FlightData: Actions: add safety switch toggle

Needed to add indication of safety state to HUD with this
HeyMiracle · Jul 6, 2023 · 4db7b20 · 4db7b20
1 parent bfed473
commit 4db7b20
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Showing 7 changed files with 42 additions and 7 deletions.
diff --git a/ExtLibs/ArduPilot/CurrentState.cs b/ExtLibs/ArduPilot/CurrentState.cs
@@ -1813,7 +1813,7 @@ public float gimballng
 
         [GroupText("Software")] public bool landed { get; set; }
 
-        [GroupText("Software")] public bool safteyactive { get; set; }
+        [GroupText("Software")] public bool safetyactive { get; set; }
 
         [GroupText("Terrain")] public bool terrainactive { get; set; }
 
@@ -2657,7 +2657,7 @@ private void Parent_OnPacketReceived(object sender, MAVLink.MAVLinkMessage mavLi
 
                             terrainactive = sensors_health.terrain && sensors_enabled.terrain && sensors_present.terrain;
 
-                            safteyactive = !sensors_enabled.motor_control;
+                            safetyactive = !sensors_enabled.motor_control;
 
                             if (errors_count1 > 0 || errors_count2 > 0)
                             {

diff --git a/ExtLibs/Controls/HUD.cs b/ExtLibs/Controls/HUD.cs
@@ -803,6 +803,9 @@ public DateTime datetime
         [System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
         public bool failsafe { get; set; }
 
+        [System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
+        public bool safetyactive { get; set; }
+
         [System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
         public bool lowvoltagealert { get; set; }
 
@@ -2998,7 +3001,7 @@ internal void doPaint()
                     //if ((armedtimer.AddSeconds(8) > DateTime.Now))
                     {
 
-                        var size = calcsize(HUDT.DISARMED, font, fontsize + 10, (SolidBrush)Brushes.Red, Width - 50 - 50);
+                        var size = calcsize(HUDT.DISARMED, fontsize + 10, (SolidBrush)Brushes.Red);
 
                         drawstring(HUDT.DISARMED, font, fontsize + 10, (SolidBrush) Brushes.Red, size.Width/ -2/* - 85*/,
                             halfheight / -3);
@@ -3009,12 +3012,19 @@ internal void doPaint()
                 {
                     if ((armedtimer.AddSeconds(8) > DateTime.Now))
                     {
-                        var size = calcsize(HUDT.ARMED, font, fontsize + 10, (SolidBrush)Brushes.Red, Width - 50 - 50);
+                        var size = calcsize(HUDT.ARMED, fontsize + 20, (SolidBrush)Brushes.Red);
                         drawstring(HUDT.ARMED, font, fontsize + 20, (SolidBrush) Brushes.Red, size.Width / -2/* - 70*/,
                             halfheight / -3);
                         statuslast = status;
                     }
                 }
+
+                if (safetyactive)
+                {
+                    var size = calcsize(HUDT.SAFE, fontsize + 10, (SolidBrush)Brushes.Red);
+                    drawstring(HUDT.SAFE, font, fontsize + 10, (SolidBrush)Brushes.Red, size.Width / -2, halfheight / -6);
+                    statuslast = status;
+                }
 
                 if (failsafe == true)
                 {
@@ -3035,7 +3045,7 @@ internal void doPaint()
 
                     var newfontsize = calcfontsize(message, font, fontsize + 10, (SolidBrush) brush, Width - 50 - 50);
 
-                    var size = calcsize(message, font, newfontsize, (SolidBrush)Brushes.Red, Width - 50 - 50);
+                    var size = calcsize(message, newfontsize, (SolidBrush)Brushes.Red);
 
                     drawstring(message, font, newfontsize, (SolidBrush) brush, size.Width / -2,
                         halfheight / 3);
@@ -3300,7 +3310,7 @@ float calcfontsize(string text, Font font, float fontsize, SolidBrush brush, int
             return fontsize;
         }
 
-        Size calcsize(string text, Font font, float fontsize, SolidBrush brush, int targetwidth)
+        Size calcsize(string text, float fontsize, SolidBrush brush)
         {
             if (text == null)
                 return new Size(0, 0);

diff --git a/ExtLibs/Controls/HUDT.Designer.cs b/ExtLibs/Controls/HUDT.Designer.cs
diff --git a/ExtLibs/Controls/HUDT.resx b/ExtLibs/Controls/HUDT.resx
@@ -233,6 +233,9 @@
   <data name="S" xml:space="preserve">
     <value>S</value>
   </data>
+  <data name="SAFE" xml:space="preserve">
+    <value>SAFE</value>
+  </data>
   <data name="SE" xml:space="preserve">
     <value>SE</value>
   </data>

diff --git a/ExtLibs/Controls/HUDT.zh-Hans.resx b/ExtLibs/Controls/HUDT.zh-Hans.resx
@@ -169,4 +169,7 @@
   <data name="ReadyToArm" xml:space="preserve">
     <value>准备解锁</value>
   </data>
+  <data name="SAFE" xml:space="preserve">
+    <value>安全</value>
+  </data>
 </root>
diff --git a/GCSViews/FlightData.Designer.cs b/GCSViews/FlightData.Designer.cs
diff --git a/GCSViews/FlightData.cs b/GCSViews/FlightData.cs
@@ -182,7 +182,8 @@ public enum actions
             Scripting_cmd_stop_and_restart,
             Scripting_cmd_stop,
             HighLatency_Enable,
-            HighLatency_Disable
+            HighLatency_Disable,
+            Toggle_Safety_Switch,
         }
 
         private Dictionary<int, string> NIC_table = new Dictionary<int, string>()
@@ -1713,6 +1714,14 @@ private void BUTactiondo_Click(object sender, EventArgs e)
                         ((Control)sender).Enabled = true;
                         return;
                     }
+                    if (CMB_action.Text == actions.Toggle_Safety_Switch.ToString())
+                    {
+                        var custom_mode = (MainV2.comPort.MAV.cs.sensors_enabled.motor_control && MainV2.comPort.MAV.cs.sensors_enabled.seen) ? 1u : 0u;
+                        var mode = new MAVLink.mavlink_set_mode_t() { custom_mode = custom_mode };
+                        MainV2.comPort.setMode(mode, MAVLink.MAV_MODE_FLAG.SAFETY_ARMED);
+                        ((Control)sender).Enabled = true;
+                        return;
+                    }
 
                     if (CMB_action.Text == actions.Battery_Reset.ToString())
                     {