WebSVN - Projects - Blame - Rev 2304 - /MKLiveView/v1.0/Source/MainWindow.xaml.cs

Rev	Author	Line No.	Line
2287	-	1	using GMap.NET;
		2	using GMap.NET.MapProviders;
		3	using GMap.NET.WindowsPresentation;
		4	using MKLiveView.GMapCustomMarkers;
		5	using System;
		6	using System.Collections.Generic;
		7	using System.ComponentModel;
		8	using System.Data;
		9	using System.Diagnostics;
		10	using System.IO;
		11	using System.Linq;
		12	using System.Linq.Expressions;
		13	using System.Runtime.InteropServices;
		14	using System.Text;
		15	using System.Threading;
		16	using System.Threading.Tasks;
		17	using System.Windows;
		18	using System.Windows.Controls;
		19	using System.Windows.Data;
		20	using System.Windows.Documents;
		21	using System.Windows.Input;
		22	using System.Windows.Interop;
		23	using System.Windows.Media;
		24	using System.Windows.Media.Animation;
		25	using System.Windows.Media.Imaging;
		26	using System.Windows.Navigation;
		27	using System.Windows.Shapes;
		28	using System.Windows.Threading;
		29
		30	namespace MKLiveView
		31	{
		32	/// <summary>
		33	/// Interaktionslogik für MainWindow.xaml
		34	/// </summary>
		35	public partial class MainWindow : Window
		36	{
2304	-	37	#region declarations
		38
2287	-	39	GMapMarker copter;
		40	GMapMarker home;
		41	PointLatLng start;
		42	PointLatLng end;
		43	PointLatLng pHome;
		44
		45
		46	String[] NC_Error = new string[44]
		47	{
		48	"No Error",
		49	"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		50	"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		51	"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		52	"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		53	"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		54	"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		55	"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		56	"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		57	"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		58	"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		59	"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		60	"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		61	"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		62	"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		63	"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		64	"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		65	"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		66	"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		67	"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		68	"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		69	"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		70	"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		71	"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		72	"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		73	"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		74	"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		75	"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		76	"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		77	"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		78	"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		79	"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		80	"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		81	"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		82	"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		83	"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		84	"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		85	"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		86	"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		87	"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		88	"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		89	"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		90	"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		91	"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		92	};
		93
		94	[FlagsAttribute]
		95	enum NC_HWError0 : short
		96	{
		97	None = 0,
		98	SPI_RX = 1,
		99	COMPASS_RX = 2,
		100	FC_INCOMPATIBLE = 4,
		101	COMPASS_INCOMPATIBLE = 8,
		102	GPS_RX = 16,
		103	COMPASS_VALUE = 32
		104	};
		105	[FlagsAttribute]
		106	enum FC_HWError0 : short
		107	{
		108	None = 0,
		109	GYRO_NICK = 1,
		110	GYRO_ROLL = 2,
		111	GYRO_YAW = 4,
		112	ACC_NICK = 8,
		113	ACC_ROLL = 16,
		114	ACC_TOP = 32,
		115	PRESSURE = 64,
		116	CAREFREE = 128
		117	};
		118	[FlagsAttribute]
		119	enum FC_HWError1 : short
		120	{
		121	None = 0,
		122	I2C = 1,
		123	BL_MISSING = 2,
		124	SPI_RX = 4,
		125	PPM = 8,
		126	MIXER = 16,
		127	RC_VOLTAGE = 32,
		128	ACC_NOT_CAL = 64,
		129	RES3 = 128
		130	};
		131	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		132	// Various colors for logging info
		133	private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red };
		134
		135	bool _bCBInit = true;
		136	bool _init = true;
		137	bool check_HWError = false;
		138
		139	string filePath = Directory.GetCurrentDirectory();
		140	bool bReadContinously = false;
		141	bool _debugDataAutorefresh = true;
		142	bool _navCtrlDataAutorefresh = true;
		143	bool _blctrlDataAutorefresh = true;
		144	bool _OSDAutorefresh = true;
		145	bool _bErrorLog = false;
		146	bool _bConnErr = false;
		147	bool _bFollowCopter = false;
		148
		149	bool _bSaveWinStateNormal = true;
		150	bool _bSaveWinStateFull = true;
		151
		152	double scaleNormalAll = 1;
		153	double scaleNormalTopBar = 1;
		154	double scaleNormalMotors = 1;
		155	double scaleNormalOSD = 1;
		156	double scaleNormalLOG = 1;
		157	double scaleNormalHorizon = 1;
		158
		159	double scaleFullAll = 1;
		160	double scaleFullTopBar = 1;
		161	double scaleFullMotors = 1;
		162	double scaleFullOSD = 1;
		163	double scaleFullLOG = 1;
		164	double scaleFullHorizon = 1;
		165
		166	int _iCtrlAct = 0;
		167	int iOSDPage = 0;
		168	int iOSDMax = 0;
		169	int _iLifeCounter = 0;
		170	int crcError = 0;
		171
2291	-	172	bool _bSatFix = false;
		173	Storyboard stbSatFixLostAnim;
		174	bool _bAnimSatFixActive = false;
		175	bool _bVoiceSatFixActive = false;
		176	bool _bVoiceSatFixPlay = false;
		177	int _iSatsLast = 0;
		178	int _iSatsJitter = 0;
		179
		180	bool _bMagneticFieldOK = false;
		181	Storyboard stbMagneticFieldAnim;
		182	bool _bAnimMagneticFieldActive = false;
		183	bool _bVoiceMagneticFieldActive = false;
		184	bool _bVoiceMagneticFieldPlay = false;
		185	int _iMagneticFieldLast = 0;
		186	int _iMagneticFieldJitter = 0;
		187
		188	bool _bRCLevelOK = false;
		189	Storyboard stbRCLevelAnim;
		190	bool _bAnimRCLevelActive = false;
		191	bool _bVoiceRCLevelActive = false;
		192	bool _bVoiceRCLevelPlay = false;
		193	int _iRCLevelLast = 0;
		194	int _iRCLevelJitter = 0;
		195
2287	-	196	int _iMotors = 4;
		197	int _LipoCells = 4;
		198
		199	double _dLipoVMax = 16.88;
		200	double _dLipoVMin = 12;
		201	double _dThresholdVoltageWarn = 0;
		202	double _dThresholdVoltageCrit = 0;
		203	Storyboard stbVoltageCritAnim;
		204	bool _bCritAnimVoltActive = false;
		205	bool _bCritVoiceVoltActive = false;
2291	-	206	bool _bWarnVoiceVoltActive = false;
2287	-	207	bool _bVoiceVoltPlay = false;
		208	double _dVoltLast = 0;
		209	int _iVoltJitter = 0;
		210
2291	-	211	double _dThresholdDistanceWarn = 100;
		212	Storyboard stbDistanceWarnAnim;
		213	bool _bAnimDistanceActive = false;
		214	bool _bVoiceDistanceActive = false;
		215	bool _bVoiceDistancePlay = false;
		216	double _dDistanceLast = 0;
		217	int _iDistanceJitter = 0;
		218
		219	double _dThresholdDistanceMax = 1000;
		220	int _iThresholdRC = 160;
		221	int _iThresholdMagField = 15;
		222
2295	-	223	bool _bAutoHome = false;
		224	bool _bFirstSatFix = false;
		225	int _iFirstSatFix = 0;
2291	-	226
2287	-	227	double _dTopHeight = 36;
		228
		229	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		230	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		231	string[] serChanTitle = new string[12];
		232
		233	string[] sAnalogLabel = new string[32];
		234	string[] sAnalogData = new string[32];
		235
		236	int[] iTimings = new int[] {100,150,200,250,300,350,400,450,500,550,600,650,700,750,800,850,900,950,1000,1100,1200,1300,1400,1500,1600,1700,1800,1900,2000 };
		237	int[] iMotors = new int[] {3,4,5,6,7,8,9,10,11,12 };
		238	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		239	/// <summary>
		240	/// interval for sending debugdata (multiplied by 10ms)
		241	/// </summary>
		242	byte debugInterval = 10; //(=> 100ms)
		243	/// <summary>
		244	/// interval for sending BL-CTRL status (multiplied by 10ms)
		245	/// </summary>
		246	byte blctrlInterval = 75;
		247	/// <summary>
		248	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		249	/// </summary>
		250	byte navctrlInterval = 80;
		251	/// <summary>
		252	/// interval for sending OSD page update (multiplied by 10ms)
		253	/// </summary>
		254	byte OSDInterval = 85;
		255	/// <summary>
		256	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		257	/// </summary>
		258	DataTable dtAnalog = new DataTable();
		259	/// <summary>
		260	/// datatable for motordata (current,temp)
		261	/// </summary>
		262	DataTable dtMotors1 = new DataTable();
		263
		264	DataTable dtWaypoints = new DataTable();
		265	static volatile int _iWP = -1;
		266	bool _bGetWP = false;
		267	static volatile bool _bGetWPCount = false;
		268
		269	DispatcherTimer timer = new DispatcherTimer();
		270
		271	/// <summary>
		272	/// stuff for enabeling touch zoom for the map
