public HIL.Vector3 getOffsetFromLeader(MAVLinkInterface leader, MAVLinkInterface mav)
        {
            //convert Wgs84ConversionInfo to utm
            CoordinateTransformationFactory ctfac = new CoordinateTransformationFactory();

            GeographicCoordinateSystem wgs84 = GeographicCoordinateSystem.WGS84;

            int utmzone = (int)((leader.MAV.cs.lng - -186.0) / 6.0);

            IProjectedCoordinateSystem utm = ProjectedCoordinateSystem.WGS84_UTM(utmzone, leader.MAV.cs.lat < 0 ? false : true);

            ICoordinateTransformation trans = ctfac.CreateFromCoordinateSystems(wgs84, utm);

            double[] masterpll = { leader.MAV.cs.lng, leader.MAV.cs.lat };

            // get leader utm coords
            double[] masterutm = trans.MathTransform.Transform(masterpll);

            double[] mavpll = { mav.MAV.cs.lng, mav.MAV.cs.lat };

            //getLeader follower utm coords
            double[] mavutm = trans.MathTransform.Transform(mavpll);

            return new HIL.Vector3(masterutm[1] - mavutm[1], masterutm[0] - mavutm[0], 0);
        }

        public void UpdateIcon(MAVLinkInterface mav, float x, float y, float z, bool movable)
        {
            foreach (var icon in icons)
            {
                if (icon.interf == mav)
                {
                    icon.Movable = movable;
                    if (!movable)
                    {
                        icon.x = 0;
                        icon.y = 0;
                        icon.z = 0;
                        icon.Color = Color.Blue;
                    }
                    else
                    {
                        icon.x = x;
                        icon.y = y;
                        icon.z = z;
                        icon.Color = Color.Red;
                    }
                    this.Invalidate();
                    return;
                }
            }

            Console.WriteLine("ADD MAV {0} {1} {2}",x,y,z);
            icons.Add(new icon() { interf = mav, y=y, z = z,x = x, Movable = movable, Name = mav.ToString() });
        }

        public MAVState(MAVLinkInterface mavLinkInterface)
        {
            this.parent = mavLinkInterface;
            this.packetspersecond = new double[0x100];
            this.packetspersecondbuild = new DateTime[0x100];
            this.lastvalidpacket = DateTime.MinValue;
            this.sysid = 0;
            this.compid = 0;
            sendlinkid = (byte)(new Random().Next(256));
            signing = false;
            this.param = new MAVLinkParamList();
            this.packets = new Dictionary<uint, MAVLinkMessage>();
            this.aptype = 0;
            this.apname = 0;
            this.recvpacketcount = 0;
            this.VersionString = "";
            this.SoftwareVersions = "";
            this.SerialString = "";
            this.FrameString = "";

            camerapoints.Clear();

            GMapMarkerOverlapCount.Clear();

            this.packetslost = 0f;
            this.packetsnotlost = 0f;
            this.packetlosttimer = DateTime.MinValue;
            cs.parent = this;
        }

        public ConfigPanel(string XMLFile, MAVLinkInterface mavinterface)
        {
            _mavinterface = mavinterface;

            InitializeComponent();

            LoadXML(XMLFile);
        }

        public HIL.Vector3 getOffsets(MAVLinkInterface mav)
        {
            if (offsets.ContainsKey(mav))
            {
                return offsets[mav];
            }

            return new HIL.Vector3(offsets.Count, 0, 0);
        }

        public static string tlogToCSV(string filepath)
        {
            CurrentState.SpeedUnit = "m/s";
            CurrentState.DistanceUnit = "m";
            MAVLinkInterface proto = new MAVLinkInterface();

               OpenFileDialog openFileDialog1 = new OpenFileDialog();

               string LogFilePath;
              openFileDialog1.FileName = filepath;

                    foreach (string logfile in openFileDialog1.FileNames)
                    {

                        using (MAVLinkInterface mine = new MAVLinkInterface())
                        {
                            try
                            {
                                mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
                            }
                            catch (Exception ex) { log.Debug(ex.ToString()); }
                            mine.logreadmode = true;

