APM Planner 1.1.38

add ap param support
fix dtr
fix firmware screen on mono
misc mono fix's
mods from mandrolic - partial.
Add spanish - issue 515
new sitl images for attitude hil - issue 513

Tools/ArdupilotMegaPlanner/ArduinoComms.cs

@@ -6,7 +6,7 @@ using System.IO;
 
 namespace ArdupilotMega
 {
-    public delegate void ProgressEventHandler(int progress);
+    public delegate void ProgressEventHandler(int progress,string status);
 
     /// <summary>
     /// Arduino STK interface

Tools/ArdupilotMegaPlanner/ArduinoDetect.cs

@@ -196,6 +196,47 @@ namespace ArdupilotMega
             return "";
         }
 
+        public enum ap_var_type
+        {
+            AP_PARAM_NONE = 0,
+            AP_PARAM_INT8,
+            AP_PARAM_INT16,
+            AP_PARAM_INT32,
+            AP_PARAM_FLOAT,
+            AP_PARAM_VECTOR3F,
+            AP_PARAM_VECTOR6F,
+            AP_PARAM_MATRIX3F,
+            AP_PARAM_GROUP
+        };
+
+        static string[] type_names = new string[] {
+	"NONE", "INT8", "INT16", "INT32", "FLOAT", "VECTOR3F", "VECTOR6F","MATRIX6F", "GROUP"
+};
+
+       static byte type_size(ap_var_type type)
+{
+    switch (type) {
+    case ap_var_type.AP_PARAM_NONE:
+    case ap_var_type.AP_PARAM_GROUP:
+        return 0;
+    case ap_var_type.AP_PARAM_INT8:
+        return 1;
+    case ap_var_type.AP_PARAM_INT16:
+        return 2;
+    case ap_var_type.AP_PARAM_INT32:
+        return 4;
+    case ap_var_type.AP_PARAM_FLOAT:
+        return 4;
+    case ap_var_type.AP_PARAM_VECTOR3F:
+        return 3*4;
+    case ap_var_type.AP_PARAM_VECTOR6F:
+        return 6*4;
+    case ap_var_type.AP_PARAM_MATRIX3F:
+        return 3*3*4;
+    }
+    return 0;
+}
+
         /// <summary>
         /// return the software id from eeprom
         /// </summary>
@@ -223,7 +264,7 @@ namespace ArdupilotMega
             byte[] buffer = port.download(1024 * 4);
             port.Close();
 
-            if (buffer[0] != 'A' || buffer[1] != 'P') // this is the apvar header
+            if (buffer[0] != 'A' && buffer[0] != 'P' || buffer[1] != 'P' && buffer[1] != 'A') // this is the apvar header
             {
                 return -1;
             }
@@ -263,6 +304,46 @@ namespace ArdupilotMega
                         Console.WriteLine();
                     }
                 }
+
+                if (buffer[0] == 'P' && buffer[1] == 'A' && buffer[2] == 5) // ap param
+                {
+                    int pos = 4;
+                    byte key = 0;
+                    while (pos < (1024 * 4))
+                    {
+                        key = buffer[pos];
+                        pos++;
+                        int group = buffer[pos];
+                        pos++;
+                        int type = buffer[pos];
+                        pos++;
+
+                        int size = type_size((ap_var_type)Enum.Parse(typeof(ap_var_type), type.ToString()));
+
+
+                        Console.Write("{0:X4}: type {1} ({2}) key {3} group {4} size {5}\n ", pos - 2, type, type_names[type], key, group, size);
+
+                        if (key == 0xff)
+                        {
+                            Console.WriteLine("end sentinal at {0}", pos - 2);
+                            break;
+                        }
+
+                        if (key == 0)
+                        {
+                            //Array.Reverse(buffer, pos, 2);
+                            return BitConverter.ToUInt16(buffer, pos);
+                        }
+
+
+                        for (int i = 0; i < size; i++)
+                        {
+                            Console.Write(" {0:X2}", buffer[pos]);
+                            pos++;
+                        }
+                        Console.WriteLine();
+                    }
+                }
             }
             return -1;
         }

Tools/ArdupilotMegaPlanner/ArduinoSTK.cs

@@ -219,7 +219,7 @@ namespace ArdupilotMega
 
 
                 if (Progress != null)
-                    Progress((int)(((float)startaddress / (float)length) * 100));
+                    Progress((int)(((float)startaddress / (float)length) * 100),"");
 
                 if (!sync())
                 {

Tools/ArdupilotMegaPlanner/ArduinoSTKv2.cs

@@ -262,7 +262,7 @@ namespace ArdupilotMega
 
 
                 if (Progress != null)
-                    Progress((int)(((float)startaddress / (float)length) * 100));
+                    Progress((int)(((float)startaddress / (float)length) * 100),"");
 
                 if (command[1] != 0)
                 {
@@ -354,7 +354,7 @@ namespace ArdupilotMega
 
 
                 if (Progress != null)
-                    Progress((int)(((float)startaddress / (float)length) * 100));
+                    Progress((int)(((float)startaddress / (float)length) * 100),"");
 