		273	/// </summary>
		274	Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0);
		275	int iFirstStylusID = -1;
		276	public string connectButtonText
		277	{
		278	get
		279	{
		280	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		281	}
		282	}
		283
		284	WinState winState = new WinState();
2304	-	285	#endregion declarations
2287	-	286	public MainWindow()
		287	{
		288	InitializeComponent();
		289	_initForm();
		290	_dataTablesInit();
		291	_setupMap();
		292	_init = false;
		293	timer.Tick += new EventHandler(timerEvent);
		294	timer.Interval = new TimeSpan(0, 0, 1);
		295	timer.Start();
		296	}
		297
		298	#region init
		299	void _initForm()
		300	{
		301	_readIni();
		302	if (_bSaveWinStateNormal)
		303	_setScaleSliders(false);
		304	cBoxTimingsDebug.ItemsSource =
		305	cBoxTimingsNav.ItemsSource =
		306	cBoxTimingsBl.ItemsSource =
		307	cBoxTimingsOSD.ItemsSource =
		308	iTimings;
		309	cBoxLiPoCells.ItemsSource = sLiPoCells;
		310	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		311	_LipoMinMax();
		312	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		313	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		314	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
2291	-	315	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		316	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		317	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		318	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		319	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
2287	-	320
2291	-	321	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		322
2287	-	323	cBoxMotors.ItemsSource = iMotors;
		324	cBoxMotors.SelectedItem = _iMotors;
		325
		326	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		327	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		328	serialPortCtrl.DataReceived += processMessage;
		329
		330	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		331	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		332	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		333	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		334
		335	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		336	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		337	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		338	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
2295	-	339	checkBoxAutoSetHP.IsChecked = _bAutoHome;
2287	-	340	checkBoxFollowCopter.IsChecked = _bFollowCopter;
		341
		342
		343	}
		344	/// <summary>
		345	/// initialize the datatables
		346	/// with columnnames etc
		347	/// </summary>
		348	void _dataTablesInit()
		349	{
		350	//dtAnalog.Columns.Add("ID");
		351	//dtAnalog.Columns.Add("Value");
		352	// dataGridView1.DataSource = dtAnalog;
		353
		354	dtMotors1.Columns.Add("#");
		355	if (Thread.CurrentThread.CurrentUICulture.Name == "")
		356	dtMotors1.Columns.Add("Current");
		357	else
		358	dtMotors1.Columns.Add("Strom");
		359	dtMotors1.Columns.Add("Temp");
		360	//dtMotors2.Columns.Add("#");
		361	//if (Thread.CurrentThread.CurrentUICulture.Name == "")
		362	// dtMotors2.Columns.Add("Current");
		363	//else
		364	// dtMotors2.Columns.Add("Strom");
		365	//dtMotors2.Columns.Add("Temp");
		366	dgvMotors1.DataContext = dtMotors1.DefaultView;
		367	//dgvMotors2.DataContext = dtMotors2.DefaultView;
		368	_initDTMotors();
		369	//dgvMotors1.Columns[0].Width = 24;
		370	//dgvMotors1.Columns[1].Width = 74;
		371	//dgvMotors1.Columns[2].Width = 74;
		372	//dgvMotors2.Columns[0].Width = 24;
		373	//dgvMotors2.Columns[1].Width = 74;
		374	//dgvMotors2.Columns[2].Width = 74;
		375
		376	dtWaypoints.Columns.Add("Index");
		377	dtWaypoints.Columns.Add("Type");
		378	dtWaypoints.Columns.Add("Name");
		379	dtWaypoints.Columns.Add("Latitude");
		380	dtWaypoints.Columns.Add("Longitude");
		381	dtWaypoints.Columns.Add("Altitude");
		382	dtWaypoints.Columns.Add("Heading");
		383	dtWaypoints.Columns.Add("Speed");
		384	dtWaypoints.Columns.Add("Altitude rate");
		385	dtWaypoints.Columns.Add("Tol radius");
		386	dtWaypoints.Columns.Add("Hold time");
		387	dtWaypoints.Columns.Add("AutoTrigger");
		388	dtWaypoints.Columns.Add("Cam angle");
		389	dtWaypoints.Columns.Add("Event");
		390	dtWaypoints.Columns.Add("Eventchan Val");
		391	dtWaypoints.Columns.Add("Status");
		392	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		393	dgvWP.DataContext = dtWaypoints.DefaultView;
		394	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0));
		395	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		396	style.Setters.Add(setter);
		397	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		398	style.Setters.Add(setter);
		399	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		400	style.Setters.Add(setter);
		401	dgvWP.ColumnHeaderStyle = new Style();
		402	dgvWP.ColumnHeaderStyle = style;
		403	}
		404	/// <summary>
		405	/// initialize the 2 datatables for motor values
		406	/// dtMotors1 - motor 1 - 4
		407	/// dtMotors2 - motor 5 - 8
		408	/// DataGridView dgvMotors1/2 are bound to dtMotors1/2
		409	/// </summary>
		410	void _initDTMotors()
		411	{
		412	for (int i = 0; i < 12; i++)
		413	{
		414	if (dtMotors1.Rows.Count < 12)
		415	dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA");
		416	else
		417	{
		418	dtMotors1.Rows[i].SetField(1, "NA");
		419	dtMotors1.Rows[i].SetField(2, "NA");
		420	}
		421	//if (dtMotors2.Rows.Count < 4)
		422	// dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA");
		423	//else
		424	//{
		425	// dtMotors2.Rows[i].SetField(1, "NA");
		426	// dtMotors2.Rows[i].SetField(2, "NA");
		427	//}
		428	}
		429	// Dispatcher.Invoke((Action)(() => dgvMotors1.UpdateLayout()));
		430	//dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh()));
		431	}
		432
		433	#endregion init
		434
		435	#region events
		436	private void serialPortCtrl_PortOpened()
		437	{
		438	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		439	_getVersion();
		440	Thread.Sleep(100);
		441	//_OSDMenue(0);
		442	//Thread.Sleep(200);
		443	//_sendSerialData();
		444	_readCont(true);
		445	}
		446	private void serialPortCtrl_PortClosed()
		447	{
		448	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		449	_readCont(false);
		450	}
		451	void timerEvent(object sender, EventArgs e)
		452	{
		453	if (bReadContinously)
		454	{
		455	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		456
		457	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		458
		459	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		460	check_HWError = true;
		461	_getVersion();
		462	Thread.Sleep(10);
		463	if (_OSDAutorefresh)
		464	{
		465	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		466	_initOSDCB();
		467	_OSDMenueAutoRefresh();
		468	}
		469	if (_iLifeCounter > 0)
		470	{
		471	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		472	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		473	_iLifeCounter = 0;
		474	_bConnErr = false;
		475	}
		476	else
		477	{
		478	if (!_bConnErr)
		479	{
		480	Log(LogMsgType.Error, "No communication to NC/FC!");
		481	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		482	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		483	_bConnErr = true;
		484	}
		485	}
		486	}
		487	}
		488
		489	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		490	{
		491	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		492	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		493	}
		494	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		495	{
		496	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		497	if (GridMotors.IsVisible)
		498	_setMotorGridSize();
		499	}
		500	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		501	{
		502	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		503	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		504	}
		505	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		506	{
		507	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		508	}
		509	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		510	{
		511	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		512	}
		513	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		514	{
		515	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		516	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		517	}
		518
		519	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		520	{
		521	Thread t = new Thread(new ThreadStart(_getWP));
		522	t.Start();
		523	}
		524	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		525	{
		526
		527	}
		528
		529	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		530	{
		531	if (!serialPortCtrl.Port.IsOpen)
		532	serialPortCtrl.Connect(true);
		533	else
		534	_readCont(!bReadContinously);
		535	}
		536	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		537	{
		538	setHomePos();
		539	}
		540	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		541	{
		542	clearHomePos();
		543	}
		544	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		545	{
		546	if (home != null && MainMap.Markers.Contains(home))
		547	MainMap.Position = home.Position;
		548	}
2295	-	549	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		550	{
		551	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		552	}
2287	-	553	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		554	{
		555	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		556	}
		557	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		558	{
		559	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		560	}
