WebSVN - Projects - Blame - Rev 2315 - /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;
2313	-	29	using System.Globalization;
2287	-	30
		31	namespace MKLiveView
		32	{
		33	/// <summary>
		34	/// Interaktionslogik für MainWindow.xaml
		35	/// </summary>
		36	public partial class MainWindow : Window
		37	{
2304	-	38	#region declarations
		39
2287	-	40	GMapMarker copter;
		41	GMapMarker home;
		42	PointLatLng start;
		43	PointLatLng end;
		44	PointLatLng pHome;
		45
		46
		47	String[] NC_Error = new string[44]
		48	{
		49	"No Error",
		50	"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		51	"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		52	"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		53	"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		54	"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		55	"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		56	"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		57	"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		58	"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		59	"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		60	"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		61	"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		62	"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		63	"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		64	"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		65	"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		66	"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		67	"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		68	"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		69	"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		70	"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		71	"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		72	"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		73	"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		74	"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		75	"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		76	"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		77	"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		78	"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		79	"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		80	"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		81	"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		82	"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		83	"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		84	"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		85	"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		86	"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		87	"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		88	"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		89	"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		90	"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		91	"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		92	"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		93	};
		94
		95	[FlagsAttribute]
		96	enum NC_HWError0 : short
		97	{
		98	None = 0,
		99	SPI_RX = 1,
		100	COMPASS_RX = 2,
		101	FC_INCOMPATIBLE = 4,
		102	COMPASS_INCOMPATIBLE = 8,
		103	GPS_RX = 16,
		104	COMPASS_VALUE = 32
		105	};
		106	[FlagsAttribute]
		107	enum FC_HWError0 : short
		108	{
		109	None = 0,
		110	GYRO_NICK = 1,
		111	GYRO_ROLL = 2,
		112	GYRO_YAW = 4,
		113	ACC_NICK = 8,
		114	ACC_ROLL = 16,
		115	ACC_TOP = 32,
		116	PRESSURE = 64,
		117	CAREFREE = 128
		118	};
		119	[FlagsAttribute]
		120	enum FC_HWError1 : short
		121	{
		122	None = 0,
		123	I2C = 1,
		124	BL_MISSING = 2,
		125	SPI_RX = 4,
		126	PPM = 8,
		127	MIXER = 16,
		128	RC_VOLTAGE = 32,
		129	ACC_NOT_CAL = 64,
		130	RES3 = 128
		131	};
		132	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		133	// Various colors for logging info
		134	private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red };
		135
		136	bool _bCBInit = true;
		137	bool _init = true;
		138	bool check_HWError = false;
		139
		140	string filePath = Directory.GetCurrentDirectory();
		141	bool bReadContinously = false;
		142	bool _debugDataAutorefresh = true;
		143	bool _navCtrlDataAutorefresh = true;
		144	bool _blctrlDataAutorefresh = true;
		145	bool _OSDAutorefresh = true;
		146	bool _bErrorLog = false;
		147	bool _bConnErr = false;
		148	bool _bFollowCopter = false;
		149
		150	bool _bSaveWinStateNormal = true;
		151	bool _bSaveWinStateFull = true;
		152
		153	double scaleNormalAll = 1;
		154	double scaleNormalTopBar = 1;
		155	double scaleNormalMotors = 1;
		156	double scaleNormalOSD = 1;
		157	double scaleNormalLOG = 1;
		158	double scaleNormalHorizon = 1;
		159
		160	double scaleFullAll = 1;
		161	double scaleFullTopBar = 1;
		162	double scaleFullMotors = 1;
		163	double scaleFullOSD = 1;
		164	double scaleFullLOG = 1;
		165	double scaleFullHorizon = 1;
		166
		167	int _iCtrlAct = 0;
		168	int iOSDPage = 0;
		169	int iOSDMax = 0;
		170	int _iLifeCounter = 0;
		171	int crcError = 0;
		172
2291	-	173	bool _bSatFix = false;
		174	Storyboard stbSatFixLostAnim;
		175	bool _bAnimSatFixActive = false;
		176	bool _bVoiceSatFixActive = false;
		177	bool _bVoiceSatFixPlay = false;
		178	int _iSatsLast = 0;
		179	int _iSatsJitter = 0;
		180
		181	bool _bMagneticFieldOK = false;
		182	Storyboard stbMagneticFieldAnim;
		183	bool _bAnimMagneticFieldActive = false;
		184	bool _bVoiceMagneticFieldActive = false;