                            mine.MAV.packets.Initialize(); // clear

                            StreamWriter sw = new StreamWriter(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(logfile) + ".csv");

                            while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
                            {

                                byte[] packet = mine.readPacket();
                                string text = "";
                                mine.DebugPacket(packet, ref text, true, ",");

                                sw.Write(mine.lastlogread.ToString("yyyy-MM-ddTHH:mm:ss.fff") + "," + text);
                            }

                            sw.Close();

                            mine.logreadmode = false;
                            mine.logplaybackfile.Close();
                            mine.logplaybackfile = null;
                            LogFilePath = (Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + (Path.GetFileNameWithoutExtension(logfile) + ".csv"));

                            return LogFilePath;
                        }
                    }

                    return null;
        }

        private void BUT_connect_Click(object sender, EventArgs e)
        {
            var mav = new MAVLinkInterface();

            try
            {
                MainV2.instance.doConnect(mav, CMB_serialport.Text, CMB_baudrate.Text);

                MainV2.Comports.Add(mav);
            }
            catch (Exception ex)
            {
            }
        }

        public static string magfit(string logfile)
        {
            //'''find best magnetometer rotation fit to a log file'''

            // print("Processing log %s" % filename);
            // mlog = mavutil.mavlink_connection(filename, notimestamps=opts.notimestamps);

            MAVLinkInterface mavint = new MAVLinkInterface();

            try
            {
                mavint.BaseStream = new Comms.CommsFile();
                mavint.BaseStream.PortName = logfile;
                mavint.BaseStream.Open();
            }
            catch (Exception ex) { return ""; }

            mavint.logreadmode = true;

            return process(mavint);
        }

        public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow,
            MAVLinkInterface mavinterface, MAVState MAV)
        {
            lock (this)
            {
                if (DateTime.Now > lastupdate.AddMilliseconds(50) || updatenow) // 20 hz
                {
                    lastupdate = DateTime.Now;

                    //check if valid mavinterface
                    if (parent != null && parent.packetsnotlost != 0)
                    {
                        if ((DateTime.Now - MAV.lastvalidpacket).TotalSeconds > 10)
                        {
                            linkqualitygcs = 0;
                        }
                        else
                        {
                            linkqualitygcs =
                                (ushort) ((parent.packetsnotlost/(parent.packetsnotlost + parent.packetslost))*100.0);
                        }

                        if (linkqualitygcs > 100)
                            linkqualitygcs = 100;
                    }

                    if (datetime.Second != lastsecondcounter.Second)
                    {
                        lastsecondcounter = datetime;

                        if (lastpos.Lat != 0 && lastpos.Lng != 0 && armed)
                        {
                            if (!mavinterface.BaseStream.IsOpen && !mavinterface.logreadmode)
                                distTraveled = 0;

                            distTraveled += (float) lastpos.GetDistance(new PointLatLngAlt(lat, lng, 0, ""))*
                                            multiplierdist;
                            lastpos = new PointLatLngAlt(lat, lng, 0, "");
                        }
                        else
                        {
                            lastpos = new PointLatLngAlt(lat, lng, 0, "");
                        }

                        // throttle is up, or groundspeed is > 3 m/s
                        if (ch3percent > 12 || _groundspeed > 3.0)
                            timeInAir++;

                        if (!gotwind)
                            dowindcalc();
                    }

                    // re-request streams
                    if (!(lastdata.AddSeconds(8) > DateTime.Now) && mavinterface.BaseStream.IsOpen)
                    {
                        try
                        {
                            mavinterface.requestDatastream(MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, MAV.cs.ratestatus,
                                MAV.sysid); // mode
                            mavinterface.requestDatastream(MAVLink.MAV_DATA_STREAM.POSITION, MAV.cs.rateposition,
                                MAV.sysid); // request gps
                            mavinterface.requestDatastream(MAVLink.MAV_DATA_STREAM.EXTRA1, MAV.cs.rateattitude,
                                MAV.sysid); // request attitude
                            mavinterface.requestDatastream(MAVLink.MAV_DATA_STREAM.EXTRA2, MAV.cs.rateattitude,
                                MAV.sysid); // request vfr
                            mavinterface.requestDatastream(MAVLink.MAV_DATA_STREAM.EXTRA3, MAV.cs.ratesensors, MAV.sysid);
                                // request extra stuff - tridge
                            mavinterface.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MAV.cs.ratesensors,
                                MAV.sysid); // request raw sensor
                            mavinterface.requestDatastream(MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MAV.cs.raterc, MAV.sysid);
                                // request rc info
                        }
                        catch
                        {
                            log.Error("Failed to request rates");
                        }
                        lastdata = DateTime.Now.AddSeconds(30); // prevent flooding
                    }