		561
2291	-	562	#region thresholds
2287	-	563	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		564	{
		565	if(!_init)
		566	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		567	}
		568	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		569	{
		570	if(!_init)
		571	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		572	}
		573	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		574	{
		575	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		576	}
2291	-	577
		578	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		579	{
		580	if(!_init)
		581	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		582	}
		583	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		584	{
		585	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		586	}
		587
		588	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		589	{
		590	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		591	}
		592	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		593	{
		594	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		595	}
		596	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		597	{
		598	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		599	}
		600	#endregion thresholds
		601
2287	-	602	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		603	{
		604	_switchToNC();
		605	}
		606
		607	private void Window_Loaded(object sender, RoutedEventArgs e)
		608	{
		609	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
2291	-	610	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		611	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		612	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		613	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
2287	-	614	_setMotorGridSize();
		615	}
		616	#endregion events
		617
		618	#region GMap
		619
		620	void _setupMap()
		621	{
		622	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		623	MainMap.MapProvider = GMapProviders.BingHybridMap;
		624	MainMap.SetPositionByKeywords("Landshut");
		625	MainMap.MinZoom = 0;
		626	MainMap.MaxZoom = 24;
		627	MainMap.Zoom = 16;
		628	MainMap.ShowCenter = true;
		629	MainMap.ShowTileGridLines = false;
		630	sliderMapZoom.Value = 16;
		631	comboBoxMapType.ItemsSource = providerList;
		632	comboBoxMapType.DisplayMemberPath = "Name";
		633	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		634
		635	// acccess mode
		636	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		637	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		638
		639	}
		640
		641	/// <summary>
		642	/// selection of relevant map providers --> if You need more, You can change the line:
		643	/// comboBoxMapType.ItemsSource = providerList;
		644	/// to:
		645	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		646	/// in _setupMap()
		647	/// or add items here:
		648	/// </summary>
		649	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		650	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		651	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		652	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		653	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		654
		655	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		656	{
		657	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		658	copter = new GMapMarker(MainMap.Position);
		659	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		660	copter.Offset = new System.Windows.Point(-18, -18);
		661	copter.ZIndex = int.MaxValue;
		662	MainMap.Markers.Add(copter);
		663	copter.Position = MainMap.Position;
		664	}
		665	void setHomePos()
		666	{
		667	pHome = MainMap.Position;
		668	if (!MainMap.Markers.Contains(home))
		669	{
		670	home = new GMapMarker(MainMap.Position);
		671	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		672	home.Offset = new System.Windows.Point(-18, -18);
		673	// home.ZIndex = int.MaxValue;
		674	MainMap.Markers.Add(home);
		675	}
		676	home.Position = MainMap.Position;
		677	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		678	}
		679	void clearHomePos()
		680	{
		681	MainMap.Markers.Remove(home);
		682	}
		683
		684	// access mode
		685	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		686	{
		687	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		688	MainMap.ReloadMap();
		689	}
		690	// zoom up
		691	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		692	{
		693	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		694	}
		695
		696	// zoom down
		697	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		698	{
		699	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		700	}
		701
		702	// prefetch
		703	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		704	{
		705	RectLatLng area = MainMap.SelectedArea;
		706	if (!area.IsEmpty)
		707	{
		708	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		709	{
		710	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		711
		712	if (res == MessageBoxResult.Yes)
		713	{
		714	TilePrefetcher obj = new TilePrefetcher();
		715	obj.Owner = this;
		716	obj.ShowCompleteMessage = true;
		717	obj.Start(area, i, MainMap.MapProvider, 100);
		718	}
		719	else if (res == MessageBoxResult.No)
		720	{
		721	continue;
		722	}
		723	else if (res == MessageBoxResult.Cancel)
		724	{
		725	break;
		726	}
		727	}
		728	}
		729	else
		730	{
		731	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		732	}
		733	}
		734
		735	// goto by geocoder
		736	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		737	{
		738	_goto_byGeoCoder();
		739	}
		740	// goto by geocoder
		741	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		742	{
		743	if (e.Key == System.Windows.Input.Key.Enter)
		744	_goto_byGeoCoder();
		745	}
		746	void _goto_byGeoCoder()
		747	{
		748	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		749	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		750	{
		751	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		752	}
		753	}
		754	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		755	{
		756	try
		757	{
		758	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		759	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		760
		761	MainMap.Position = new PointLatLng(lat, lng);
		762	}
		763	catch (Exception ex)
		764	{
		765	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		766	}
		767
		768	}
		769
		770	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		771	{
		772	MainMap.ReloadMap();
		773	}
		774
		775	private void MainMap_OnPositionChanged(PointLatLng point)
		776	{
		777	if (_bFollowCopter)
		778	_setCopterData(MainMap.Position);
		779	}
		780
		781	private void MainMap_OnMapZoomChanged()
		782	{
		783	if (_bFollowCopter)
		784	_setCopterData(MainMap.Position);
		785	if((int)sliderMapZoom.Value != MainMap.Zoom)
		786	sliderMapZoom.Value = MainMap.Zoom;
		787	}
		788
		789	void _setCopterData(PointLatLng p)
		790	{
		791	Dispatcher.Invoke(() =>
		792	{
		793	copter.Position = p;
		794	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		795	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		796	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		797	});
		798	if (home != null && MainMap.Markers.Contains(home))
		799	{
		800	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		801	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		802	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	803
		804	if(d*1000 < _dThresholdDistanceWarn)
		805	{
		806	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		807	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		808	{
		809	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		810	_bAnimDistanceActive = false;
		811	}
		812	}
		813	else
		814	{
		815	if (_iDistanceJitter < 20)
		816	{ _iDistanceJitter++; }
		817	if (_iDistanceJitter == 20)
		818	{
		819	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		820	{
		821	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		822	_bAnimDistanceActive = true;
		823	}
		824	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		825	{
2295	-	826	Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		827	t.Start();
2291	-	828	_bVoiceDistanceActive = true;
		829	}
		830	_iDistanceJitter++;
		831	}
		832	}
2287	-	833	}
		834	}
		835
		836	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		837	{
		838	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		839	}
		840
		841	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		842	{
		843	if (MainMap.Zoom != sliderMapZoom.Value)
		844	MainMap.Zoom = (int)sliderMapZoom.Value;
		845	}
		846	#region Touch zooming hackattack ;)
		847	/// <summary>
		848	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		849	/// </summary>
		850	bool bFirstAccess = true;
		851	double dDistance = 0;
		852	int iZoom;
		853	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		854	{
		855	var id = e.StylusDevice.Id;
		856	e.StylusDevice.Capture(MainMap);
		857	if (iFirstStylusID == -1)
		858	{
		859	iFirstStylusID = id;
		860	}
		861	else
		862	{
		863
		864	MainMap.CanDragMap = false;
		865	}
		866	}
		867	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		868	{
		869	MainMap.ReleaseStylusCapture();
		870	iFirstStylusID = -1;
		871	bFirstAccess = true;
		872	MainMap.CanDragMap = true;
		873	iZoom = 0;
		874	}
		875	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		876	{
		877	var id = e.StylusDevice.Id;
		878	var tp = e.GetPosition(MainMap);
		879
		880	// This is the first Stylus point; just record its position.
