;
//
//while (serialport.BytesToWrite > 0) ;
//while (serialport.BytesToRead > 0) ;
}
}
public void save_to_xml(string filename)
{
XmlTextWriter tw = new XmlTextWriter(filename,null);
tw.Formatting = Formatting.Indented;
tw.Indentation = 4;
tw.WriteStartDocument();
// Get the name and version of the current assembly.
Assembly assem = Assembly.GetExecutingAssembly();
AssemblyName assemName = assem.GetName();
Version ver = assemName.Version;
tw.WriteComment(String.Format("{0}, Version {1}", assemName.Name, ver.ToString()));
tw.WriteComment("MultiWii FC Parameters file");
tw.WriteComment("MultiWii FC software revision 2.3");
tw.WriteStartElement("PARAMETERS");
tw.WriteStartElement("VERSION value=\"" + iSwVer + "\""); tw.WriteEndElement();
for (int i = 0; i < iPIDItems; i++)
{
tw.WriteStartElement("PID id=\"" + i+"\" name=\""+pidnames[i]+"\" p=\""+Convert.ToString(pidP[i])+"\" i=\""+Convert.ToString(pidI[i])+"\" d=\""+Convert.ToString(pidD[i])+"\"");
tw.WriteEndElement();
}
for (int i = 0; i < iCheckBoxItems; i++)
{
tw.WriteStartElement("AUXFUNC id=\"" + i + "\" aux1234=\"" + activation[i] + "\"");
tw.WriteEndElement();
}
tw.WriteStartElement("RCRATE value=\"" + rcRate + "\""); tw.WriteEndElement();
tw.WriteStartElement("RCEXPO value=\"" + rcExpo + "\""); tw.WriteEndElement();
tw.WriteStartElement("THMID value=\"" + ThrottleMID + "\""); tw.WriteEndElement();
tw.WriteStartElement("THEXPO value=\"" + ThrottleMID + "\""); tw.WriteEndElement();
tw.WriteStartElement("ROLLPITCHRATE value=\"" + RollPitchRate + "\""); tw.WriteEndElement();
tw.WriteStartElement("YAWRATE value=\"" + YawRate + "\""); tw.WriteEndElement();
tw.WriteStartElement("DYNTHRPID value=\"" + DynThrPID + "\""); tw.WriteEndElement();
tw.WriteStartElement("POWERTRIGGER value=\"" + PowerTrigger + "\""); tw.WriteEndElement();
tw.WriteStartElement("VBATSCALE value=\"" + vbatscale + "\""); tw.WriteEndElement();
tw.WriteStartElement("VBATWARN1 value=\"" + vbatlevel_warn1 + "\""); tw.WriteEndElement();
tw.WriteStartElement("VBATWARN2 value=\"" + vbatlevel_warn2 + "\""); tw.WriteEndElement();
tw.WriteStartElement("VBATCRITICAL value=\"" + vbatlevel_crit + "\""); tw.WriteEndElement();
tw.WriteStartElement("MINTHROTTLE value=\"" + minThrottle + "\""); tw.WriteEndElement();
tw.WriteStartElement("FAILSAFETHROTTLE value=\"" + failsafe_throttle + "\""); tw.WriteEndElement();
tw.WriteStartElement("MAGDEC value=\"" + mag_declination + "\""); tw.WriteEndElement();
for (int i = 0; i < 8; i++)
{
tw.WriteStartElement("SERVO id=\"" + i + "\" min=\"" + servoMin[i] + "\" max=\"" + servoMax[i] + "\" middle=\"" + servoMiddle[i] + "\" rate=\"" + servoRate[i] + "\"");
tw.WriteEndElement();
}
tw.WriteEndElement();
tw.WriteEndDocument();
tw.Close();
}
public bool read_from_xml(string filename)
{
XmlTextReader reader = new XmlTextReader(filename);
//MessageBox.Show("Options file " + sOptionsConfigFilename + " does not found", "File not found", MessageBoxButtons.OK, MessageBoxIcon.Stop);
try
{
while (reader.Read())
{
switch (reader.NodeType)
{
case XmlNodeType.Element:
if (String.Compare(reader.Name, "version", true) == 0 && reader.HasAttributes)
{
if (Convert.ToInt16(reader.GetAttribute("value")) != iSwVer)
{
throw new System.InvalidOperationException("Version of settings file does not match with the version set in GUI");
}
}
if (String.Compare(reader.Name, "pid", true) == 0 && reader.HasAttributes)
{
int tpidID = 0; byte tpidP = 0; byte tpidI = 0; byte tpidD = 0;
tpidID = Convert.ToInt16(reader.GetAttribute("id"));
tpidP = Convert.ToByte(reader.GetAttribute("p"));
tpidI = Convert.ToByte(reader.GetAttribute("i"));
tpidD = Convert.ToByte(reader.GetAttribute("d"));
pidP[tpidID] = tpidP;
pidI[tpidID] = tpidI;
pidD[tpidID] = tpidD;
}
if (String.Compare(reader.Name, "auxfunc", true) == 0 && reader.HasAttributes)