                 if (command[1] != 0)
                 {

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -22,7 +22,7 @@
     <UpdateMode>Background</UpdateMode>
     <UpdateInterval>7</UpdateInterval>
     <UpdateIntervalUnits>Days</UpdateIntervalUnits>
-    <UpdatePeriodically>false</UpdatePeriodically>
+    <UpdatePeriodically>true</UpdatePeriodically>
     <UpdateRequired>false</UpdateRequired>
     <MapFileExtensions>false</MapFileExtensions>
     <TargetCulture>en-US</TargetCulture>
@@ -242,7 +242,7 @@
     <Compile Include="CommsTCPSerial.cs" />
     <Compile Include="CommsUdpSerial.cs" />
     <Compile Include="Controls\ImageLabel.cs">
-      <SubType>Component</SubType>
+      <SubType>UserControl</SubType>
     </Compile>
     <Compile Include="Controls\ImageLabel.Designer.cs">
       <DependentUpon>ImageLabel.cs</DependentUpon>
@@ -250,12 +250,20 @@
     <Compile Include="Controls\myGMAP.cs">
       <SubType>UserControl</SubType>
     </Compile>
+    <Compile Include="Controls\ProgressReporter.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="Controls\ProgressReporter.designer.cs">
+      <DependentUpon>ProgressReporter.cs</DependentUpon>
+    </Compile>
     <Compile Include="Controls\XorPlus.cs">
       <SubType>Form</SubType>
     </Compile>
     <Compile Include="Controls\XorPlus.Designer.cs">
       <DependentUpon>XorPlus.cs</DependentUpon>
     </Compile>
+    <Compile Include="Mavlink\MavlinkCRC.cs" />
+    <Compile Include="Mavlink\MavlinkUtil.cs" />
     <Compile Include="SerialInput.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -301,7 +309,6 @@
       <DependentUpon>JoystickSetup.cs</DependentUpon>
     </Compile>
     <Compile Include="MAVLinkTypes.cs" />
-    <Compile Include="MAVLinkTypesenum.cs" />
     <Compile Include="Controls\MyButton.cs">
       <SubType>Component</SubType>
     </Compile>
@@ -312,7 +319,7 @@
     <Compile Include="Controls\MyLabel.cs">
       <SubType>Component</SubType>
     </Compile>
-    <Compile Include="MyUserControl.cs">
+    <Compile Include="Controls\MyUserControl.cs">
       <SubType>UserControl</SubType>
     </Compile>
     <Compile Include="ArduinoSTKv2.cs">
@@ -438,9 +445,54 @@
     <EmbeddedResource Include="Controls\ImageLabel.resx">
       <DependentUpon>ImageLabel.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="Controls\ProgressReporter.resx">
+      <DependentUpon>ProgressReporter.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="Controls\XorPlus.resx">
       <DependentUpon>XorPlus.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\Configuration.es-ES.resx">
+      <DependentUpon>Configuration.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\Firmware.es-ES.resx">
+      <DependentUpon>Firmware.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\FlightData.es-ES.resx">
+      <DependentUpon>FlightData.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\FlightPlanner.es-ES.resx">
+      <DependentUpon>FlightPlanner.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\Help.es-ES.resx">
+      <DependentUpon>Help.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\Simulation.es-ES.resx">
+      <DependentUpon>Simulation.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\Terminal.es-ES.resx">
+      <DependentUpon>Terminal.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="JoystickSetup.es-ES.resx">
+      <DependentUpon>JoystickSetup.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="Log.es-ES.resx">
+      <DependentUpon>Log.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="LogBrowse.es-ES.resx">
+      <DependentUpon>LogBrowse.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="MavlinkLog.es-ES.resx">
+      <DependentUpon>MavlinkLog.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="RAW_Sensor.es-ES.resx">
+      <DependentUpon>RAW_Sensor.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="SerialInput.es-ES.resx">
+      <DependentUpon>SerialInput.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="SerialInput.pl.resx">
+      <DependentUpon>SerialInput.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="SerialInput.resx">
       <DependentUpon>SerialInput.cs</DependentUpon>
     </EmbeddedResource>
@@ -713,6 +765,9 @@
     <EmbeddedResource Include="SerialOutput.resx">
       <DependentUpon>SerialOutput.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="Setup\Setup.es-ES.resx">
+      <DependentUpon>Setup.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="Setup\Setup.fr.resx">
       <DependentUpon>Setup.cs</DependentUpon>
     </EmbeddedResource>

Tools/ArdupilotMegaPlanner/CommsSerialPort.cs

@@ -12,9 +12,15 @@ namespace ArdupilotMega
 
         public void toggleDTR()
         {
-            DtrEnable = false;
-            System.Threading.Thread.Sleep(100);
-            DtrEnable = true;
+            base.DtrEnable = false;
+            base.RtsEnable = false;
+
+            System.Threading.Thread.Sleep(50);
+
+            base.DtrEnable = true;
+            base.RtsEnable = true;
+
+            System.Threading.Thread.Sleep(50);
         }
     }
 }

Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs

@@ -81,11 +81,11 @@ namespace System.IO.Ports
             string host = "127.0.0.1";
             if (Windows.Forms.DialogResult.Cancel == ArdupilotMega.Common.InputBox("remote host", "Enter host name/ip (ensure remote end is already started)", ref host))
             {
-                return;
+                throw new Exception("Canceled by request");
             }
             if (Windows.Forms.DialogResult.Cancel == ArdupilotMega.Common.InputBox("remote Port", "Enter remote port", ref dest))
             {
-                return;
+                throw new Exception("Canceled by request");
             }
             Port = dest;
 
@@ -94,6 +94,8 @@ namespace System.IO.Ports
             client.NoDelay = true;
             client.Client.NoDelay = true;
 
+            VerifyConnected();
+
             return;
         }
 

Tools/ArdupilotMegaPlanner/Controls/ImageLabel.cs

@@ -9,7 +9,7 @@ using System.Windows.Forms;
 
 namespace ArdupilotMega
 {
-    public partial class ImageLabel : ContainerControl
+    public partial class ImageLabel : UserControl //ContainerControl
     {
         public new event EventHandler Click;
 
@@ -18,6 +18,9 @@ namespace ArdupilotMega
 
         public ImageLabel()
         {
+            text = "";
+            picture = new Bitmap(640,480);
+
             InitializeComponent();
         }
 

Tools/ArdupilotMegaPlanner/Controls/MyButton.cs

@@ -17,56 +17,97 @@ namespace ArdupilotMega
         bool mouseover = false;
         bool mousedown = false;
 
+       bool inOnPaint = false;
+
         protected override void OnPaint(PaintEventArgs pevent)
         {
             //base.OnPaint(pevent);
 
-            Graphics gr = pevent.Graphics;
+            if (inOnPaint)
+                return;
 
-            Rectangle outside = new Rectangle(0,0,this.Width,this.Height);
+            inOnPaint = true;
 
-            LinearGradientBrush linear = new LinearGradientBrush(outside,Color.FromArgb(0x94,0xc1,0x1f),Color.FromArgb(0xcd,0xe2,0x96),LinearGradientMode.Vertical);
-
-            Pen mypen = new Pen(Color.FromArgb(0x79,0x94,0x29),2);
-
-            gr.FillRectangle(linear,outside);
-
-            gr.DrawRectangle(mypen,outside);
-
-            SolidBrush mybrush = new SolidBrush(Color.FromArgb(0x40,0x57,0x04));
-
-            if (mouseover)
+            try
             {
-                SolidBrush brush = new SolidBrush(Color.FromArgb(73, 0x2b, 0x3a, 0x03));
+                Graphics gr = pevent.Graphics;
 
-                gr.FillRectangle(brush, 0, 0, this.Width, this.Height);
-            } 
-            if (mousedown)
-            {
-                SolidBrush brush = new SolidBrush(Color.FromArgb(73, 0x2b, 0x3a, 0x03));
+                //  gr.SmoothingMode = SmoothingMode.AntiAlias;
 
-                gr.FillRectangle(brush, 0, 0, this.Width, this.Height);
-            } 
+                Rectangle outside = new Rectangle(0, 0, this.Width, this.Height);
 
-            if (!this.Enabled)
-            {
-                SolidBrush brush = new SolidBrush(Color.FromArgb(150, 0x2b, 0x3a, 0x03));
+                LinearGradientBrush linear = new LinearGradientBrush(outside, Color.FromArgb(0x94, 0xc1, 0x1f), Color.FromArgb(0xcd, 0xe2, 0x96), LinearGradientMode.Vertical);
 