		881	if (id == iFirstStylusID)
		882	{
		883	pTouch1.X = tp.X;
		884	pTouch1.Y = tp.Y;
		885	}
		886	else
		887	if (iFirstStylusID > -1)
		888	{
		889	pTouch2.X = tp.X;
		890	pTouch2.Y = tp.Y;
		891	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		892	if (!bFirstAccess)
		893	{
		894	if (distance > dDistance)
		895	iZoom++;
		896	else
		897	if (distance < dDistance)
		898	iZoom--;
		899	}
		900	if (iZoom > 30)
		901	{
		902	iZoom = 0;
		903	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		904	}
		905	if (iZoom < -30)
		906	{
		907	iZoom = 0;
		908	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		909	}
		910	dDistance = distance;
		911	bFirstAccess = false;
		912	}
		913	}
		914	#endregion Touch zooming hackattack ;)
		915
		916	#endregion GMap
		917
		918	#region settings
		919	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		920	{
		921	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		922	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		923	}
		924	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		925	{
		926	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		927	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		928	}
		929	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		930	{
		931	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		932	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		933	}
		934	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		935	{
		936	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		937	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		938	}
		939	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		940	{
		941	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		942	}
		943	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		944	{
		945	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		946	}
		947	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		948	{
		949	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		950	}
		951	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		952	{
		953	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		954	}
		955
		956	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		957	{
		958	if (cBoxLiPoCells.SelectedIndex > -1)
		959	{
		960	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		961	_LipoMinMax();
		962	}
		963	}
		964	void _LipoMinMax()
		965	{
		966	_dLipoVMax = (double)(_LipoCells) * 4.22;
		967	_dLipoVMin = (double)_LipoCells * 3;
		968	pbTopVoltage.Maximum = _dLipoVMax;
		969	pbTopVoltage.Minimum = _dLipoVMin;
		970	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		971	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		972	}
		973	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		974	{
		975	if (cBoxMotors.SelectedIndex > -1)
		976	{
		977	_iMotors = cBoxMotors.SelectedIndex + 3;
		978	Dispatcher.Invoke(() =>
		979	{
		980	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		981	GridMotors.Height = dgvMotors1.Height + 10;
		982	});
		983	}
		984	}
		985	void _setMotorGridSize()
		986	{
		987	if (dgvMotors1.Columns.Count > 2)
		988	{
		989	dgvMotors1.Columns[0].Width = 24;
		990	dgvMotors1.Columns[1].Width = 50;
		991	dgvMotors1.Columns[2].Width = 50;
		992	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		993	GridMotors.Height = dgvMotors1.Height + 10;
		994	}
		995
		996	}
		997	#endregion settings
		998
		999	#region functions
		1000
		1001	#region logging
		1002	/// <summary> Log data to the terminal window. </summary>
		1003	/// <param name="msgtype"> The type of message to be written. </param>
		1004	/// <param name="msg"> The string containing the message to be shown. </param>
		1005	private void Log(LogMsgType msgtype, string msg)
		1006	{
		1007	Dispatcher.Invoke(() =>
		1008	{
		1009	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1010	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1011	// rtfTerminal.AppendText(msg + "\r");
		1012	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1013	tr.Text = msg;
		1014	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1015	rtfTerminal.AppendText("\r");
		1016	rtfTerminal.ScrollToEnd();
		1017	});
		1018	}
		1019	private void ErrorLog(LogMsgType msgtype, string msg)
		1020	{
		1021	Dispatcher.Invoke(() =>
		1022	{
		1023	TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1024	tr.Text = msg;
		1025	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1026	rtfError.AppendText("\r");
		1027	rtfError.ScrollToEnd();
		1028
		1029	_bErrorLog = true;
		1030	});
		1031	}
		1032	/// <summary>
		1033	/// Clear the line in the errorlog window
		1034	/// containing the error string when error has ceased
		1035	/// </summary>
		1036	/// <param name="s">substring of errrormessage</param>
		1037	void _clearErrorLog(string s)
		1038	{
		1039	Dispatcher.Invoke((Action)(() =>
		1040	{
		1041	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1042	TextRange foundRange = FindTextInRange(searchRange, s);
		1043
		1044	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1045
		1046
		1047	if (iStart > -1)
		1048	{
		1049	int iLength = 0;
		1050	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1051	if (iEnd > 0)
		1052	{
		1053	iLength = iEnd + 1;
		1054	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1055	if (iHttp == iLength)
		1056	{
		1057	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1058	if (iEnd2 > iLength)
		1059	{
		1060	iLength = iEnd2 + 1;
		1061	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1062
		1063	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1064	rtfError.Selection.Text = string.Empty;
		1065	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1066	}
		1067
		1068	}
		1069	else
		1070	{
		1071	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1072	rtfError.Selection.Text = string.Empty;
		1073	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1074	}
		1075	}
		1076	}
		1077	}));
		1078
		1079	}
		1080	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1081	{
		1082	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1083	if (offset < 0)
		1084	return null; // Not found
		1085
		1086	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1087	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1088
		1089	return result;
		1090	}
		1091	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1092	{
		1093	while (position != null)
		1094	{
		1095	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1096	{
		1097	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1098	if (characterCount <= count)
		1099	{
		1100	return position.GetPositionAtOffset(characterCount);
		1101	}
		1102
		1103	characterCount -= count;
		1104	}
		1105
		1106	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1107	if (nextContextPosition == null)
		1108	return position;
		1109
		1110	position = nextContextPosition;
		1111	}
		1112
		1113	return position;
		1114	}
		1115	#endregion logging
		1116
		1117	#region processing received data
		1118
		1119	private void processMessage(byte[] message)
		1120	{
		1121	if (message.Length > 0)
		1122	{
		1123	_iLifeCounter++;
		1124	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1125	//Log(LogMsgType.Incoming, message.Length.ToString());
		1126	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1127	char cmdID;
		1128	byte adr;
		1129	byte[] data;
		1130	byte[] tmp = null;
		1131	if (message[0] != '#')
		1132	{
		1133	int iFound = -1;
		1134	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1135	{ //so this is a workaround to not spam the log box
		1136	if (message[i] == 35)
		1137	{
		1138	iFound = i;
		1139	break;
		1140	}
		1141	}
		1142	if (iFound > 0)
		1143	{
		1144	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1145	tmp = new byte[message.Length - iFound];
		1146	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1147	}
		1148	s = s.Trim('\0', '\n', '\r');
		1149	if (s.Length > 0)
		1150	Log(LogMsgType.Normal, s);
		1151	if (tmp != null)
		1152	{
		1153	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1154	processMessage(tmp);
		1155	}
		1156	}
		1157	//Debug.Print(s);
		1158	else
		1159	{
		1160	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1161
		1162	if (adr == 255) { crcError++; }
		1163	else crcError = 0;
		1164	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1165	//display the active controller (FC / NC)
		1166	if (adr > 0 && adr < 3 && adr != _iCtrlAct) //adr < 3: temporary workaround cause when I've connected the FC alone it always switches between mk3mag & FC every second...???
		1167	{
		1168	_iCtrlAct = adr;
		1169	switch (adr)
		1170	{
		1171	case 1:
		1172	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2298	-	1173	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
2287	-	1174	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1175	// _setFieldsNA(); //display fields NA for FC
		1176	break;
		1177	case 2:
		1178	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1179	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1180	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1181	break;
		1182	//case 3:
		1183	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1184	// break;
		1185	//case 4:
		1186	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1187	// break;
		1188	default:
		1189	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1190	break;
		1191	}
		1192	// _loadLabelNames();
		1193	}
		1194	// else
		1195	// Debug.Print("Address == 0?");
		1196
		1197	if (data != null && data.Length > 0)
		1198	{
		1199	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1200	s = s.Trim('\0', '\n');
		1201
		1202	switch (cmdID)
		1203	{
		1204	//case 'A': //Label names
		1205	// _processLabelNames(s);
		1206	// break;
		1207
		1208	case 'D': //Debug data
		1209	_processDebugVals(adr, data);
		1210	break;
		1211
		1212	case 'V': //Version
		1213	_processVersion(adr, data);
		1214	break;
		1215
		1216	case 'K'://BL-CTRL data
		1217	_processBLCtrl(data);
		1218	break;
		1219
		1220	case 'O': //NC Data
		1221	_processNCData(data);
		1222	break;
		1223
		1224	case 'E': //NC error-string
		1225	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1226	break;
		1227
		1228	case 'L': //OSD Menue (called by pagenumber)
		1229	_processOSDSingle(data);
		1230	break;
		1231
		1232	case 'H': //OSD Menue (with autoupdate - called by Key)
		1233	_processOSDAuto(data);
		1234	break;
		1235
		1236	case 'X': //Waypoint data
		1237	_processWPData(data);
		1238	break;
		1239
		1240	//default:
		1241	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1242	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1243	// break;
		1244	}
		1245	}
		1246	//else
		1247	//{
		1248	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1249	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1250	//}
		1251	}
		1252	}
		1253	}
		1254	/// <summary>
		1255	/// Analog label names 'A'
		1256	/// each label name is returned as a single string
		1257	/// and added to string array sAnalogLabel[]
		1258	/// and the datatable dtAnalog
		1259	/// </summary>
		1260	/// <param name="s">the label name</param>
		1261	void _processLabelNames(string s)
		1262	{
		1263	//if (iLableIndex < 32)
		1264	//{
		1265	// sAnalogLabel[iLableIndex] = s;
		1266	// if (dtAnalog.Rows.Count < 32)
		1267	// dtAnalog.Rows.Add(s, "");
		1268	// else
		1269	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1270
		1271	// // _getAnalogLabels(iLableIndex + 1);
		1272	//}
		1273	//Debug.Print(s);
		1274	}
		1275	/// <summary>
		1276	/// Debug values 'D'
		1277	/// </summary>