{
int auxID = 0; UInt32 a1 = 0;
auxID = Convert.ToInt16(reader.GetAttribute("id"));
a1 = Convert.ToUInt32(reader.GetAttribute("aux1234"));
activation[auxID] = a1;
}
if (String.Compare(reader.Name, "rcrate", true) == 0 && reader.HasAttributes) { rcRate = Convert.ToByte(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "rcexpo", true) == 0 && reader.HasAttributes) { rcExpo = Convert.ToByte(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "thmid", true) == 0 && reader.HasAttributes) { ThrottleMID = Convert.ToByte(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "thexpo", true) == 0 && reader.HasAttributes) { ThrottleEXPO = Convert.ToByte(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "rollpitchrate", true) == 0 && reader.HasAttributes) { RollPitchRate = Convert.ToByte(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "yawrate", true) == 0 && reader.HasAttributes) { YawRate = Convert.ToByte(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "dynthrpid", true) == 0 && reader.HasAttributes) { DynThrPID = Convert.ToByte(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "powertrigger", true) == 0 && reader.HasAttributes) { PowerTrigger = Convert.ToByte(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "vabtscale", true) == 0 && reader.HasAttributes) { vbatscale = Convert.ToByte(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "vbatwarn1", true) == 0 && reader.HasAttributes) { vbatlevel_warn1 = Convert.ToByte(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "vbatwarn2", true) == 0 && reader.HasAttributes) { vbatlevel_warn2 = Convert.ToByte(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "vbatcritical", true) == 0 && reader.HasAttributes) { vbatlevel_crit = Convert.ToByte(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "minthrottle", true) == 0 && reader.HasAttributes) { minThrottle = Convert.ToUInt16(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "failsafethrottle", true) == 0 && reader.HasAttributes) { failsafe_throttle = Convert.ToUInt16(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "magdec", true) == 0 && reader.HasAttributes) { mag_declination = Convert.ToInt16(reader.GetAttribute("value")); }
if (String.Compare(reader.Name, "servo", true) == 0 && reader.HasAttributes)
{
int servoID = 0;
servoID = Convert.ToInt16(reader.GetAttribute("id"));
servoMin[servoID] = Convert.ToUInt16(reader.GetAttribute("min"));
servoMax[servoID] = Convert.ToUInt16(reader.GetAttribute("max"));
servoMiddle[servoID] = Convert.ToUInt16(reader.GetAttribute("middle"));
servoRate[servoID] = (sbyte) Convert.ToInt16(reader.GetAttribute("rate"));
}
break;
}
}
}
catch (System.InvalidOperationException e)
{
MessageBoxEx.Show(e.Message,"Version mismatch",MessageBoxButtons.OK,MessageBoxIcon.Error);
return (false);
}
catch
{
MessageBoxEx.Show("Options file contains invalid data around Line : " + reader.LineNumber, "Invalid Data", MessageBoxButtons.OK, MessageBoxIcon.Stop);
return (false);
}
finally
{
if (reader != null)
reader.Close();
}
return (true);
}
}
#endregion
#region mw_data_gui
public class mw_data_gui
{
public int ax; //AccSmooth
public int ay; //AccSmooth
public int az; //AccSmooth
public int gx; //Gyro Smooth
public int gy; //Gyro Smooth
public int gz; //Gyro Smooth
public int magx; //Magnetometer
public int magy; //Magnetometer
public int magz; //Magnetometer
/// <summary>
/// 气压计高度(厘米)
/// </summary>
public int EstAlt;//气压计高度
/// <summary>
/// 垂直速度（厘米/秒）
/// </summary>
public int vario;
/// <summary>
/// 指南针角度
/// </summary>
public int heading;
public int[] servos;
public int[] motors;
public int rcRoll, rcPitch, rcYaw, rcThrottle;//遥控器输入的横滚，俯仰，航向，油门值
/// <summary>
/// AUX通道值数组
/// </summary>
public int[] rcAUX;
public int present; //What sensors are present?
public UInt32 mode; //What mode are we in ?
