GCSViews: Update optical flow config page

ArduPilot · Nov 17, 2023 · 60209b8 · 60209b8
1 parent 5890d68
commit 60209b8
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Showing 3 changed files with 986 additions and 63 deletions.
diff --git a/GCSViews/ConfigurationView/ConfigHWOptFlow.Designer.cs b/GCSViews/ConfigurationView/ConfigHWOptFlow.Designer.cs
diff --git a/GCSViews/ConfigurationView/ConfigHWOptFlow.cs b/GCSViews/ConfigurationView/ConfigHWOptFlow.cs
@@ -1,4 +1,5 @@
 using MissionPlanner.Controls;
+using MissionPlanner.Utilities;
 using System;
 using System.Windows.Forms;
 
@@ -24,9 +25,52 @@ public void Activate()
 
             startup = true;
 
-
+            // FLOW_ENABLE only used on older firmwares - hide if not found
             CHK_enableoptflow.setup(1, 0, "FLOW_ENABLE", MainV2.comPort.MAV.param);
 
+            if (CHK_enableoptflow.Enabled == false) {
+                CHK_enableoptflow.Hide();
+            }
+            else
+            {
+                // use legacy panel
+                DROP_optflowtype.Hide();
+                mavlinkNumericUpDown_yaw.Hide();
+                mavlinkNumericUpDownFX.Hide();
+                mavlinkNumericUpDownFY.Hide();
+                mavlinkNumericUpDownX.Hide();
+                mavlinkNumericUpDownY.Hide();
+                mavlinkNumericUpDownZ.Hide();
+                startup = false;
+                return;
+            }
+
+            // Doing new-style panel from here onwards
+
+            DROP_optflowtype.setup(ParameterMetaDataRepository.GetParameterOptionsInt("FLOW_TYPE",
+                MainV2.comPort.MAV.cs.firmware.ToString()), "FLOW_TYPE", MainV2.comPort.MAV.param);
+
+            mavlinkNumericUpDown_yaw.setup(-179000, 180000, 100, 1, "FLOW_ORIENT_YAW", MainV2.comPort.MAV.param);
+            mavlinkNumericUpDown_yaw.Maximum = 180;
+            mavlinkNumericUpDown_yaw.Minimum = -179;
+            mavlinkNumericUpDown_yaw.Increment = 1;
+
+            mavlinkNumericUpDownFX.setup(-200, 200, 1, 1, "FLOW_FXSCALER", MainV2.comPort.MAV.param);
+            mavlinkNumericUpDownFY.setup(-200, 200, 1, 1, "FLOW_FYSCALER", MainV2.comPort.MAV.param);
+            mavlinkNumericUpDownX.setup(-5, 5, 1, 0.01F, "FLOW_POS_X", MainV2.comPort.MAV.param);
+            mavlinkNumericUpDownY.setup(-5, 5, 1, 0.01F, "FLOW_POS_Y", MainV2.comPort.MAV.param);
+            mavlinkNumericUpDownZ.setup(-5, 5, 1, 0.01F, "FLOW_POS_Z", MainV2.comPort.MAV.param);
+
+            mavlinkNumericUpDownHGTOVR.setup(0, 2, 1, 0.01F, "FLOW_HGT_OVR", MainV2.comPort.MAV.param);
+
+            // hide FLOW_HGT_OVR if not rover firmware
+            if (!MainV2.comPort.MAV.VersionString.Contains("ArduRover"))
+            {
+                mavlinkNumericUpDownHGTOVR.Hide();
+                label15.Hide();
+                label16.Hide();
+            }
+
             startup = false;
         }
 
@@ -50,5 +94,22 @@ private void CHK_enableoptflow_CheckedChanged(object sender, EventArgs e)
                 CustomMessageBox.Show("Set FLOW_ENABLE Failed");
             }
         }
+
+        private void DROP_optflowtype_SelectedIndexChanged(object sender, EventArgs e)
+        {
+            // hide FLOW_HGT_OVR if not rover firmware
+            if (!MainV2.comPort.MAV.VersionString.Contains("ArduRover"))
+            {
+                mavlinkNumericUpDownHGTOVR.Hide();
+                label15.Hide();
+                label16.Hide();
+            }
+            else
+            {
+                mavlinkNumericUpDownHGTOVR.Show();
+                label15.Show();
+                label16.Show();
+            }
+        }
     }
 }