-                gr.FillRectangle(brush, 0, 0, this.Width, this.Height);
+                Pen mypen = new Pen(Color.FromArgb(0x79, 0x94, 0x29), 2);
+                /*
+                gr.FillRectangle(new SolidBrush(Color.FromArgb(0x26, 0x27, 0x28)), outside);
+
+                GraphicsPath outline = new GraphicsPath();
+
+                float wid = this.Height / 5f;
+                float widright = wid + 1;
+
+                // tl
+                outline.AddArc(0, 0, wid, wid, 180, 90);
+                // top line
+                outline.AddLine(wid, 0, this.Width - widright, 0);
+                // tr
+                outline.AddArc(this.Width - widright, 0, wid, wid, 270, 90);
+                // br
+                outline.AddArc(this.Width - widright, this.Height - widright, wid, wid, 0, 90);
+                // bottom line
+                outline.AddLine(wid, this.Height - 1, this.Width - widright, this.Height - 1);
+                // bl
+                outline.AddArc(0, this.Height - widright, wid, wid, 90, 90);
+
+
+                gr.FillPath(linear, outline);
+
+                gr.DrawPath(mypen, outline);
+
+                */
+
+                gr.FillRectangle(linear, outside);
+                gr.DrawRectangle(mypen, outside);
+
+
+                SolidBrush mybrush = new SolidBrush(Color.FromArgb(0x40, 0x57, 0x04));
+
+                if (mouseover)
+                {
+                    SolidBrush brush = new SolidBrush(Color.FromArgb(73, 0x2b, 0x3a, 0x03));
+
+                    gr.FillRectangle(brush, 0, 0, this.Width, this.Height);
+                }
+                if (mousedown)
+                {
+                    SolidBrush brush = new SolidBrush(Color.FromArgb(73, 0x2b, 0x3a, 0x03));
+
+                    gr.FillRectangle(brush, 0, 0, this.Width, this.Height);
+                }
+
+                if (!this.Enabled)
+                {
+                    SolidBrush brush = new SolidBrush(Color.FromArgb(150, 0x2b, 0x3a, 0x03));
+
+                    gr.FillRectangle(brush, 0, 0, this.Width, this.Height);
+                }
+
+
+                StringFormat stringFormat = new StringFormat();
+                stringFormat.Alignment = StringAlignment.Center;
+                stringFormat.LineAlignment = StringAlignment.Center;
+
+                string display = this.Text;
+                int amppos = display.IndexOf('&');
+                if (amppos != -1)
+                    display = display.Remove(amppos, 1);
+
+                gr.DrawString(display, this.Font, mybrush, outside, stringFormat);
             }
-
-
-            StringFormat stringFormat = new StringFormat();
-            stringFormat.Alignment = StringAlignment.Center;
-            stringFormat.LineAlignment = StringAlignment.Center;
-
-            string display = this.Text;
-            int amppos = display.IndexOf('&');
-            if (amppos != -1)
-                display = display.Remove(amppos,1);
-
-            gr.DrawString(display, this.Font, mybrush, outside, stringFormat);
-
+            catch { }
+            
+            inOnPaint = false;
         }
 
         protected override void OnClick(EventArgs e)

Tools/ArdupilotMegaPlanner/Controls/MyUserControl.cs

@@ -1,19 +1,19 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-
-namespace System.Windows.Forms
-{
-    public class MyUserControl : System.Windows.Forms.UserControl
-    {
-        protected override void WndProc(ref Message m)
-        {
-            try
-            {
-                base.WndProc(ref m);
-            }
-            catch { }
-        }
-    }
-}
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace System.Windows.Forms
+{
+    public class MyUserControl : System.Windows.Forms.UserControl
+    {
+        protected override void WndProc(ref Message m)
+        {
+            try
+            {
+                base.WndProc(ref m);
+            }
+            catch { }
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/Controls/ProgressReporter.cs

@@ -0,0 +1,64 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+
+namespace ArdupilotMega
+{
+    public partial class ProgressReporter : Form
+    {
+        bool cancel = false;
+
+        public ProgressReporter()
+        {
+            InitializeComponent();
+            cancel = false;
+        }
+
+        private void btnCancel_Click(object sender, EventArgs e)
+        {
+            cancel = true;
+            this.Close();
+        }
+
+        public void updateProgressAndStatus(int progress, string status)
+        {
+            //Console.WriteLine(progress + " " + status);
+
+            if (cancel)
+            {
+                throw new Exception("User Canceled");
+            }
+
+            if (this.IsDisposed)
+            {
+                return;
+            }
+
+            try
+            {
+                this.Invoke((MethodInvoker)delegate
+            {
+
+                lblProgressMessage.Text = status;
+                if (progress == -1)
+                {
+                    this.progressBar1.Style = ProgressBarStyle.Marquee;
+                }
+                else
+                {
+                    this.progressBar1.Style = ProgressBarStyle.Continuous;
+                    this.progressBar1.Value = progress;
+                }
+            });
+            }
+            catch { }
+
+            System.Windows.Forms.Application.DoEvents();
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/Controls/ProgressReporter.designer.cs

@@ -0,0 +1,94 @@
+using System.Windows.Forms;
+
+namespace ArdupilotMega
+{
+    partial class ProgressReporter
+    {
+        /// <summary>
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows Form Designer generated code
+
+        /// <summary>
+        /// Required method for Designer support - do not modify
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.progressBar1 = new System.Windows.Forms.ProgressBar();
+            this.lblProgressMessage = new System.Windows.Forms.Label();
+            this.btnCancel = new System.Windows.Forms.Button();
+            this.SuspendLayout();
+            // 
+            // progressBar1
+            // 
+            this.progressBar1.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.progressBar1.Location = new System.Drawing.Point(12, 82);
+            this.progressBar1.Name = "progressBar1";
+            this.progressBar1.Size = new System.Drawing.Size(277, 13);
+            this.progressBar1.TabIndex = 0;
+            // 
+            // lblProgressMessage
+            // 
+            this.lblProgressMessage.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.lblProgressMessage.Location = new System.Drawing.Point(13, 13);
+            this.lblProgressMessage.Name = "lblProgressMessage";
+            this.lblProgressMessage.Size = new System.Drawing.Size(276, 66);
+            this.lblProgressMessage.TabIndex = 1;
+            this.lblProgressMessage.Text = "label1";
+            // 
+            // btnCancel
+            // 
+            this.btnCancel.Location = new System.Drawing.Point(213, 109);
+            this.btnCancel.Name = "btnCancel";
+            this.btnCancel.Size = new System.Drawing.Size(75, 23);
+            this.btnCancel.TabIndex = 2;
+            this.btnCancel.Text = "Cancel";
+            this.btnCancel.UseVisualStyleBackColor = true;
+            this.btnCancel.Click += new System.EventHandler(this.btnCancel_Click);
+            // 
+            // ProgressReporter
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(306, 144);
+            this.ControlBox = false;
+            this.Controls.Add(this.btnCancel);
+            this.Controls.Add(this.lblProgressMessage);
+            this.Controls.Add(this.progressBar1);
+            this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedToolWindow;
+            this.MaximizeBox = false;
+            this.MinimizeBox = false;
+            this.Name = "ProgressReporter";
+            this.SizeGripStyle = System.Windows.Forms.SizeGripStyle.Hide;
+            this.StartPosition = System.Windows.Forms.FormStartPosition.CenterParent;
+            this.Text = "Progress";
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private ProgressBar progressBar1;
+        private System.Windows.Forms.Label lblProgressMessage;
+        private Button btnCancel;
+    }
+}