                    byte[] bytearray = MAV.packets[(byte) MAVLink.MAVLINK_MSG_ID.RC_CHANNELS_SCALED];

                    if (bytearray != null) // hil mavlink 0.9
                    {
                        var hil = bytearray.ByteArrayToStructure<MAVLink.mavlink_rc_channels_scaled_t>(6);

                        hilch1 = hil.chan1_scaled;
                        hilch2 = hil.chan2_scaled;
                        hilch3 = hil.chan3_scaled;
                        hilch4 = hil.chan4_scaled;
                        hilch5 = hil.chan5_scaled;
                        hilch6 = hil.chan6_scaled;
                        hilch7 = hil.chan7_scaled;
                        hilch8 = hil.chan8_scaled;

                        // Console.WriteLine("RC_CHANNELS_SCALED Packet");

                        MAV.packets[(byte) MAVLink.MAVLINK_MSG_ID.RC_CHANNELS_SCALED] = null;
                    }

                    bytearray = MAV.packets[(byte) MAVLink.MAVLINK_MSG_ID.AUTOPILOT_VERSION];
//.........这里部分代码省略.........

        /// <summary>
        /// Processes a tlog to get the offsets - creates dxf of data
        /// </summary>
        /// <param name="fn">Filename</param>
        /// <returns>Offsets</returns>
        public static double[] getOffsets(string fn, int throttleThreshold = 0)
        {
            // based off tridge's work
            string logfile = fn;

            // old method
            float minx = 0;
            float maxx = 0;
            float miny = 0;
            float maxy = 0;
            float minz = 0;
            float maxz = 0;

            // this is for a dxf
            Polyline3dVertex vertex;
            List<Polyline3dVertex> vertexes = new List<Polyline3dVertex>();

            // data storage
            Tuple<float, float, float> offset = new Tuple<float, float, float>(0, 0, 0);
            List<Tuple<float, float, float>> data = new List<Tuple<float, float, float>>();

            Hashtable filter = new Hashtable();

            // track data to use
            bool useData = false;

            if (throttleThreshold <= 0)
                useData = true;

            log.Info("Start log: " + DateTime.Now);

            using (MAVLinkInterface mine = new MAVLinkInterface())
            {
                try
                {
                    mine.logplaybackfile =
                        new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
                }
                catch (Exception ex)
                {
                    log.Debug(ex.ToString());
                    CustomMessageBox.Show("Log Can not be opened. Are you still connected?");
                    return new double[] {0};
                }

                mine.logreadmode = true;

                mine.MAV.packets.Initialize(); // clear

                // gather data
                while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
                {
                    byte[] packetraw = mine.readPacket();

                    var packet = mine.DebugPacket(packetraw, false);

                    // this is for packets we dont know about
                    if (packet == null)
                        continue;

                    if (packet.GetType() == typeof (MAVLink.mavlink_vfr_hud_t))
                    {
                        if (((MAVLink.mavlink_vfr_hud_t) packet).throttle >= throttleThreshold)
                        {
                            useData = true;
                        }
                        else
                        {
                            useData = false;
                        }
                    }

                    if (packet.GetType() == typeof (MAVLink.mavlink_sensor_offsets_t))
                    {
                        offset = new Tuple<float, float, float>(
                            ((MAVLink.mavlink_sensor_offsets_t) packet).mag_ofs_x,
                            ((MAVLink.mavlink_sensor_offsets_t) packet).mag_ofs_y,
                            ((MAVLink.mavlink_sensor_offsets_t) packet).mag_ofs_z);
                    }
                    else if (packet.GetType() == typeof (MAVLink.mavlink_raw_imu_t) && useData)
                    {
                        int div = 20;