/// <summary>
/// I2C错误数
/// </summary>
public int i2cErrors;
/// <summary>
/// 循环时间（微妙）
/// </summary>
public int cycleTime;
/// <summary>
/// 俯仰 Must be /10
/// </summary>
public int angx; //Must be /10
/// <summary>
/// 横滚 Must be /10
/// </summary>
public int angy; //Must be /10
/// <summary>
/// 飞行器类型
/// </summary>
public byte multiType;
/// <summary>
/// 飞控软件版本
/// </summary>
public byte version;
public byte protocol_version;
public UInt32 capability;
public byte[] pidP;
public byte[] pidI;
public byte[] pidD;
public byte rcRate;
public byte rcExpo;
public byte RollPitchRate;
public byte YawRate;
public byte DynThrPID;
public byte ThrottleMID;
public byte ThrottleEXPO;
public UInt32[] activation;
public string[] sBoxNames;
public bool bUpdateBoxNames;
/// <summary>
/// 回家距离
/// </summary>
public int GPS_distanceToHome;
/// <summary>
/// 回家角度
/// </summary>
public int GPS_directionToHome;
/// <summary>
/// 卫星数量
/// </summary>
public byte GPS_numSat;
/// <summary>
/// 2D/3D模式
/// </summary>
public byte GPS_fix;
/// <summary>
/// GPS是否更新
/// </summary>
public byte GPS_update;
/// <summary>
/// 当前经度
/// </summary>
public int GPS_latitude;
/// <summary>
/// 当前纬度
/// </summary>
public int GPS_longitude;
/// <summary>
/// 当前海拔（米）
/// </summary>
public int GPS_altitude;
/// <summary>
/// 运动速度
/// </summary>
public int GPS_speed;
/// <summary>
/// 返回点的经度
/// </summary>
public int GPS_home_lat;
/// <summary>
/// 返回点的纬度
/// </summary>
public int GPS_home_lon;
/// <summary>
/// 返回点的高度
/// </summary>
public int GPS_home_alt;
public int GPS_poshold_lat;
public int GPS_poshold_lon;
public int GPS_poshold_alt;
//Analog
public uint pMeterSum;
/// <summary>
/// 电池电压(必须除以10)
/// </summary>
public byte vBat;
public uint rssi;
//Misc
public uint powerTrigger;
/// <summary>
/// 最小油门
/// </summary>
public uint minThrottle;
/// <summary>
/// 最大油门
/// </summary>
public uint maxThrottle;
/// <summary>
/// 最小油门命令
/// </summary>
public uint minCommand;
public uint failsafe_throttle;
public uint plog_arm;
public uint plog_lifetime; //what unit ???
public int mag_declination; // *10
public byte vbatscale;
public byte vbatlevel_warn1;
public byte vbatlevel_warn2;
public byte vbatlevel_crit;
//Debug
public int debug1, debug2, debug3, debug4;
//Servo_conf
public int[] servoMin;
public int[] servoMax;
public int[] servoMiddle;
public int[] servoRate;
public Boolean[] servoReverse;
//Navigation status
public byte gps_mode;
public byte nav_state;
public byte action;
public byte wp_number;
public byte nav_error;
public Int16 target_bearing;
//temp
/*
public Int32 original_altitude;
public Int32 target_altitude;
public Int32 alt_to_hold;
public byte alt_change_flag;
*/
//Radio
public UInt16 rxerrors;
public UInt16 fixed_errors;
public byte localrssi;
public byte remrssi;
public byte txbuf;
public byte noise;
public byte remnoise;
//NAV settings
public byte flags1;
public byte flags2;
public UInt16 wp_radius;
public UInt16 safe_wp_distance;
public UInt16 nav_max_altitude;
public UInt16 nav_speed_max;
public UInt16 nav_speed_min;
public byte crosstrack_gain;
public UInt16 nav_bank_max;
public UInt16 rth_altitude;
public byte land_speed;
public UInt16 fence;
public byte max_wp_number;
private int iPIDItems, iCheckBoxItems;
private int iSwVer;
//Constructor
public mw_data_gui(int pidItems, int checkboxItems, int iSoftwareVersion)
{
motors = new int[8];
servos = new int[8];
rcAUX = new int[8]; //for sbus
pidP = new byte[pidItems];
pidI = new byte[pidItems];
pidD = new byte[pidItems];
servoMin = new int[8];
servoMax = new int[8];
servoMiddle = new int[8];
servoRate = new int[8];
activation = new UInt32[checkboxItems];
iPIDItems = pidItems;
iCheckBoxItems = checkboxItems;
iSwVer = iSoftwareVersion;
bUpdateBoxNames = false;
max_wp_number = 72; //Will be updated when connected to the controller
multiType = 1;