Tools/ArdupilotMegaPlanner/Controls/myGMAP.cs

@@ -7,15 +7,19 @@ namespace ArdupilotMega
 {
     class myGMAP : GMap.NET.WindowsForms.GMapControl
     {
-        public bool inOnPaint = false; 
+        public bool inOnPaint = false;
+        string otherthread = "";
 
         protected override void OnPaint(System.Windows.Forms.PaintEventArgs e)
         {
             if (inOnPaint)
             {
-                Console.WriteLine("Was in onpaint Gmap th:" + System.Threading.Thread.CurrentThread.Name);
+                Console.WriteLine("Was in onpaint Gmap th:" + System.Threading.Thread.CurrentThread.Name + " in " + otherthread);
                 return;
             }
+
+            otherthread = System.Threading.Thread.CurrentThread.Name;
+
             inOnPaint = true;
 
             try

Tools/ArdupilotMegaPlanner/GCSViews/Configuration.Designer.cs

@@ -1137,7 +1137,8 @@
             resources.GetString("TUNE.Items16"),
             resources.GetString("TUNE.Items17"),
             resources.GetString("TUNE.Items18"),
-            resources.GetString("TUNE.Items19")});
+            resources.GetString("TUNE.Items19"),
+            resources.GetString("TUNE.Items20")});
             resources.ApplyResources(this.TUNE, "TUNE");
             this.TUNE.Name = "TUNE";
             // 

Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs

@@ -67,26 +67,30 @@ namespace ArdupilotMega.GCSViews
             // fix for dup name
             //XTRK_ANGLE_CD1.Name = "XTRK_ANGLE_CD";
             XTRK_GAIN_SC1.Name = "XTRK_GAIN_SC";
+
+            // enable disable relevbant hardware tabs
+            if (MainV2.APMFirmware == MainV2.Firmwares.ArduPlane)
+            {
+                this.ConfigTabs.SuspendLayout();
+                ConfigTabs.SelectedIndex = 0;
+                TabAP.Enabled = true;
+                TabAC.Enabled = false;
+                this.ConfigTabs.ResumeLayout();
+            }
+            else
+            {
+                this.ConfigTabs.SuspendLayout();
+                ConfigTabs.SelectedIndex = 1;
+                TabAP.Enabled = false;
+                TabAC.Enabled = true;
+                this.ConfigTabs.ResumeLayout();
+            }
         }
 
         private void Configuration_Load(object sender, EventArgs e)
         {
             startup = true;
 
-            // enable disable relevbant hardware tabs
-            if (MainV2.APMFirmware == MainV2.Firmwares.ArduPlane)
-            {
-                ConfigTabs.SelectedIndex = 0;
-                TabAP.Enabled = true;
-                TabAC.Enabled = false;
-            }
-            else
-            {
-                ConfigTabs.SelectedIndex = 1;
-                TabAP.Enabled = false;
-                TabAC.Enabled = true;
-            }
-
             // read tooltips
             if (tooltips.Count == 0)
                 readToolTips();
@@ -167,7 +171,7 @@ namespace ArdupilotMega.GCSViews
 
             // setup language selection
             CultureInfo ci = null;
-            foreach (string name in new string[] { "en-US", "zh-Hans", "zh-TW", "ru-RU", "Fr", "Pl", "it-IT" })
+            foreach (string name in new string[] { "en-US", "zh-Hans", "zh-TW", "ru-RU", "Fr", "Pl", "it-IT", "es-ES" })
             {
                 ci = MainV2.getcultureinfo(name);
                 if (ci != null)
@@ -931,10 +935,16 @@ namespace ArdupilotMega.GCSViews
             ((MyButton)sender).Enabled = false;
             try
             {
+
                 MainV2.comPort.getParamList();
+
+
+
+                
             }
             catch { MessageBox.Show("Error: getting param list"); }
 
+
             ((MyButton)sender).Enabled = true;
             startup = true;
             Configuration_Load(null, null);

Tools/ArdupilotMegaPlanner/GCSViews/Configuration.resx

@@ -2703,6 +2703,9 @@
   <data name="TUNE.Items19" xml:space="preserve">
     <value>CH6_OPTFLOW_KD</value>
   </data>
+  <data name="TUNE.Items20" xml:space="preserve">
+    <value>CH6_NAV_I</value>
+  </data>
   <data name="TUNE.Location" type="System.Drawing.Point, System.Drawing">
     <value>417, 336</value>
   </data>

Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs

@@ -580,7 +580,7 @@ namespace ArdupilotMega.GCSViews
             MainV2.givecomport = false;
         }
 
-        void port_Progress(int progress)
+        void port_Progress(int progress,string status)
         {
             Console.WriteLine("Progress {0} ", progress);
             this.progress.Value = progress;

Tools/ArdupilotMegaPlanner/GCSViews/Firmware.es-ES.resx

@@ -0,0 +1,132 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <data name="label2.Text" xml:space="preserve">
+    <value>Images by Max Levine</value>
+  </data>
+  <data name="label1.Text" xml:space="preserve">
+    <value>Por favor, haga clic en las imágenes de arriba para "versiones de vuelo"</value>
+  </data>
+  <data name="lbl_status.Text" xml:space="preserve">
+    <value>Estado</value>
+  </data>
+  <data name="BUT_setup.Text" xml:space="preserve">
+    <value>APM programa de instalación (plano y quad</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

@@ -302,14 +302,7 @@ namespace ArdupilotMega.GCSViews
                 {
                     if (threadrun == 0) { return; }
 
-                        this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate()
-{
-    try
-    {
-        BUT_playlog.Text = "Pause";
-    }
-    catch { }
-});
+                    updatePlayPauseButton(true);
 
                     if (comPort.BaseStream.IsOpen)
                         MainV2.comPort.logreadmode = false;
@@ -355,17 +348,11 @@ namespace ArdupilotMega.GCSViews
                 }
                 else
                 {
-                    if (threadrun == 0) { return; }
-                    try
-                    {
-                        this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
-    {
-        BUT_playlog.Text = "Play";
-    });
-                    }
-                    catch { }
+                    updatePlayPauseButton(false);
                 }
 