                        // fox dxf
                        vertex = new Polyline3dVertex(new Vector3f(
                            ((MAVLink.mavlink_raw_imu_t) packet).xmag - offset.Item1,
                            ((MAVLink.mavlink_raw_imu_t) packet).ymag - offset.Item2,
                            ((MAVLink.mavlink_raw_imu_t) packet).zmag - offset.Item3)
                            );
                        vertexes.Add(vertex);


                        // for old method
                        setMinorMax(((MAVLink.mavlink_raw_imu_t) packet).xmag - offset.Item1, ref minx, ref maxx);
                        setMinorMax(((MAVLink.mavlink_raw_imu_t) packet).ymag - offset.Item2, ref miny, ref maxy);
//.........这里部分代码省略.........

 public void setLeader(MAVLinkInterface lead)
 {
     Leader = lead;
 }

 public void setOffsets(MAVLinkInterface mav, double x, double y, double z)
 {
     offsets[mav] = new HIL.Vector3(x, y, z);
     //log.Info(mav.ToString() + " " + offsets[mav].ToString());
 }

        public void doConnect(MAVLinkInterface comPort, string port, string baud)
        {
            bool skipconnectcheck = true;
            comPort.BaseStream = new MissionPlanner.Comms.SerialPort();

            comPort.BaseStream.PortName = port;
            try
            {
                comPort.BaseStream.BaudRate = int.Parse(baud);
            }
            catch { };

            // 记录tlog文件
            try
            {
                Directory.CreateDirectory("D://LogFiles");
                //Directory.CreateDirectory(MainV2.LogDir);
                comPort.logfile =
                    new BufferedStream(
                        File.Open(
                            "D://LogFiles" + Path.DirectorySeparatorChar +
                            DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".tlog", FileMode.CreateNew,
                            FileAccess.ReadWrite, FileShare.None));

            }
            catch (Exception exp2)
            {
                log.Error(exp2);
                CustomMessageBox.Show(Strings.Failclog);
            } // soft fail


            comPort.Open(false, skipconnectcheck);

            // create a copy
            int[] list = comPort.sysidseen.ToArray();

            comPort.GetParam("MIS_TOTAL");
        }

        public void doConnect(MAVLinkInterface comPort, string portname, string baud)
        {
            bool skipconnectcheck = false;
            log.Info("We are connecting");
            switch (portname)
            {
                case "preset":
                    skipconnectcheck = true;
                    break;
                case "TCP":
                    comPort.BaseStream = new TcpSerial();
                    _connectionControl.CMB_serialport.Text = "TCP";
                    break;
                case "UDP":
                    comPort.BaseStream = new UdpSerial();
                    _connectionControl.CMB_serialport.Text = "UDP";
                    break;
                case "UDPCl":
                    comPort.BaseStream = new UdpSerialConnect();
                    _connectionControl.CMB_serialport.Text = "UDPCl";
                    break;
                case "AUTO":
                default:
                    comPort.BaseStream = new SerialPort();
                    break;
            }

            // Tell the connection UI that we are now connected.
            _connectionControl.IsConnected(true);

            // Here we want to reset the connection stats counter etc.
            this.ResetConnectionStats();

            comPort.MAV.cs.ResetInternals();

            //cleanup any log being played
            comPort.logreadmode = false;
            if (comPort.logplaybackfile != null)
                comPort.logplaybackfile.Close();
            comPort.logplaybackfile = null;

            try
            {
                // do autoscan
                if (portname == "AUTO")
                {
                    Comms.CommsSerialScan.Scan(false);

                    DateTime deadline = DateTime.Now.AddSeconds(50);

                    while (Comms.CommsSerialScan.foundport == false)
                    {
                        System.Threading.Thread.Sleep(100);

                        if (DateTime.Now > deadline)
                        {
                            CustomMessageBox.Show(Strings.Timeout);
                            _connectionControl.IsConnected(false);
                            return;
                        }
                    }