		1278	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1279	/// <param name="data">the received byte array to process</param>
		1280	void _processDebugVals(byte adr, byte[] data)
		1281	{
		1282	if (data.Length == 66)
		1283	{
		1284	int[] iAnalogData = new int[32];
		1285	double v;
		1286	int index = 0;
		1287	Int16 i16 = 0;
		1288	double dTemp = 0;
		1289	for (int i = 2; i < 66; i += 2)
		1290	{
		1291	i16 = data[i + 1];
		1292	i16 = (Int16)(i16 << 8);
		1293	iAnalogData[index] = data[i] + i16;
		1294	sAnalogData[index] = (data[i] + i16).ToString();
		1295	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1296
		1297	if (adr == 2) //NC
		1298	{
		1299	switch (index)
		1300	{
		1301	case 0: //pitch (German: nick)
		1302	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1303	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1304	break;
		1305	case 1: //roll
		1306	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1307	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1308	break;
		1309	case 4: //altitude
		1310	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1311	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1312	break;
		1313	case 7: //Voltage
		1314	v = (double)iAnalogData[index] / (double)10;
		1315	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1316	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1317	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1318	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1319	{
		1320	if (v == _dVoltLast)
		1321	if(_iVoltJitter < 20) _iVoltJitter++;
		1322	else
		1323	{
		1324	_iVoltJitter = 0;
		1325	_dVoltLast = v;
		1326	}
		1327	if (_iVoltJitter == 20)
		1328	{
		1329	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1330
		1331	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1332	{
		1333	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1334	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1335	{
		1336	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1337	_bCritAnimVoltActive = true;
		1338	}
		1339	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1340	{
2295	-	1341	Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1342	t.Start();
2287	-	1343	_bCritVoiceVoltActive = true;
		1344	}
		1345	}
		1346	else
		1347	{
		1348	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1349	{
		1350	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1351	_bCritAnimVoltActive = false;
		1352	}
		1353	_bCritVoiceVoltActive = false;
		1354
2291	-	1355	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1356	{
2295	-	1357	Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1358	t.Start();
2291	-	1359	_bWarnVoiceVoltActive = true;
2287	-	1360	}
		1361	}
		1362	}
		1363	}
		1364	else
		1365	{
		1366	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1367	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1368	{
		1369	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1370	_bCritAnimVoltActive = false;
		1371	}
		1372	_bCritVoiceVoltActive = false;
2291	-	1373	_bWarnVoiceVoltActive = false;
2287	-	1374	_iVoltJitter = 0;
		1375	}
		1376	break;
		1377	case 8: // Current
		1378	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1379	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1380	break;
		1381	case 10: //heading
2291	-	1382	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2287	-	1383	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1384	break;
		1385	case 12: // SPI error
2291	-	1386	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1387	break;
		1388	case 14: //i2c error
2291	-	1389	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1390	break;
		1391	case 20: //Earthmagnet field
2291	-	1392	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1393	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1394
		1395	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1396	{
		1397	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1398	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1399	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1400	{
		1401	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1402	_bAnimMagneticFieldActive = false;
		1403	}
		1404	}
		1405	else
		1406	{
		1407	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1408	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1409	{
		1410	if (_iMagneticFieldJitter < 20)
		1411	_iMagneticFieldJitter++;
		1412	}
		1413	else
		1414	{
		1415	_iMagneticFieldJitter = 0;
		1416	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1417	}
		1418	if(_iMagneticFieldJitter == 20)
		1419	{
		1420	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1421	{
		1422	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1423	_bAnimMagneticFieldActive = true;
		1424	}
		1425	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1426	{
2295	-	1427	Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1428	t.Start();
2291	-	1429	_bVoiceMagneticFieldActive = true;
		1430	}
		1431	}
		1432	}
2287	-	1433	break;
		1434	case 21: //GroundSpeed
		1435	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1436	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1437	break;
2291	-	1438
		1439	///******** needs testing --> not sure what position this is *************
2287	-	1440	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1441	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1442	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1443	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1444	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1445	dTemp = Math.Sqrt(dTemp) / (double)10;
		1446	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1447	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1448	break;
2291	-	1449
2287	-	1450	case 31: //Sats used
		1451	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1452	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1453	break;
		1454	}
		1455	}
		1456	index++;
		1457	}
		1458	}
		1459	else
		1460	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1461	}
		1462	/// <summary>
		1463	/// Version string 'V'
		1464	/// </summary>
		1465	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1466	/// <param name="data">the received byte array to process</param>
		1467	void _processVersion(byte adr, byte[] data)
		1468	{
		1469	if (data.Length == 12)
		1470	{
		1471	if (!check_HWError)
		1472	{
		1473	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1474	string sVersion = "";
		1475	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1476	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1477	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1478	Log(LogMsgType.Incoming, sVersion);
		1479	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1480	Log(LogMsgType.Incoming, sVersion);
		1481	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1482	}
		1483	if (data[5] > 0) //error0
		1484	{
		1485	if (adr == 1)
		1486	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		1487	if (adr == 2)
		1488	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		1489	}
		1490	if (data[6] > 0) //error1
		1491	{
		1492	if (adr == 1)
		1493	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		1494	if (adr == 2)
		1495	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		1496	}
		1497	if ((data[5] + data[6] == 0) && _bErrorLog)
		1498	_clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		1499
		1500	}
		1501	check_HWError = false;
		1502	}
		1503	/// <summary>
		1504	/// BL-Ctrl data 'K'
		1505	/// for FC you have to use a customized firmware
		1506	/// </summary>
		1507	/// <param name="data">the received byte array to process</param>
		1508	void _processBLCtrl(byte[] data)
		1509	{
		1510	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1511	{
		1512	bool bAvailable = false;
		1513	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1514	{
		1515
		1516	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1517	bAvailable = true;
		1518	else
		1519	bAvailable = false;
		1520
		1521	if (data[i] < _iMotors)
		1522	{
		1523	if (bAvailable)
		1524	{
		1525	dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1526	dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
		1527	}
		1528	else
		1529	{
		1530	dtMotors1.Rows[data[i]].SetField(1, "NA");
		1531	dtMotors1.Rows[data[i]].SetField(2, "NA");
		1532	}
		1533	}
		1534	//if (data[i] > 3 && data[i] < 8)
		1535	//{
		1536	// if (bAvailable)
		1537	// {
		1538	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1539	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1540	// }
		1541	// else
		1542	// {
		1543	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1544	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1545	// }
		1546	//}
		1547	}
		1548	}
		1549	}
		1550	/// <summary>
		1551	/// Navi-Ctrl data 'O'
		1552	/// GPS-Position, capacatiy, flying time...
		1553	/// </summary>
		1554	/// <param name="data">the received byte array to process</param>
		1555	void _processNCData(byte[] data)
		1556	{
		1557	int i_32, i_16, iVal;
		1558	double d;
		1559	i_32 = data[4];
		1560	iVal = i_32 << 24;
		1561	i_32 = data[3];
		1562	iVal += i_32 << 16;
		1563	i_32 = data[2];
		1564	iVal += i_32 << 8;
		1565	iVal += data[1];
		1566	d = (double)iVal / Math.Pow(10, 7);
		1567
		1568	PointLatLng p = new PointLatLng();
		1569
		1570	p.Lng = d;
		1571	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1572	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1573
		1574	i_32 = data[8];
		1575	iVal = i_32 << 24;
		1576	i_32 = data[7];
		1577	iVal += i_32 << 16;
		1578	i_32 = data[6];
		1579	iVal += i_32 << 8;
		1580	iVal += data[5];
		1581	d = (double)iVal / Math.Pow(10, 7);
		1582	p.Lat = d;
2291	-	1583	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1584	{
		1585	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1586	if(_bAutoHome && !_bFirstSatFix)
		1587	{
		1588	if (_iFirstSatFix < 3)
		1589	_iFirstSatFix++;
		1590	else
		1591	{
		1592	_bFirstSatFix = true;
		1593	Dispatcher.Invoke(() => setHomePos());
		1594	}
		1595	}
2291	-	1596	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1597	{
		1598	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1599	_bAnimSatFixActive = false;
		1600	}
		1601	if (!_bFollowCopter)
		1602	{
		1603	_setCopterData(p);
		1604	if (!MainMap.ViewArea.Contains(p))
		1605	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1606
2291	-	1607	}
		1608	else
2287	-	1609	Dispatcher.Invoke(() => MainMap.Position = p);
		1610	}
		1611	else
2291	-	1612	{
		1613	if(_bSatFix)
		1614	{
		1615	if (data[50] == _iSatsLast)
		1616	{
		1617	if (_iSatsJitter < 20) _iSatsJitter++;
		1618	}
		1619	else
		1620	{
		1621	_iSatsJitter = 0;
		1622	_iSatsLast = data[50];
		1623	}
2287	-	1624
2291	-	1625	if (_iSatsJitter == 20)
		1626	{
		1627	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1628	{
		1629	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1630	_bAnimSatFixActive = true;
		1631	}
		1632	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1633	{
2295	-	1634	Thread th = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1635	th.Start();
2291	-	1636	_bVoiceSatFixActive = true;
		1637	}
		1638
		1639	_bSatFix = false;
		1640	}
		1641	}
		1642	}
		1643
2287	-	1644	// lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
		1645	//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
		1646
		1647	i_16 = data[28];
		1648	i_16 = (Int16)(i_16 << 8);
		1649	iVal = data[27] + i_16;
		1650	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1651
		1652	i_16 = data[45];
		1653	i_16 = (Int16)(i_16 << 8);