+                
+
                 try
                 {
                     //Console.WriteLine(DateTime.Now.Millisecond);
@@ -406,7 +393,7 @@ namespace ArdupilotMega.GCSViews
                         {
                             System.Threading.Thread.Sleep(1);
                         }
-
+						
                         if (trackPoints.Count > int.Parse(MainV2.config["NUM_tracklength"].ToString()))
                         {
                             trackPoints.RemoveRange(0, trackPoints.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
@@ -426,10 +413,13 @@ namespace ArdupilotMega.GCSViews
                                 FlightPlanner.pointlist.AddRange(MainV2.comPort.wps);
                             }
 
-                            
 
-                            routes.Markers.Clear();
-                            routes.Routes.Clear();
+                            while (gMapControl1.inOnPaint == true)
+                            {
+                                System.Threading.Thread.Sleep(1);
+                            }
+
+                            updateClearRoutes();
 
                             route = new GMapRoute(trackPoints, "track");
                             //track.Stroke = Pens.Red;
@@ -493,8 +483,6 @@ namespace ArdupilotMega.GCSViews
                             gMapControl1.HoldInvalidation = false;
 
                             gMapControl1.Invalidate();
-
-                            Application.DoEvents();
                         }
 
                         tracklast = DateTime.Now;
@@ -505,9 +493,47 @@ namespace ArdupilotMega.GCSViews
             Console.WriteLine("FD Main loop exit");
         }
 
+
+        // to prevent cross thread calls while in a draw and exception
+        private void updateClearRoutes()
+        {
+            // not async
+            this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
+           {
+               routes.Markers.Clear();
+               routes.Routes.Clear();
+           });
+        }
+
+        private void updatePlayPauseButton(bool playing)
+        {
+            if (playing)
+            {
+                this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate()
+                {
+                    try
+                    {
+                        BUT_playlog.Text = "Pause";
+                    }
+                    catch { }
+                });
+            }
+            else
+            {
+                this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate()
+                {
+                    try
+                    {
+                        BUT_playlog.Text = "Play";
+                    }
+                    catch { }
+                });
+            }
+        }
+
         private void updateBindingSource()
         {
-            this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
+            this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate()
             {
                 MainV2.cs.UpdateCurrentSettings(bindingSource1);
             });

Tools/ArdupilotMegaPlanner/GCSViews/Help.es-ES.resx

@@ -0,0 +1,129 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <data name="richTextBox1.Text" xml:space="preserve">
+    <value />
+  </data>
+  <data name="CHK_showconsole.Text" xml:space="preserve">
+    <value>Mostrar Consola (reiniciar)</value>
+  </data>
+  <data name="BUT_updatecheck.Text" xml:space="preserve">
+    <value>Comprobar Actualizaciones</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs

@@ -11,6 +11,7 @@ using System.Xml; // config file
 using System.Runtime.InteropServices; // dll imports
 using ZedGraph; // Graphs
 using ArdupilotMega;
+using ArdupilotMega.Mavlink;
 using System.Reflection;
 
 using System.Drawing.Drawing2D;
@@ -636,7 +637,7 @@ namespace ArdupilotMega.GCSViews
 
                 if (hzcounttime.Second != DateTime.Now.Second)
                 {
-                    Console.WriteLine("SIM hz {0}", hzcount);
+                    //Console.WriteLine("SIM hz {0}", hzcount);
                     hzcount = 0;
                     hzcounttime = DateTime.Now;
                 }
@@ -873,15 +874,7 @@ namespace ArdupilotMega.GCSViews
             {
                 //FlightGear
 
-                object imudata = new fgIMUData();
-
-                MAVLink.ByteArrayToStructureEndian(data, ref imudata, 0);
-
-                imudata = (fgIMUData)(imudata);
-
-
-
-                fgIMUData imudata2 = (fgIMUData)imudata;
+                fgIMUData imudata2 = data.ByteArrayToStructureBigEndian<fgIMUData>(0);
 
                 if (imudata2.magic != 0x4c56414d)
                     return;
@@ -931,13 +924,7 @@ namespace ArdupilotMega.GCSViews
             }
             else if (receviedbytes == 658)
             {
-                aeroin = new TDataFromAeroSimRC();
-
-                object temp = aeroin;
-
-                MAVLink.ByteArrayToStructure(data, ref temp, 0);
-
-                aeroin = (TDataFromAeroSimRC)(temp);
+                aeroin = data.ByteArrayToStructure<TDataFromAeroSimRC>(0);
 
                 att.pitch = (aeroin.Model_fPitch);
                 att.roll = (aeroin.Model_fRoll * -1);
@@ -1005,13 +992,7 @@ namespace ArdupilotMega.GCSViews
             else if (receviedbytes == 408)
             {
 
-                FGNetFDM fdm = new FGNetFDM();
-
-                object temp = fdm;
-
-                MAVLink.ByteArrayToStructureEndian(data, ref temp, 0);
-
-                fdm = (FGNetFDM)(temp);
+                FGNetFDM fdm = data.ByteArrayToStructureBigEndian<FGNetFDM>(0);
 
                 lastfdmdata = fdm;
 

Tools/ArdupilotMegaPlanner/GCSViews/Terminal.es-ES.resx

@@ -0,0 +1,138 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <data name="BUTtests.Text" xml:space="preserve">
+    <value>Tests</value>
+  </data>
+  <data name="Logs.Text" xml:space="preserve">
+    <value>Descargar Log</value>
+  </data>
+  <data name="BUTradiosetup.Text" xml:space="preserve">
+    <value>Ajustar Radio</value>
+  </data>
+  <data name="TXT_terminal.Text" xml:space="preserve">
+    <value />
+  </data>
+  <data name="BUT_logbrowse.Text" xml:space="preserve">
+    <value>Buscar Log</value>
+  </data>
+  <data name="BUTsetupshow.Text" xml:space="preserve">
+    <value>Mostrar Ajustes</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/GCSViews/test.Designer.cs