                    _connectionControl.CMB_serialport.Text = portname = Comms.CommsSerialScan.portinterface.PortName;
                    _connectionControl.CMB_baudrate.Text = baud = Comms.CommsSerialScan.portinterface.BaudRate.ToString();
                }

                log.Info("Set Portname");
                // set port, then options
                comPort.BaseStream.PortName = portname;

                log.Info("Set Baudrate");
                try
                {
                    comPort.BaseStream.BaudRate = int.Parse(baud);
                }
                catch (Exception exp)
                {
                    log.Error(exp);
                }

                // prevent serialreader from doing anything
                comPort.giveComport = true;

                log.Info("About to do dtr if needed");
                // reset on connect logic.
                if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
                {
                    log.Info("set dtr rts to false");
                    comPort.BaseStream.DtrEnable = false;
                    comPort.BaseStream.RtsEnable = false;

                    comPort.BaseStream.toggleDTR();
                }

                comPort.giveComport = false;

                // setup to record new logs
                try
                {
                    Directory.CreateDirectory(MainV2.LogDir);
//.........这里部分代码省略.........

        private void but_multimav_Click(object sender, EventArgs e)
        {
            Comms.CommsSerialScan.Scan(false);

            DateTime deadline = DateTime.Now.AddSeconds(50);

            while (Comms.CommsSerialScan.foundport == false)
            {
                System.Threading.Thread.Sleep(100);

                if (DateTime.Now > deadline)
                {
                    CustomMessageBox.Show("Timeout waiting for autoscan/no mavlink device connected");
                    return;
                }
            }

            MAVLinkInterface com2 = new MAVLinkInterface();

            com2.BaseStream.PortName = Comms.CommsSerialScan.portinterface.PortName;
            com2.BaseStream.BaudRate = Comms.CommsSerialScan.portinterface.BaudRate;

            com2.Open(true);

            MainV2.Comports.Add(com2);

            CMB_mavs.DataSource = MainV2.Comports;
        }

        List<string[]> readLog(string fn)
        {
            if (logcache.Count > 0)
                return logcache;

            List<string[]> list = new List<string[]>();

            if (fn.ToLower().EndsWith("tlog"))
            {
                MAVLinkInterface mine = new MAVLinkInterface();
                mine.logplaybackfile = new BinaryReader(File.Open(fn, FileMode.Open, FileAccess.Read, FileShare.Read));
                mine.logreadmode = true;

                mine.MAV.packets.Initialize(); // clear

                CurrentState cs = new CurrentState();

                string[] oldvalues = {""};

                while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
                {

                    byte[] packet = mine.readPacket();

                    cs.datetime = mine.lastlogread;

                    cs.UpdateCurrentSettings(null, true, mine);

                    // old
                    //		line	"GPS: 82686250, 1, 8, -34.1406480, 118.5441900, 0.0000, 309.1900, 315.9500, 0.0000, 279.1200"	string

                    //Status,Time,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs
                    //GPS, 3, 122732, 10, 0.00, -35.3628880, 149.1621961, 808.90, 810.30, 23.30, 94.04

                    string[] vals = new string[] { "GPS", "3",  (cs.datetime.ToUniversalTime() - new DateTime(cs.datetime.Year,cs.datetime.Month,cs.datetime.Day,0,0,0,DateTimeKind.Utc)).TotalMilliseconds.ToString(),
                    cs.satcount.ToString(),cs.gpshdop.ToString(),cs.lat.ToString(),cs.lng.ToString(),cs.altasl.ToString(),cs.altasl.ToString(),cs.groundspeed.ToString(),cs.yaw.ToString()};

                    if (oldvalues.Length > 2 && oldvalues[latpos] == vals[latpos]
                        && oldvalues[lngpos] == vals[lngpos]
                        && oldvalues[altpos] == vals[altpos])
                        continue;

                    oldvalues = vals;

                    list.Add(vals);
                    // 4 5 7
                    Console.Write((mine.logplaybackfile.BaseStream.Position * 100 / mine.logplaybackfile.BaseStream.Length) + "    \r");