		1654	iVal = data[44] + i_16;
		1655	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1656	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1657
		1658	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
		1659	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
		1660
		1661	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1662
		1663
		1664	//--------------- Capacity used ------------------------
		1665	i_16 = data[81];
		1666	i_16 = (Int16)(i_16 << 8);
		1667	iVal = data[80] + i_16;
		1668	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1669	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1670
		1671	//--------------- Flying time ------------------------
		1672	i_16 = data[56];
		1673	i_16 = (Int16)(i_16 << 8);
		1674	iVal = data[55] + i_16;
		1675	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1676	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1677	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1678	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1679
		1680	//--------------- RC quality ------------------------
		1681	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1682	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1683
2291	-	1684	if(data[66] > _iThresholdRC)
		1685	{
		1686	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1687	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1688	{
		1689	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1690	_bAnimRCLevelActive = false;
		1691	}
		1692	}
		1693	else
		1694	{
		1695	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1696	if (_iRCLevelJitter == 20)
		1697	{
		1698	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1699	{
		1700	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1701	_bAnimRCLevelActive = true;
		1702	}
		1703	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1704	{
2295	-	1705	Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1706	th.Start();
2291	-	1707	_bVoiceRCLevelActive = true;
		1708	}
		1709	_iRCLevelJitter++;
		1710	}
		1711	}
		1712
2287	-	1713	//--------------- NC Error ------------------------
		1714	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1715	if (data[69] > 0)
		1716	_readNCError();
		1717	if (data[69] > 0 & data[69] < 44)
		1718	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
		1719	else
		1720	if (_bErrorLog) _clearErrorLog("NC Error");
		1721
2298	-	1722	//-------------FC / NC Status Flags
		1723	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1724	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1725	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1726	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1727	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1728	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1729
		1730	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1731	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1732	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1733	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1734	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1735	Dispatcher.Invoke((Action)(() => FC2_6.Background = ((data[74] & 32) ==32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground
		1736	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		1737	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		1738
		1739	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1740	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1741	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1742	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1743	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1744	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1745	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	1746
		1747	//Sidebar StatusSymbols
		1748	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1749	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Foreground = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255,211,210,210))));// FC_STATUS_MOTOR_RUN 0x01
		1750	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.BorderBrush = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_MOTOR_RUN 0x01
		1751
		1752	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1753	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Foreground = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		1754	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.BorderBrush = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		1755
		1756	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	1757	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Foreground = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_EMERGENCY_LANDING 0x10
		1758	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.BorderBrush = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_EMERGENCY_LANDING 0x10
2299	-	1759
		1760	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1761	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Foreground = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1762	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.BorderBrush = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1763
		1764	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	1765	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Background = (((data[68] & 2) == 2)\|((data[68] & 4) == 4)) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		1766	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Foreground = (((data[68] & 2) == 2)\|((data[68] & 4) == 4)) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		1767	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.BorderBrush = (((data[68] & 2) == 2)\|((data[68] & 4) == 4)) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2299	-	1768
2287	-	1769	}
		1770	/// <summary>
		1771	/// Navi-Ctrl WP data struct 'X'
		1772	/// called by index
		1773	/// </summary>
		1774	/// <param name="data">the received byte array to process</param>
		1775	void _processWPData(byte[] data)
		1776	{
		1777	_iWP = data[0];
		1778	_bGetWPCount = false;
		1779	if (data.Length >= 28)
		1780	{
		1781	//int count = data[0];
		1782	//int index = data[1];
		1783	//cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Clear()));
		1784	//for (int i = 0; i < count; i++)
		1785	// cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Add(i + 1)));
		1786	//cbWPIndex.Invoke((Action)(() => cbWPIndex.SelectedItem = index));
		1787	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		1788	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		1789	if (_bGetWP)
		1790	{
		1791	if (data[1] == 1)
		1792	dtWaypoints.Rows.Clear();
		1793	DataRow dr = dtWaypoints.NewRow();
		1794	dr = Waypoints.toDataRow(data, dr);
		1795	//if (dtWaypoints.Rows.Contains(data[1]))
		1796	//{
		1797	// dtWaypoints.Rows.Find(data[1]).Delete();
		1798	// dtWaypoints.Rows.InsertAt(dr, data[1] - 1);
		1799	//}
		1800	//else
		1801	dtWaypoints.Rows.Add(dr);
		1802
		1803	if (data[1] == data[0])
		1804	{
		1805	_bGetWP = false;
		1806	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1807	}
		1808
		1809	}
		1810	}
		1811	else
		1812	{
		1813	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		1814	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		1815	// Debug.Print(new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length)));
		1816	}
		1817	}
		1818	/// <summary>
		1819	/// OSD Menue 'L'
		1820	/// single page called by pagenumber
		1821	/// no autoupdate
		1822	/// </summary>
		1823	/// <param name="data">the received byte array to process</param>
		1824	void _processOSDSingle(byte[] data)
		1825	{
		1826	if (data.Length == 84)
		1827	{
		1828	string sMessage = "";
		1829	iOSDPage = data[0];
		1830	iOSDMax = data[1];
		1831	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		1832	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		1833	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1834	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1835	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1836	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1837	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		1838	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		1839
		1840	}
		1841	//else
		1842	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		1843
		1844	}
		1845	/// <summary>
		1846	/// OSD Menue 'H'
		1847	/// called by keys (0x01,0x02,0x03,0x04)
		1848	/// autoupdate
		1849	/// </summary>
		1850	/// <param name="data">the received byte array to process</param>
		1851	void _processOSDAuto(byte[] data)
		1852	{
		1853	if (data.Length == 81)
		1854	{
		1855	string sMessage = "";
		1856	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		1857	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1858	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1859	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1860	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1861
		1862	}
		1863	//else
		1864	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		1865	}
		1866
		1867	#endregion processing received data
		1868
		1869	#region controller messages
		1870	/// <summary> send message to controller to request data
		1871	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1872	/// </summary>
		1873	/// <param name="CMDID"> the command ID </param>
		1874	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1875	private void _sendControllerMessage(char CMDID, byte address)
		1876	{
		1877	if (serialPortCtrl.Port.IsOpen)
		1878	{
		1879	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1880	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		1881	serialStream.Write(bytes, 0, bytes.Length);
		1882
		1883	}
		1884	else
		1885	Log(LogMsgType.Error, "NOT CONNECTED!");
		1886	}
		1887	/// <summary> send message to controller to request data
		1888	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1889	/// </summary>
		1890	/// <param name="CMDID"> the command ID </param>
		1891	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1892	/// <param name="data"> additional data for the request</param>
		1893	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		1894	{
		1895	if (serialPortCtrl.Port.IsOpen)
		1896	{
		1897	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1898	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		1899	serialStream.Write(bytes, 0, bytes.Length);
		1900
		1901	}
		1902	else
		1903	Log(LogMsgType.Error, "NOT CONNECTED!");
		1904	}
		1905
		1906	/// <summary>
		1907	/// start/stop continous polling of controller values
		1908	/// </summary>
		1909	/// <param name="b">start/stop switch</param>
		1910	void _readCont(bool b)
		1911	{
		1912	bReadContinously = b;
		1913	if (bReadContinously)
		1914	{
		1915	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		1916	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		1917	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		1918	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		1919	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		1920	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		1921	}
		1922	else
		1923	{
		1924	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		1925	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		1926	_bConnErr = false;
		1927	}
		1928	_iLifeCounter = 0;
		1929	}
		1930
		1931	private void _getVersion()
		1932	{
		1933	_sendControllerMessage('v', 0);
		1934	}
		1935	/// <summary>
		1936	/// get FC version struct via NC
		1937	/// by sending '1' as data (not documented in wiki...)