@@ -1,152 +0,0 @@
-namespace ArdupilotMega.GCSViews
-{
-    partial class test
-    {
-        /// <summary> 
-        /// Required designer variable.
-        /// </summary>
-        private System.ComponentModel.IContainer components = null;
-
-        /// <summary> 
-        /// Clean up any resources being used.
-        /// </summary>
-        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
-        protected override void Dispose(bool disposing)
-        {
-            if (disposing && (components != null))
-            {
-                components.Dispose();
-            }
-            base.Dispose(disposing);
-        }
-
-        #region Component Designer generated code
-
-        /// <summary> 
-        /// Required method for Designer support - do not modify 
-        /// the contents of this method with the code editor.
-        /// </summary>
-        private void InitializeComponent()
-        {
-            this.panel3 = new BSE.Windows.Forms.Panel();
-            this.splitter1 = new BSE.Windows.Forms.Splitter();
-            this.panel1 = new BSE.Windows.Forms.Panel();
-            this.splitter2 = new BSE.Windows.Forms.Splitter();
-            this.SuspendLayout();
-            // 
-            // panel3
-            // 
-            this.panel3.AssociatedSplitter = this.splitter1;
-            this.panel3.BackColor = System.Drawing.Color.Transparent;
-            this.panel3.CaptionFont = new System.Drawing.Font("Segoe UI", 11.75F, System.Drawing.FontStyle.Bold);
-            this.panel3.CaptionHeight = 27;
-            this.panel3.CustomColors.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(184)))), ((int)(((byte)(184)))), ((int)(((byte)(184)))));
-            this.panel3.CustomColors.CaptionCloseIcon = System.Drawing.SystemColors.ControlText;
-            this.panel3.CustomColors.CaptionExpandIcon = System.Drawing.SystemColors.ControlText;
-            this.panel3.CustomColors.CaptionGradientBegin = System.Drawing.Color.FromArgb(((int)(((byte)(252)))), ((int)(((byte)(252)))), ((int)(((byte)(252)))));
-            this.panel3.CustomColors.CaptionGradientEnd = System.Drawing.SystemColors.ButtonFace;
-            this.panel3.CustomColors.CaptionGradientMiddle = System.Drawing.Color.FromArgb(((int)(((byte)(248)))), ((int)(((byte)(248)))), ((int)(((byte)(248)))));
-            this.panel3.CustomColors.CaptionSelectedGradientBegin = System.Drawing.Color.FromArgb(((int)(((byte)(194)))), ((int)(((byte)(224)))), ((int)(((byte)(255)))));
-            this.panel3.CustomColors.CaptionSelectedGradientEnd = System.Drawing.Color.FromArgb(((int)(((byte)(194)))), ((int)(((byte)(224)))), ((int)(((byte)(255)))));
-            this.panel3.CustomColors.CaptionText = System.Drawing.SystemColors.ControlText;
-            this.panel3.CustomColors.CollapsedCaptionText = System.Drawing.SystemColors.ControlText;
-            this.panel3.CustomColors.ContentGradientBegin = System.Drawing.SystemColors.ButtonFace;
-            this.panel3.CustomColors.ContentGradientEnd = System.Drawing.Color.FromArgb(((int)(((byte)(252)))), ((int)(((byte)(252)))), ((int)(((byte)(252)))));
-            this.panel3.CustomColors.InnerBorderColor = System.Drawing.SystemColors.Window;
-            this.panel3.Dock = System.Windows.Forms.DockStyle.Left;
-            this.panel3.ForeColor = System.Drawing.SystemColors.ControlText;
-            this.panel3.Image = null;
-            this.panel3.LinearGradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.panel3.Location = new System.Drawing.Point(0, 0);
-            this.panel3.MinimumSize = new System.Drawing.Size(27, 27);
-            this.panel3.Name = "panel3";
-            this.panel3.PanelStyle = BSE.Windows.Forms.PanelStyle.Default;
-            this.panel3.ShowExpandIcon = true;
-            this.panel3.Size = new System.Drawing.Size(194, 461);
-            this.panel3.TabIndex = 4;
-            this.panel3.Text = "panel3";
-            this.panel3.ToolTipTextCloseIcon = null;
-            this.panel3.ToolTipTextExpandIconPanelCollapsed = null;
-            this.panel3.ToolTipTextExpandIconPanelExpanded = null;
-            // 
-            // splitter1
-            // 
-            this.splitter1.BackColor = System.Drawing.Color.Transparent;
-            this.splitter1.Location = new System.Drawing.Point(194, 0);
-            this.splitter1.Name = "splitter1";
-            this.splitter1.Size = new System.Drawing.Size(3, 461);
-            this.splitter1.TabIndex = 6;
-            this.splitter1.TabStop = false;
-            // 
-            // panel1
-            // 
-            this.panel1.AssociatedSplitter = this.splitter2;
-            this.panel1.BackColor = System.Drawing.Color.Transparent;
-            this.panel1.CaptionFont = new System.Drawing.Font("Segoe UI", 11.75F, System.Drawing.FontStyle.Bold);
-            this.panel1.CaptionHeight = 27;
-            this.panel1.CustomColors.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(184)))), ((int)(((byte)(184)))), ((int)(((byte)(184)))));
-            this.panel1.CustomColors.CaptionCloseIcon = System.Drawing.SystemColors.ControlText;
-            this.panel1.CustomColors.CaptionExpandIcon = System.Drawing.SystemColors.ControlText;
-            this.panel1.CustomColors.CaptionGradientBegin = System.Drawing.Color.FromArgb(((int)(((byte)(252)))), ((int)(((byte)(252)))), ((int)(((byte)(252)))));
-            this.panel1.CustomColors.CaptionGradientEnd = System.Drawing.SystemColors.ButtonFace;
-            this.panel1.CustomColors.CaptionGradientMiddle = System.Drawing.Color.FromArgb(((int)(((byte)(248)))), ((int)(((byte)(248)))), ((int)(((byte)(248)))));
-            this.panel1.CustomColors.CaptionSelectedGradientBegin = System.Drawing.Color.FromArgb(((int)(((byte)(194)))), ((int)(((byte)(224)))), ((int)(((byte)(255)))));
-            this.panel1.CustomColors.CaptionSelectedGradientEnd = System.Drawing.Color.FromArgb(((int)(((byte)(194)))), ((int)(((byte)(224)))), ((int)(((byte)(255)))));
-            this.panel1.CustomColors.CaptionText = System.Drawing.SystemColors.ControlText;
-            this.panel1.CustomColors.CollapsedCaptionText = System.Drawing.SystemColors.ControlText;
-            this.panel1.CustomColors.ContentGradientBegin = System.Drawing.SystemColors.ButtonFace;
-            this.panel1.CustomColors.ContentGradientEnd = System.Drawing.Color.FromArgb(((int)(((byte)(252)))), ((int)(((byte)(252)))), ((int)(((byte)(252)))));
-            this.panel1.CustomColors.InnerBorderColor = System.Drawing.SystemColors.Window;
-            this.panel1.Dock = System.Windows.Forms.DockStyle.Right;
-            this.panel1.ForeColor = System.Drawing.SystemColors.ControlText;
-            this.panel1.Image = null;
-            this.panel1.LinearGradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.panel1.Location = new System.Drawing.Point(808, 0);
-            this.panel1.MinimumSize = new System.Drawing.Size(27, 27);
-            this.panel1.Name = "panel1";
-            this.panel1.PanelStyle = BSE.Windows.Forms.PanelStyle.Default;
-            this.panel1.ShowExpandIcon = true;
-            this.panel1.Size = new System.Drawing.Size(200, 461);
-            this.panel1.TabIndex = 7;
-            this.panel1.Text = "panel1";
-            this.panel1.ToolTipTextCloseIcon = null;
-            this.panel1.ToolTipTextExpandIconPanelCollapsed = null;
-            this.panel1.ToolTipTextExpandIconPanelExpanded = null;
-            // 
-            // splitter2
-            // 
-            this.splitter2.BackColor = System.Drawing.Color.Transparent;
-            this.splitter2.Dock = System.Windows.Forms.DockStyle.Right;
-            this.splitter2.Location = new System.Drawing.Point(805, 0);
-            this.splitter2.Name = "splitter2";
-            this.splitter2.Size = new System.Drawing.Size(3, 461);
-            this.splitter2.TabIndex = 8;
-            this.splitter2.TabStop = false;
-            // 
-            // test
-            // 
-            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
-            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.Controls.Add(this.splitter2);
-            this.Controls.Add(this.panel1);
-            this.Controls.Add(this.splitter1);
-            this.Controls.Add(this.panel3);
-            this.MinimumSize = new System.Drawing.Size(1008, 461);
-            this.Name = "test";
-            this.Size = new System.Drawing.Size(1008, 461);
-            this.Load += new System.EventHandler(this.test_Load);
-            this.ResumeLayout(false);
-
-        }
-
-        #endregion
-
-        private BSE.Windows.Forms.Panel panel3;
-        private BSE.Windows.Forms.Splitter splitter1;
-        private BSE.Windows.Forms.Panel panel1;
-        private BSE.Windows.Forms.Splitter splitter2;
-
-
-
-    }
-}