		185	bool _bVoiceMagneticFieldPlay = false;
		186	int _iMagneticFieldLast = 0;
		187	int _iMagneticFieldJitter = 0;
		188
		189	bool _bRCLevelOK = false;
		190	Storyboard stbRCLevelAnim;
		191	bool _bAnimRCLevelActive = false;
		192	bool _bVoiceRCLevelActive = false;
		193	bool _bVoiceRCLevelPlay = false;
		194	int _iRCLevelLast = 0;
		195	int _iRCLevelJitter = 0;
		196
2287	-	197	int _iMotors = 4;
		198	int _LipoCells = 4;
		199
		200	double _dLipoVMax = 16.88;
		201	double _dLipoVMin = 12;
		202	double _dThresholdVoltageWarn = 0;
		203	double _dThresholdVoltageCrit = 0;
		204	Storyboard stbVoltageCritAnim;
		205	bool _bCritAnimVoltActive = false;
		206	bool _bCritVoiceVoltActive = false;
2291	-	207	bool _bWarnVoiceVoltActive = false;
2287	-	208	bool _bVoiceVoltPlay = false;
		209	double _dVoltLast = 0;
		210	int _iVoltJitter = 0;
		211
2291	-	212	double _dThresholdDistanceWarn = 100;
		213	Storyboard stbDistanceWarnAnim;
		214	bool _bAnimDistanceActive = false;
		215	bool _bVoiceDistanceActive = false;
		216	bool _bVoiceDistancePlay = false;
		217	double _dDistanceLast = 0;
		218	int _iDistanceJitter = 0;
		219
		220	double _dThresholdDistanceMax = 1000;
		221	int _iThresholdRC = 160;
		222	int _iThresholdMagField = 15;
		223
2295	-	224	bool _bAutoHome = false;
		225	bool _bFirstSatFix = false;
		226	int _iFirstSatFix = 0;
2291	-	227
2287	-	228	double _dTopHeight = 36;
		229
		230	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		231	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		232	string[] serChanTitle = new string[12];
		233
		234	string[] sAnalogLabel = new string[32];
		235	string[] sAnalogData = new string[32];
		236
		237	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 };
		238	int[] iMotors = new int[] {3,4,5,6,7,8,9,10,11,12 };
		239	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		240	/// <summary>
		241	/// interval for sending debugdata (multiplied by 10ms)
		242	/// </summary>
		243	byte debugInterval = 10; //(=> 100ms)
		244	/// <summary>
		245	/// interval for sending BL-CTRL status (multiplied by 10ms)
		246	/// </summary>
		247	byte blctrlInterval = 75;
		248	/// <summary>
		249	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		250	/// </summary>
		251	byte navctrlInterval = 80;
		252	/// <summary>
		253	/// interval for sending OSD page update (multiplied by 10ms)
		254	/// </summary>
		255	byte OSDInterval = 85;
		256	/// <summary>
		257	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		258	/// </summary>
		259	DataTable dtAnalog = new DataTable();
		260	/// <summary>
		261	/// datatable for motordata (current,temp)
		262	/// </summary>
2315	-	263	DataTable dtMotors = new DataTable();
2287	-	264
		265	DataTable dtWaypoints = new DataTable();
2313	-	266	static volatile int _iWPCount = -1;
		267	static volatile int _iWPIndex = -1;
		268	int _iWPTimeout = 1000;
2287	-	269	bool _bGetWP = false;
		270	static volatile bool _bGetWPCount = false;
		271
		272	DispatcherTimer timer = new DispatcherTimer();
		273
		274	/// <summary>
		275	/// stuff for enabeling touch zoom for the map
		276	/// </summary>
		277	Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0);
		278	int iFirstStylusID = -1;
		279	public string connectButtonText
		280	{
		281	get
		282	{
		283	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		284	}
		285	}
		286
		287	WinState winState = new WinState();
2304	-	288	#endregion declarations
2287	-	289	public MainWindow()
		290	{
		291	InitializeComponent();
		292	_initForm();
		293	_dataTablesInit();
		294	_setupMap();
		295	_init = false;
		296	timer.Tick += new EventHandler(timerEvent);
		297	timer.Interval = new TimeSpan(0, 0, 1);
		298	timer.Start();
		299	}
		300
		301	#region init
		302	void _initForm()
		303	{
		304	_readIni();
		305	if (_bSaveWinStateNormal)
		306	_setScaleSliders(false);
		307	cBoxTimingsDebug.ItemsSource =
		308	cBoxTimingsNav.ItemsSource =
		309	cBoxTimingsBl.ItemsSource =
		310	cBoxTimingsOSD.ItemsSource =
		311	iTimings;
		312	cBoxLiPoCells.ItemsSource = sLiPoCells;
		313	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		314	_LipoMinMax();
		315	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		316	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		317	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
2291	-	318	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		319	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		320	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		321	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		322	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
2287	-	323
2291	-	324	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		325
2287	-	326	cBoxMotors.ItemsSource = iMotors;
		327	cBoxMotors.SelectedItem = _iMotors;
		328
		329	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		330	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		331	serialPortCtrl.DataReceived += processMessage;
		332
		333	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		334	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		335	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		336	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		337
		338	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		339	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		340	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		341	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