		1938	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		1939	/// </summary>
		1940	/// <param name="ctrl">controller number 1=FC</param>
		1941	private void _getVersion(byte ctrl)
		1942	{
		1943	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		1944	}
		1945	/// <summary>
		1946	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		1947	/// </summary>
		1948	private void _switchToNC()
		1949	{
		1950	if (serialPortCtrl.Port.IsOpen)
		1951	{
		1952	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1953	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		1954	serialStream.Write(bytes, 0, bytes.Length);
		1955
		1956	Thread.Sleep(100);
		1957	_getVersion();
		1958	Thread.Sleep(100);
		1959	// _OSDMenue(0);
		1960	}
		1961	else
		1962	Log(LogMsgType.Error, "NOT CONNECTED!");
		1963	}
		1964	/// <summary>
		1965	/// switch to FC
		1966	/// </summary>
		1967	private void _switchToFC()
		1968	{
		1969	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		1970	Thread.Sleep(100);
		1971	_getVersion();
		1972	Thread.Sleep(100);
		1973	// _OSDMenue(0);
		1974	}
		1975	/// <summary>
		1976	/// send RESET signal to FC
		1977	/// </summary>
		1978	private void _resetCtrl()
		1979	{
		1980	_sendControllerMessage('R', 1);
		1981	}
		1982	/// <summary>
		1983	/// poll the debug data (4sec subscription)
		1984	/// </summary>
		1985	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1986	private void _readDebugData(bool auto)
		1987	{
		1988	byte interval = auto ? debugInterval : (byte)0;
		1989	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		1990	}
		1991	/// <summary>
		1992	/// poll the BL-CTRL status via NC (4sec subscription)
		1993	/// </summary>
		1994	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1995	private void _readBLCtrl(bool auto)
		1996	{
		1997	byte interval = auto ? blctrlInterval : (byte)0;
		1998	_sendControllerMessage('k', 0, new byte[1] { interval });
		1999	}
		2000	/// <summary>
		2001	/// poll the NC data struct (4sec subscription)
		2002	/// </summary>
		2003	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2004	private void _readNavData(bool auto)
		2005	{
		2006	byte interval = auto ? navctrlInterval : (byte)0;
		2007	_sendControllerMessage('o', 2, new byte[1] { interval });
		2008	}
		2009	/// <summary>
		2010	/// get the errortext for pending NC error
		2011	/// </summary>
		2012	private void _readNCError()
		2013	{
		2014	_sendControllerMessage('e', 2);
		2015	}
		2016	/// <summary>
		2017	/// request the Waypoint at index
		2018	/// </summary>
		2019	/// <param name="index"></param>
		2020	void _getpWP(int index)
		2021	{
		2022	if (serialPortCtrl.Port.IsOpen)
		2023	{
		2024	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2025	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2026	serialStream.Write(bytes, 0, bytes.Length);
		2027	}
		2028	else
		2029	Log(LogMsgType.Error, "NOT CONNECTED!");
		2030
		2031	}
		2032	void _getWP()
		2033	{
		2034	//if (_iWP > 0)
		2035	//{
		2036	// _getWPList();
		2037	//}
		2038	//else
		2039	//{
		2040	// if (_iWP == -1)
		2041	// {
		2042	_bGetWPCount = true;
		2043	_getpWP(1);
		2044	while (_bGetWPCount)
		2045	Thread.Sleep(100);
		2046	if (_iWP > 0)
		2047	_getWPList();
		2048	// }
		2049	//}
		2050	}
		2051	void _getWPList()
		2052	{
		2053	_bGetWP = true;
		2054	for (int j = 0; j < _iWP; j++)
		2055	{
		2056	_getpWP(j + 1);
		2057	Thread.Sleep(10);
		2058	}
		2059	}
		2060
		2061
		2062	#region OSD-Menue
		2063
		2064	/// <summary>
		2065	/// one time query of the OSD Menue with pagenumber
		2066	/// </summary>
		2067	/// <param name="iMenue">Menue page</param>
		2068	void _OSDMenue(int iMenue)
		2069	{
		2070	if (serialPortCtrl.Port.IsOpen)
		2071	{
		2072	if (iMenue > iOSDMax)
		2073	iMenue = 0;
		2074	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2075	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2076	serialStream.Write(bytes, 0, bytes.Length);
		2077	}
		2078	else
		2079	Log(LogMsgType.Error, "NOT CONNECTED!");
		2080
		2081	}
		2082	/// <summary>
		2083	/// call the OSDMenue and start autorefresh
		2084	/// usually by sending a menuekey
		2085	/// a bit tricky - but by sending inverted value of 32 (32 = 0010 0000) you can start the OSD menue with autoupdate (abo) without switching the page with the keyvalues (0x1, 0x2)
		2086	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2087	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2088	/// </summary>
		2089	void _OSDMenueAutoRefresh()
		2090	{
		2091	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2092	}
		2093	void _OSDMenueAutoRefresh(byte key)
		2094	{
		2095	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2096	}
		2097	/// <summary>
		2098	/// initialize the OSD menue combobox
		2099	/// combox is filled by numbers from 0 to max pagenumber
		2100	/// </summary>
		2101	void _initOSDCB()
		2102	{
		2103	_bCBInit = true;
		2104	if (iOSDMax == 0)
		2105	{
		2106	_OSDMenue(0);
		2107	Thread.Sleep(10);
		2108	}
		2109	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2110	for (int i = 0; i <= iOSDMax; i++)
		2111	{
		2112	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2113	}
		2114	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2115	_bCBInit = false;
		2116	}
		2117	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2118	{
		2119	iOSDPage++;
		2120	if (iOSDPage > iOSDMax)
		2121	iOSDPage = 0;
		2122
		2123	_OSDMenue(iOSDPage);
		2124	}
		2125	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2126	{
		2127	iOSDPage--;
		2128	if (iOSDPage < 0)
		2129	iOSDPage = iOSDMax;
		2130
		2131	_OSDMenue(iOSDPage);
		2132	}
		2133	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2134	{
		2135	_OSDMenueAutoRefresh(8);
		2136	}
		2137	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2138	{
		2139	_OSDMenueAutoRefresh(4);
		2140	}
		2141	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2142	{
		2143	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2144	_OSDMenue(cbOSD.SelectedIndex);
		2145	}
		2146	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2147	{
		2148	Dispatcher.Invoke(() =>
		2149	{
		2150	TextRange tr;
		2151	if (bNew)
		2152	{
		2153	rtfOSD.SelectAll();
		2154	rtfOSD.Selection.Text = string.Empty;
		2155	}
		2156	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2157	tr.Text = msg;
		2158	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2159	// rtfOSD.AppendText("\r");
		2160	rtfOSD.ScrollToEnd();
		2161
		2162	});
		2163	}
		2164
		2165	#endregion OSD-Menue
		2166
		2167	#endregion controller messages
		2168
2295	-	2169	void _mediaPlayer(string file)
		2170	{
		2171	if (File.Exists(file))
		2172	{
		2173	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		2174	mp.Open(file);
		2175	mp.Play();
		2176	}
		2177	}
2287	-	2178	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2179	{
		2180	if (winState.isMaximized)
		2181	{
		2182	winState.Restore(this);
		2183	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2184	if(_bSaveWinStateFull)
		2185	_saveScaleSliders(true);
		2186	if(_bSaveWinStateNormal)
		2187	_setScaleSliders(false);
		2188	}
		2189	else
		2190	{
		2191	winState.Maximize(this);
		2192	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2193	if(_bSaveWinStateNormal)
		2194	_saveScaleSliders(false);
		2195	if(_bSaveWinStateFull)
		2196	_setScaleSliders(true);
		2197	}
		2198	}
		2199
		2200	/// <summary>
		2201	/// reset the scaling of all UI elements to default
		2202	/// </summary>
		2203	/// <param name="sender"></param>
		2204	/// <param name="e"></param>
		2205	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2206	{
		2207	UIScaleHorizonSlider.Value =
		2208	UIScaleLOGSlider.Value =
		2209	UIScaleMotorsSlider.Value =
		2210	UIScaleOSDSlider.Value =
		2211	UIScaleSlider.Value =
		2212	UIScaleTopSlider.Value = 1;
		2213	}
		2214	/// <summary>
		2215	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2216	/// </summary>
		2217	/// <param name="sender"></param>
		2218	/// <param name="e"></param>
		2219	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2220	{
		2221	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2222	if (GridMotors != null)
		2223	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2224	if (GridSideBar != null)
		2225	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2226	if (GridOSD != null)
		2227	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2228	if (GridData != null)
		2229	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2230	if (GridWP != null)
		2231	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2232	}
		2233
		2234	void _setScaleSliders(bool bFull)
		2235	{
		2236	if(bFull)
		2237	{
		2238	UIScaleSlider.Value = scaleFullAll;
		2239	UIScaleTopSlider.Value = scaleFullTopBar;
		2240	UIScaleMotorsSlider.Value = scaleFullMotors;
		2241	UIScaleOSDSlider.Value = scaleFullOSD;
		2242	UIScaleLOGSlider.Value = scaleFullLOG;
		2243	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2244	}
		2245	else
		2246	{
		2247	UIScaleSlider.Value = scaleNormalAll;
		2248	UIScaleTopSlider.Value = scaleNormalTopBar;
		2249	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2250	UIScaleOSDSlider.Value = scaleNormalOSD;
		2251	UIScaleLOGSlider.Value = scaleNormalLOG;
		2252	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2253	}
		2254	}
		2255
		2256	void _saveScaleSliders(bool bFull)
		2257	{
		2258
		2259	if (bFull)
		2260	{
		2261	scaleFullAll = UIScaleSlider.Value;
		2262	scaleFullTopBar = UIScaleTopSlider.Value;
		2263	scaleFullMotors = UIScaleMotorsSlider.Value;
		2264	scaleFullOSD = UIScaleOSDSlider.Value;
		2265	scaleFullLOG = UIScaleLOGSlider.Value;
		2266	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2267	}
		2268	else
		2269	{
		2270	scaleNormalAll = UIScaleSlider.Value;
		2271	scaleNormalTopBar = UIScaleTopSlider.Value;
		2272	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2273	scaleNormalOSD = UIScaleOSDSlider.Value;
		2274	scaleNormalLOG = UIScaleLOGSlider.Value;
		2275	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2276	}
		2277	}
		2278
		2279	/// <summary>
		2280	/// read settings from ini-file
		2281	/// </summary>
		2282	void _readIni()
		2283	{
		2284	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2285	_writeIni();
		2286	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2287	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2288
		2289	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
2295	-	2290	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
2287	-	2291	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
2295	-	2292	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
2287	-	2293	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
2295	-	2294	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
2287	-	2295	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
2295	-	2296	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2297
		2298	sVal = ini.IniReadValue("timings", "IntervalDebugData");
2295	-	2299	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
2287	-	2300	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
2295	-	2301	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
2287	-	2302	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
2295	-	2303	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
2287	-	2304	sVal = ini.IniReadValue("timings", "IntervalOSDData");
2295	-	2305	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2306
		2307	sVal = ini.IniReadValue("topBar", "voltage");
2295	-	2308	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
2287	-	2309	sVal = ini.IniReadValue("topBar", "capacity");
2295	-	2310	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
2287	-	2311	sVal = ini.IniReadValue("topBar", "current");
2295	-	2312	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
2287	-	2313	sVal = ini.IniReadValue("topBar", "flightTime");
2295	-	2314	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
2287	-	2315	sVal = ini.IniReadValue("topBar", "distanceHP");
2295	-	2316	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
2287	-	2317	sVal = ini.IniReadValue("topBar", "height");
2295	-	2318	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