Tools/ArdupilotMegaPlanner/GCSViews/test.cs

@@ -1,27 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.ComponentModel;
-using System.Drawing;
-using System.Data;
-using System.Linq;
-using System.Text;
-using System.Windows.Forms;
-
-namespace ArdupilotMega.GCSViews
-{
-    public partial class test : UserControl
-    {
-        public test()
-        {
-            InitializeComponent();
-        }
-
-        private void test_Load(object sender, EventArgs e)
-        {
-            panel3.Expand = false;
-            panel1.Expand = false;
-        }
-
-    }
-}
-

Tools/ArdupilotMegaPlanner/HUD.cs

@@ -241,6 +241,7 @@ namespace hud
         }
 
         bool inOnPaint = false;
+        string otherthread = "";
 
         protected override void OnPaint(PaintEventArgs e)
         {
@@ -265,10 +266,12 @@ namespace hud
 
             if (inOnPaint)
             {
-                Console.WriteLine("Was in onpaint Hud th:" + System.Threading.Thread.CurrentThread.Name);
+                Console.WriteLine("Was in onpaint Hud th:" + System.Threading.Thread.CurrentThread.Name + " in " + otherthread);
                 return;
             }
 
+            otherthread = System.Threading.Thread.CurrentThread.Name;
+
             inOnPaint = true;
 
             starttime = DateTime.Now;

Tools/ArdupilotMegaPlanner/Log.es-ES.resx

@@ -0,0 +1,138 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <data name="$this.Text" xml:space="preserve">
+    <value>Log</value>
+  </data>
+  <data name="BUT_DLall.Text" xml:space="preserve">
+    <value>Descargar todos los Logs</value>
+  </data>
+  <data name="BUT_redokml.Text" xml:space="preserve">
+    <value>Recrear KML</value>
+  </data>
+  <data name="BUT_DLthese.Text" xml:space="preserve">
+    <value>Descargar este Log</value>
+  </data>
+  <data name="BUT_clearlogs.Text" xml:space="preserve">
+    <value>Limpiar Logs</value>
+  </data>
+  <data name="BUT_firstperson.Text" xml:space="preserve">
+    <value>KML Primera Persona</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/LogBrowse.es-ES.resx

@@ -0,0 +1,141 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <data name="BUT_loadlog.Text" xml:space="preserve">
+    <value>Cargar un Log</value>
+  </data>
+  <data name="$this.Text" xml:space="preserve">
+    <value>Mostrar Log</value>
+  </data>
+  <data name="Graphit.Text" xml:space="preserve">
+    <value>Gráfico de estos datos</value>
+  </data>
+  <data name="Graphit.ToolTip" xml:space="preserve">
+    <value>Gráficos de la celda actual puso de relieve</value>
+  </data>
+  <data name="BUT_loadlog.ToolTip" xml:space="preserve">
+    <value>Cargar un archivo diferente de Log</value>
+  </data>
+  <data name="BUT_cleargraph.ToolTip" xml:space="preserve">
+    <value>Borrar todos los datos del gráfico</value>
+  </data>
+  <data name="BUT_cleargraph.Text" xml:space="preserve">
+    <value>Limpiar Gráfico</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/MAVLinkTypesenum.cs

@@ -1,13 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Text;
-using System.Runtime.InteropServices;
-
-namespace ArdupilotMega
-{
-    partial class MAVLink
-    {
-
-	}
-}
-

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -760,19 +760,19 @@ namespace ArdupilotMega
                             byte[] buffer = port.download(20);
                             port.Close();
 
-                            if (buffer[0] != 'A' || buffer[1] != 'P') // this is the apvar header
+                            if ((buffer[0] == 'A' || buffer[0] == 'P') && (buffer[1] == 'A' || buffer[1] == 'P')) // this is the apvar header
+                            {
+                                Console.WriteLine("Valid eeprom contents");
+                            }
+                            else
                             {
                                 MessageBox.Show("You dont appear to have uploaded a firmware yet,\n\nPlease goto the firmware page and upload one.");
                                 return;
                             }
-                            else
-                            {
-                                Console.WriteLine("Valid eeprom contents");
-                            }
                         }
                     }
                     catch { }
-                    MessageBox.Show("Can not establish a connection\n\n" + ex.ToString());
+                    //MessageBox.Show("Can not establish a connection\n\n" + ex.ToString());
                     return;
                 }
             }
@@ -1632,9 +1632,9 @@ namespace ArdupilotMega
             MainV2.instance.Invoke((MethodInvoker)delegate
             {
                 loadinglabel.Text = text;
-            });
 
-            Application.DoEvents();
+                Application.DoEvents();
+            });
         }
 
         private static void checkForUpdate()
@@ -1881,7 +1881,6 @@ namespace ArdupilotMega
 
                     while (dataStream.CanRead)
                     {
-                        Application.DoEvents();
                         try
                         {
                             if (dt.Second != DateTime.Now.Second)