                }

                mine.logplaybackfile.Close();

                logcache = list;

                return list;
            }

            StreamReader sr = new StreamReader(fn);

            string lasttime = "0";

            while (!sr.EndOfStream)
            {
                string line = sr.ReadLine();

                if (line.ToLower().StartsWith("gps"))
                {
                    if (!sr.EndOfStream)
                    {
                        string line2 = sr.ReadLine();
                        if (line2.ToLower().StartsWith("att"))
                        {
                            line = string.Concat(line, ",", line2);
                        }
                    }
                    string[] vals = line.Split(new char[] {',',':'});

                    if (lasttime == vals[timepos])
                        continue;

                    lasttime = vals[timepos];

                    list.Add(vals);
                }

            }

            sr.Close();

            logcache = list;

            return list;
        }

        static string process(MAVLinkInterface mavint)
        {
            DateTime Deadline = DateTime.Now.AddSeconds(60);

            Vector3 last_mag = null;
            double last_usec = 0;
            double count = 0;
            double[] total_error = new double[rotations.Length];

            float AHRS_ORIENTATION = 0;
            float COMPASS_ORIENT = 0;
            float COMPASS_EXTERNAL = 0;

            //# now gather all the data
            while (DateTime.Now < Deadline || mavint.BaseStream.BytesToRead > 0)
            {
                MAVLink.MAVLinkMessage packetbytes = mavint.readPacket();
                if (packetbytes.Length < 5)
                    continue;
                object packet = packetbytes.data;
                if (packet == null)
                    continue;
                if (packet is MAVLink.mavlink_param_value_t)
                {
                    MAVLink.mavlink_param_value_t m = (MAVLink.mavlink_param_value_t) packet;
                    if (str(m.param_id) == "AHRS_ORIENTATION")
                        AHRS_ORIENTATION = (int) (m.param_value);
                    if (str(m.param_id) == "COMPASS_ORIENT")
                        COMPASS_ORIENT = (int) (m.param_value);
                    if (str(m.param_id) == "COMPASS_EXTERNAL")
                        COMPASS_EXTERNAL = (int) (m.param_value);
                }

                if (packet is MAVLink.mavlink_raw_imu_t)
                {
                    MAVLink.mavlink_raw_imu_t m = (MAVLink.mavlink_raw_imu_t) packet;
                    Vector3 mag = new Vector3(m.xmag, m.ymag, m.zmag);
                    mag = mag_fixup(mag, AHRS_ORIENTATION, COMPASS_ORIENT, COMPASS_EXTERNAL);
                    Vector3 gyr = new Vector3(m.xgyro, m.ygyro, m.zgyro)*0.001;
                    double usec = m.time_usec;
                    if (last_mag != null && gyr.length() > radians(5.0))
                    {
                        add_errors(mag, gyr, last_mag, (usec - last_usec)*1.0e-6, total_error, rotations);
                        count += 1;
                    }
                    last_mag = mag;
                    last_usec = usec;
                }
            }

            int best_i = 0;
            double best_err = total_error[0];
            foreach (var i in range(len(rotations)))
            {
                Rotation r = rotations[i];
                //  if (!r.is_90_degrees())
                //      continue;

                //if ( opts.verbose) {
                //  print("%s err=%.2f" % (r, total_error[i]/count));}
                if (total_error[i] < best_err)
                {
                    best_i = i;
                    best_err = total_error[i];
                }
            }
            Rotation rans = rotations[best_i];
            Console.WriteLine("Best rotation is {0} err={1} from {2} points", rans, best_err/count, count);
            //print("Best rotation is %s err=%.2f from %u points" % (r, best_err/count, count));
            return rans.name;
        }

        private void but_droneapi_Click(object sender, EventArgs e)
        {
            string droneshareusername = MainV2.getConfig("droneshareusername");

            InputBox.Show("Username", "Username", ref droneshareusername);

            MainV2.config["droneshareusername"] = droneshareusername;

            string dronesharepassword = MainV2.getConfig("dronesharepassword");

            if (dronesharepassword != "")
            {
                try
                {
                    // fail on bad entry
                    var crypto = new Crypto();
                    dronesharepassword = crypto.DecryptString(dronesharepassword);
                }
                catch
                {
                }
            }