2295	-	342	checkBoxAutoSetHP.IsChecked = _bAutoHome;
2287	-	343	checkBoxFollowCopter.IsChecked = _bFollowCopter;
		344
		345
		346	}
		347	/// <summary>
		348	/// initialize the datatables
		349	/// with columnnames etc
		350	/// </summary>
		351	void _dataTablesInit()
		352	{
2315	-	353	dtMotors.Columns.Add("#");
2313	-	354	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
2315	-	355	dtMotors.Columns.Add("Strom");
2313	-	356	else
2315	-	357	dtMotors.Columns.Add("Current");
		358	dtMotors.Columns.Add("Temp");
		359	dgvMotors1.DataContext = dtMotors.DefaultView;
2287	-	360	_initDTMotors();
		361
		362	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0));
		363	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		364	style.Setters.Add(setter);
		365	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		366	style.Setters.Add(setter);
		367	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		368	style.Setters.Add(setter);
2313	-	369
		370	dtWaypoints.Columns.Add("Index",typeof(int));
2315	-	371	dtWaypoints.Columns.Add("Type", typeof(int));
2313	-	372	dtWaypoints.Columns.Add("Name",typeof(string));
2315	-	373	dtWaypoints.Columns.Add("Latitude",typeof(double));
		374	dtWaypoints.Columns.Add("Longitude",typeof(double));
2313	-	375	dtWaypoints.Columns.Add("Altitude",typeof(string));
		376	dtWaypoints.Columns.Add("Heading",typeof(string));
		377	dtWaypoints.Columns.Add("Speed",typeof(string));
		378	dtWaypoints.Columns.Add("ClimbRate",typeof(string));
		379	dtWaypoints.Columns.Add("Radius",typeof(string));
		380	dtWaypoints.Columns.Add("HoldTime",typeof(string));
		381	dtWaypoints.Columns.Add("AutoTrigger",typeof(string));
		382	dtWaypoints.Columns.Add("CamAngle",typeof(string));
		383	dtWaypoints.Columns.Add("Event",typeof(string));
		384	dtWaypoints.Columns.Add("Out1Timer",typeof(string));
		385	dtWaypoints.Columns.Add("Status",typeof(string));
		386	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		387	dgvWP.ItemsSource = dtWaypoints.DefaultView;
2287	-	388	dgvWP.ColumnHeaderStyle = new Style();
		389	dgvWP.ColumnHeaderStyle = style;
2313	-	390
		391
2287	-	392	}
		393	/// <summary>
2315	-	394	/// initialize the datatable dtMotors for motor values
2313	-	395	/// DataGridView dgvMotors1 is bound to dtMotors1
2287	-	396	/// </summary>
		397	void _initDTMotors()
		398	{
		399	for (int i = 0; i < 12; i++)
		400	{
2315	-	401	if (dtMotors.Rows.Count < 12)
		402	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
2287	-	403	else
		404	{
2315	-	405	dtMotors.Rows[i].SetField(1, "NA");
		406	dtMotors.Rows[i].SetField(2, "NA");
2287	-	407	}
		408	}
		409	}
		410
		411	#endregion init
		412
		413	#region events
		414	private void serialPortCtrl_PortOpened()
		415	{
		416	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		417	_getVersion();
		418	Thread.Sleep(100);
		419	//_OSDMenue(0);
		420	//Thread.Sleep(200);
		421	//_sendSerialData();
		422	_readCont(true);
		423	}
		424	private void serialPortCtrl_PortClosed()
		425	{
		426	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		427	_readCont(false);
		428	}
		429	void timerEvent(object sender, EventArgs e)
		430	{
		431	if (bReadContinously)
		432	{
		433	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		434
		435	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		436
		437	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		438	check_HWError = true;
		439	_getVersion();
		440	Thread.Sleep(10);
		441	if (_OSDAutorefresh)
		442	{
		443	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		444	_initOSDCB();
		445	_OSDMenueAutoRefresh();
		446	}
		447	if (_iLifeCounter > 0)
		448	{
		449	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		450	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		451	_iLifeCounter = 0;
		452	_bConnErr = false;
		453	}
		454	else
		455	{
		456	if (!_bConnErr)
		457	{
		458	Log(LogMsgType.Error, "No communication to NC/FC!");
		459	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		460	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		461	_bConnErr = true;
		462	}
		463	}
		464	}
		465	}
		466
		467	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		468	{
		469	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		470	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		471	}
		472	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		473	{
		474	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		475	if (GridMotors.IsVisible)
		476	_setMotorGridSize();
		477	}
		478	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		479	{
		480	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		481	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		482	}
		483	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		484	{
		485	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		486	}
		487	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		488	{
		489	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		490	}
		491	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		492	{
		493	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		494	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		495	}
		496
		497	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		498	{
		499	Thread t = new Thread(new ThreadStart(_getWP));
		500	t.Start();
		501	}
		502	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		503	{
2313	-	504	Thread t = new Thread(new ThreadStart(_sendWPList));
		505	t.Start();
2287	-	506	}
		507
		508	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		509	{