Tools/ArdupilotMegaPlanner/Mavlink/MavlinkCRC.cs

@@ -0,0 +1,48 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace ArdupilotMega.Mavlink
+{
+    class MavlinkCRC
+    {
+        const int X25_INIT_CRC = 0xffff;
+        const int X25_VALIDATE_CRC = 0xf0b8;
+
+        public static ushort crc_accumulate(byte b, ushort crc)
+        {
+            unchecked
+            {
+                byte ch = (byte)(b ^ (byte)(crc & 0x00ff));
+                ch = (byte)(ch ^ (ch << 4));
+                return (ushort)((crc >> 8) ^ (ch << 8) ^ (ch << 3) ^ (ch >> 4));
+            }
+        }
+
+        public static ushort crc_calculate(byte[] pBuffer, int length)
+        {
+            if (length < 1)
+            {
+                return 0xffff;
+            }
+            // For a "message" of length bytes contained in the unsigned char array
+            // pointed to by pBuffer, calculate the CRC
+            // crcCalculate(unsigned char* pBuffer, int length, unsigned short* checkConst) < not needed
+
+            ushort crcTmp;
+            int i;
+
+            crcTmp = X25_INIT_CRC;
+
+            for (i = 1; i < length; i++) // skips header U
+            {
+                crcTmp = crc_accumulate(pBuffer[i], crcTmp);
+                //Console.WriteLine(crcTmp + " " + pBuffer[i] + " " + length);
+            }
+
+            return (crcTmp);
+        }
+
+    }
+}

Tools/ArdupilotMegaPlanner/MavlinkLog.es-ES.resx

@@ -0,0 +1,129 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <data name="$this.Text" xml:space="preserve">
+    <value>Log</value>
+  </data>
+  <data name="BUT_redokml.Text" xml:space="preserve">
+    <value>Crear KML</value>
+  </data>
+  <data name="BUT_humanreadable.Text" xml:space="preserve">
+    <value>Convertir a Texto</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs

@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.1.37")]
+[assembly: AssemblyFileVersion("1.1.38")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/SerialInput.es-ES.resx

@@ -0,0 +1,123 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <data name="textBox1.Text" xml:space="preserve">
+    <value>Lo que esto hace. 1. se las actuales coordenadas GPS de un GPS NMEA. 2. envía un WP modo guiado a la AP cada 2 segundos. Como Usar 1. conectar con la AP. 2. el despegue, el modo de prueba guiada está trabajando. 3. abrir este y escoja su puerto com, y la velocidad de su NMEA GPS. 4. ahora debe estar siguiéndote.</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/Models/plus_quad2.xml

@@ -0,0 +1,88 @@
+<?xml version="1.0"?>
+<PropertyList>
+  <!--Airframe-->
+  <path>plus_quad2.ac</path>
+  <offsets>
+    <z-m>0.0</z-m>
+    <y-m>0</y-m>
+    <x-m>0.0</x-m>
+    <pitch-deg>0</pitch-deg>
+    <heading-deg>180</heading-deg>
+  </offsets>
+  <!--Propeller Right-->
+  <animation>
+    <type>noshadow</type>
+    <object-name>prop0</object-name>
+  </animation>
+  <animation>
+    <type>spin</type>
+    <object-name>prop0</object-name>
+    <property>/controls/engines/engine[0]/throttle</property>
+    <factor>12000</factor>
+    <axis>
+      <x1-m>0.000</x1-m>
+      <y1-m>-0.288</y1-m>
+      <z1-m>0.046</z1-m>
+      <x2-m>0.000</x2-m>
+      <y2-m>-0.288</y2-m>
+      <z2-m>0.012</z2-m>
+    </axis>
+  </animation>
+  <!--Propeller Left-->
+  <animation>
+    <type>noshadow</type>
+    <object-name>prop1</object-name>
+  </animation>
+  <animation>
+    <type>spin</type>
+    <object-name>prop1</object-name>
+    <property>/controls/engines/engine[1]/throttle</property>
+    <factor>12000</factor>
+    <axis>
+      <x1-m>0.000</x1-m>
+      <y1-m>0.288</y1-m>
+      <z1-m>0.046</z1-m>
+      <x2-m>0.000</x2-m>
+      <y2-m>0.288</y2-m>
+      <z2-m>0.012</z2-m>
+    </axis>
+  </animation>
+  <!--Propeller Front-->
+  <animation>
+    <type>noshadow</type>
+    <object-name>prop2</object-name>
+  </animation>
+  <animation>
+    <type>spin</type>
+    <object-name>prop2</object-name>
+    <property>/controls/engines/engine[2]/throttle</property>
+    <factor>12000</factor>
+    <axis>
+      <x1-m>0.288</x1-m>
+      <y1-m>0.000</y1-m>
+      <z1-m>0.046</z1-m>
+      <x2-m>0.288</x2-m>
+      <y2-m>0.000</y2-m>
+      <z2-m>0.012</z2-m>
+    </axis>
+  </animation>
+  <!--Propeller Back-->
+  <animation>
+    <type>noshadow</type>
+    <object-name>prop3</object-name>
+  </animation>
+  <animation>
+    <type>spin</type>
+    <object-name>prop3</object-name>
+    <property>/controls/engines/engine[3]/throttle</property>
+    <factor>12000</factor>
+    <axis>
+      <x1-m>-0.288</x1-m>
+      <y1-m>0.000</y1-m>
+      <z1-m>0.046</z1-m>
+      <x2-m>-0.288</x2-m>
+      <y2-m>0.000</y2-m>
+      <z2-m>0.012</z2-m>
+    </axis>
+  </animation>
+</PropertyList>

Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/quad.nas

@@ -0,0 +1,40 @@
+round10 = func(v) {
+	if (v == nil) return 0;
+	return 0.1*int(v*10);
+}
+
+round100 = func(v) {
+	if (v == nil) return 0;
+	return 0.01*int(v*100);
+}
+
+var update_quad = func( ) {
+    asl_ft = getprop("/position/altitude-ft");
+    ground = getprop("/position/ground-elev-ft");
+    agl_m = (asl_ft - ground) * 0.3048;
+
+    setprop("/apm/altitude", round10(agl_m));
+
+    setprop("/apm/pitch",   round10(getprop("/orientation/pitch-deg")));
+    setprop("/apm/roll",    round10(getprop("/orientation/roll-deg")));
+    setprop("/apm/heading", round10(getprop("/orientation/heading-deg")));
+
+    # airspeed-kt is actually in feet per second (FDM NET bug)
+    setprop("/apm/airspeed", round10(0.3048*getprop("/velocities/airspeed-kt")));
+
+    setprop("/apm/motor_right",  round10(getprop("/engines/engine[0]/rpm")/10.0));
+    setprop("/apm/motor_left",   round10(getprop("/engines/engine[1]/rpm")/10.0));
+    setprop("/apm/motor_front",  round10(getprop("/engines/engine[2]/rpm")/10.0));
+    setprop("/apm/motor_back",   round10(getprop("/engines/engine[3]/rpm")/10.0));
+}
+
+var main_loop = func {
+    update_quad();
+    settimer(main_loop, 0);
+}
+
+
+setlistener("/sim/signals/fdm-initialized",
+	    func {
+		main_loop();
+	    });