            InputBox.Show("Password", "Password", ref dronesharepassword, true);

            var crypto2 = new Crypto();

            string encryptedpw = crypto2.EncryptString(dronesharepassword);

            MainV2.config["dronesharepassword"] = encryptedpw;

            DroneProto dp = new DroneProto();

            if (dp.connect())
            {
                if (dp.loginUser(droneshareusername, dronesharepassword))
                {
                    MAVLinkInterface mine = new MAVLinkInterface();
                    var comfile = new CommsFile();
                    mine.BaseStream = comfile;
                    mine.BaseStream.PortName = @"C:\Users\hog\Documents\apm logs\iris 6-4-14\2014-04-06 09-07-32.tlog";
                    mine.BaseStream.Open();

                    comfile.bps = 4000;

                    mine.getHeartBeat();

                    dp.setVechileId(mine.MAV.Guid, 0, mine.MAV.sysid);

                    dp.startMission();

                    while (true)
                    {
                        byte[] packet = mine.readPacket();

                        dp.SendMavlink(packet, 0);
                    }

                    // dp.close();

                    // mine.Close();
                }
            }
        }

 public void doDisconnect(MAVLinkInterface comPort)
 {
     try
     {
         comPort.BaseStream.DtrEnable = false;
         comPort.Close();
     }
     catch
     {
     }
 }

        private void start_Terminal(bool px4)
        {
            setcomport();

            try
            {
                if (MainV2.comPort != null && MainV2.comPort.BaseStream != null && MainV2.comPort.BaseStream.IsOpen)
                    MainV2.comPort.BaseStream.Close();

                if (comPort.IsOpen)
                {
                    Console.WriteLine("Terminal Start - Close Port");
                    threadrun = false;
                  //  if (DialogResult.Cancel == CustomMessageBox.Show("The port is open\n Continue?", "Continue", MessageBoxButtons.YesNo))
                    {
                      //  return;
                    }

                    comPort.Close();

                    // allow things to cleanup
                    System.Threading.Thread.Sleep(400);
                }

                comPort.ReadBufferSize = 1024 * 1024 * 4;

                comPort.PortName = MainV2.comPortName;

                // test moving baud rate line

                comPort.BaudRate = int.Parse(MainV2._connectionControl.CMB_baudrate.Text);

                if (px4)
                {
                    TXT_terminal.AppendText("Rebooting\n");
                    // keep it local
                    MAVLinkInterface mine = new MAVLinkInterface();

                    mine.BaseStream.PortName = MainV2.comPortName;
                    mine.BaseStream.BaudRate = comPort.BaudRate;

                    mine.giveComport = true;
                    mine.BaseStream.Open();

                    // check if we are a mavlink stream
                    byte[] buffer = mine.readPacket();

                    if (buffer.Length > 0)
                    {
                        log.Info("got packet - sending reboot via mavlink");
                        TXT_terminal.AppendText("Via Mavlink\n");
                        mine.doReboot(false);
                        try
                        {
                            mine.BaseStream.Close();
                        }
                        catch { }

                    }
                    else
                    {
                        log.Info("no packet - sending reboot via console");
                        TXT_terminal.AppendText("Via Console\n");
                        MainV2.comPort.BaseStream.Write("exit\rreboot\r");
                        try
                        {
                            MainV2.comPort.BaseStream.Close();
                        }
                        catch { }

                    }

                    TXT_terminal.AppendText("Waiting for reboot\n");

                    // wait 7 seconds for px4 reboot
                    log.Info("waiting for reboot");
                    DateTime deadline = DateTime.Now.AddSeconds(8);
                    while (DateTime.Now < deadline)
                    {
                        System.Threading.Thread.Sleep(500);
                        Application.DoEvents();
                    }

                    int a = 0;
                    while (a < 5)
                    {
                        try
                        {
                            if (!comPort.IsOpen)
                                comPort.Open();
                        }
                        catch { }
                        System.Threading.Thread.Sleep(200);
                        a++;
                    }

                }
                else
                {

//.........这里部分代码省略.........