2287	-	2319	sVal = ini.IniReadValue("topBar", "speed");
2295	-	2320	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
2287	-	2321	sVal = ini.IniReadValue("topBar", "magneticField");
2295	-	2322	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
2287	-	2323	sVal = ini.IniReadValue("topBar", "satellites");
2295	-	2324	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
2287	-	2325	sVal = ini.IniReadValue("topBar", "rc");
2295	-	2326	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2327
		2328	sVal = ini.IniReadValue("style", "saveFullScreen");
2295	-	2329	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2330	sVal = ini.IniReadValue("style", "saveNormalState");
2295	-	2331	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2332
		2333	sVal = ini.IniReadValue("style", "scaleNormalAll");
2295	-	2334	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
2287	-	2335	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
2295	-	2336	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
2287	-	2337	sVal = ini.IniReadValue("style", "scaleNormalMotors");
2295	-	2338	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
2287	-	2339	sVal = ini.IniReadValue("style", "scaleNormalOSD");
2295	-	2340	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
2287	-	2341	sVal = ini.IniReadValue("style", "scaleNormalLOG");
2295	-	2342	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
2287	-	2343	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
2295	-	2344	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2345
		2346	sVal = ini.IniReadValue("style", "scaleFullAll");
2295	-	2347	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
2287	-	2348	sVal = ini.IniReadValue("style", "scaleFullTopBar");
2295	-	2349	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
2287	-	2350	sVal = ini.IniReadValue("style", "scaleFullMotors");
2295	-	2351	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
2287	-	2352	sVal = ini.IniReadValue("style", "scaleFullOSD");
2295	-	2353	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
2287	-	2354	sVal = ini.IniReadValue("style", "scaleFullLOG");
2295	-	2355	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
2287	-	2356	sVal = ini.IniReadValue("style", "scaleFullHorizon");
2295	-	2357	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2358
		2359	sVal = ini.IniReadValue("general", "LiPoCells");
		2360	_LipoCells = Convert.ToInt16(sVal);
		2361	sVal = ini.IniReadValue("general", "Motors");
2295	-	2362	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2363
		2364	sVal = ini.IniReadValue("map", "followMe");
2295	-	2365	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2366	sVal = ini.IniReadValue("map", "AutoSetHome");
		2367	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2287	-	2368
		2369	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2370	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2371	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2372	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
2291	-	2373	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
2287	-	2374	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
2291	-	2375	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2376	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2377	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2378	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2379	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2380	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2381	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2382	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2383	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2384	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2385	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2386	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2387	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2388	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2389	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2390	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2287	-	2391
		2392	}
		2393
2291	-	2394
2287	-	2395	/// <summary>
		2396	/// save settings to ini-file
		2397	/// </summary>
		2398	void _writeIni()
		2399	{
		2400
		2401	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2402	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2403
		2404	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2405	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2406	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2407	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
		2408
		2409	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2410	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2411	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2412	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
		2413
		2414	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2415	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
		2416
		2417	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
2295	-	2418	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2287	-	2419
		2420	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2421	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2422	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2423	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2424	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2425	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2426	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2427	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2428	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2429	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
		2430
		2431	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2432	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
		2433
		2434	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2435	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2436	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2437	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2438	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2439	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
		2440
		2441	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2442	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2443	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2444	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2445	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2446	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
		2447
		2448	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2449
		2450	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2451	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
2291	-	2452	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2453	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2454	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2455	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2456	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2457	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2458	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2459	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2460	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2287	-	2461	}
		2462	#endregion functions
		2463
2295	-	2464
2287	-	2465	private void Window_Closing(object sender, CancelEventArgs e)
		2466	{
		2467	_writeIni();
		2468	}
		2469	}
		2470	public class BooleanToVisibilityConverter : IValueConverter
		2471	{
		2472
		2473	public object Convert(object value, Type targetType, object parameter, System.Globalization.CultureInfo culture)
		2474	{
		2475	return (bool)value ? Visibility.Visible : Visibility.Collapsed;
		2476	}
		2477
		2478	public object ConvertBack(object value, Type targetType, object parameter, System.Globalization.CultureInfo culture)
		2479	{
		2480	throw new NotImplementedException();
		2481	}
		2482	}
		2483
		2484	public class IniFile
		2485	{
		2486	public string path;
		2487
		2488	[DllImport("kernel32")]
		2489	private static extern long WritePrivateProfileString(string section,
		2490	string key, string val, string filePath);
		2491
		2492	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		2493	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		2494	uint nSize, string lpFileName);
		2495
		2496	[DllImport("kernel32")]
		2497	private static extern int GetPrivateProfileString(string section,
		2498	string key, string def, StringBuilder retVal,
		2499	int size, string filePath);
		2500
		2501	public IniFile(string INIPath)
		2502	{
		2503	path = INIPath;
		2504	}
		2505
		2506	public void IniWriteValue(string Section, string Key, string Value)
		2507	{
		2508	WritePrivateProfileString(Section, Key, Value, this.path);
		2509	}
		2510
		2511	public string IniReadValue(string Section, string Key)
		2512	{
		2513	StringBuilder temp = new StringBuilder(255);
		2514	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		2515	return temp.ToString();
		2516	}
		2517	//Ini_sections auslesen in String-Array
		2518	public string[] IniSectionNames()
		2519	{
		2520
		2521	// uint MAX_BUFFER = 32767;
		2522	uint MAX_BUFFER = 8388608;
		2523	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		2524	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		2525	if (bytesReturned == 0)
		2526	{
		2527	Marshal.FreeCoTaskMem(pReturnedString);
		2528	return null;
		2529	}
		2530	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		2531	Marshal.FreeCoTaskMem(pReturnedString);
		2532	//use of Substring below removes terminating null for split
		2533	return local.Substring(0, local.Length - 1).Split('\0');
		2534
		2535
		2536	}
		2537	}
		2538
		2539	/// <summary>
		2540	/// Selected Win AI Function Calls
		2541	/// </summary>
		2542	public class WinApi
		2543	{
		2544	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		2545	public static extern int GetSystemMetrics(int which);
		2546	[DllImport("user32.dll")]
		2547	public static extern void
		2548	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		2549	int X, int Y, int width, int height, uint flags);
		2550
		2551	private const int SM_CXSCREEN = 0;
		2552	private const int SM_CYSCREEN = 1;
		2553	private static IntPtr HWND_TOP = IntPtr.Zero;
		2554	private const int SWP_SHOWWINDOW = 64; // 0x0040
		2555
		2556	public static int ScreenX
		2557	{
		2558	get { return GetSystemMetrics(SM_CXSCREEN); }
		2559	}
		2560
		2561	public static int ScreenY
		2562	{
		2563	get { return GetSystemMetrics(SM_CYSCREEN); }
		2564	}
		2565
		2566	public static void SetWinFullScreen(IntPtr hwnd)
		2567	{
		2568	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		2569	}
		2570	}
		2571	/// <summary>
		2572	/// Class used to preserve / restore state of the window
		2573	/// </summary>
		2574	public class WinState
		2575	{
		2576	private WindowState winState;
		2577	private WindowStyle brdStyle;
		2578	private bool topMost;
		2579	private Rect restore;
		2580	private bool IsMaximized = false;
		2581
		2582	public bool isMaximized
		2583	{
		2584	get { return IsMaximized; }
		2585	}
		2586	public void Maximize(Window targetForm)
		2587	{
		2588	if (!IsMaximized)
		2589	{
		2590	IsMaximized = true;
		2591	Save(targetForm);
		2592	targetForm.WindowState = WindowState.Maximized;
		2593	targetForm.WindowStyle = WindowStyle.None;
		2594	targetForm.Topmost = true;
		2595	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		2596	}
		2597	}
		2598
		2599	public void Save(Window targetForm)
		2600	{
		2601	winState = targetForm.WindowState;
		2602	brdStyle = targetForm.WindowStyle;
		2603	topMost = targetForm.Topmost;
		2604	restore = targetForm.RestoreBounds;
		2605	}
		2606	public void Restore(Window targetForm)
		2607	{
		2608	targetForm.WindowState = winState;
		2609	targetForm.WindowStyle = brdStyle;
		2610	targetForm.Topmost = topMost;
		2611
		2612	targetForm.Left = restore.Left;
		2613	targetForm.Top = restore.Top;
		2614	targetForm.Height = restore.Height;
		2615	targetForm.Width = restore.Width;
		2616	IsMaximized = false;
		2617	}
		2618	}
		2619
		2620	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2340 - Rev 2304