		510	if (!serialPortCtrl.Port.IsOpen)
		511	serialPortCtrl.Connect(true);
		512	else
		513	_readCont(!bReadContinously);
		514	}
		515	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		516	{
		517	setHomePos();
		518	}
		519	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		520	{
		521	clearHomePos();
		522	}
		523	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		524	{
		525	if (home != null && MainMap.Markers.Contains(home))
		526	MainMap.Position = home.Position;
		527	}
2295	-	528	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		529	{
		530	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		531	}
2287	-	532	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		533	{
		534	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		535	}
		536	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		537	{
		538	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		539	}
		540
2291	-	541	#region thresholds
2287	-	542	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		543	{
		544	if(!_init)
		545	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		546	}
		547	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		548	{
		549	if(!_init)
		550	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		551	}
		552	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		553	{
		554	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		555	}
2291	-	556
		557	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		558	{
		559	if(!_init)
		560	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		561	}
		562	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		563	{
		564	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		565	}
		566
		567	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		568	{
		569	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		570	}
		571	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		572	{
		573	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		574	}
		575	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		576	{
		577	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		578	}
		579	#endregion thresholds
		580
2287	-	581	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		582	{
		583	_switchToNC();
		584	}
		585
		586	private void Window_Loaded(object sender, RoutedEventArgs e)
		587	{
		588	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
2291	-	589	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		590	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		591	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		592	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
2287	-	593	_setMotorGridSize();
		594	}
2310	-	595	private void Window_Closing(object sender, CancelEventArgs e)
		596	{
		597	_writeIni();
		598	}
2287	-	599	#endregion events
		600
		601	#region GMap
		602
		603	void _setupMap()
		604	{
		605	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		606	MainMap.MapProvider = GMapProviders.BingHybridMap;
		607	MainMap.SetPositionByKeywords("Landshut");
		608	MainMap.MinZoom = 0;
		609	MainMap.MaxZoom = 24;
		610	MainMap.Zoom = 16;
		611	MainMap.ShowCenter = true;
		612	MainMap.ShowTileGridLines = false;
		613	sliderMapZoom.Value = 16;
		614	comboBoxMapType.ItemsSource = providerList;
		615	comboBoxMapType.DisplayMemberPath = "Name";
		616	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		617
		618	// acccess mode
		619	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		620	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		621
		622	}
		623
		624	/// <summary>
		625	/// selection of relevant map providers --> if You need more, You can change the line:
		626	/// comboBoxMapType.ItemsSource = providerList;
		627	/// to:
		628	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		629	/// in _setupMap()
		630	/// or add items here:
		631	/// </summary>
		632	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		633	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		634	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		635	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		636	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		637
		638	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		639	{
		640	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		641	copter = new GMapMarker(MainMap.Position);
		642	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		643	copter.Offset = new System.Windows.Point(-18, -18);
		644	copter.ZIndex = int.MaxValue;
		645	MainMap.Markers.Add(copter);
		646	copter.Position = MainMap.Position;
		647	}
		648	void setHomePos()
		649	{
		650	pHome = MainMap.Position;
		651	if (!MainMap.Markers.Contains(home))
		652	{
		653	home = new GMapMarker(MainMap.Position);
		654	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		655	home.Offset = new System.Windows.Point(-18, -18);
		656	// home.ZIndex = int.MaxValue;
		657	MainMap.Markers.Add(home);
		658	}
		659	home.Position = MainMap.Position;
		660	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		661	}
		662	void clearHomePos()
		663	{
		664	MainMap.Markers.Remove(home);
		665	}
		666
		667	// access mode
		668	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		669	{
		670	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		671	MainMap.ReloadMap();
		672	}
		673	// zoom up
		674	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		675	{
		676	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		677	}
		678
		679	// zoom down
		680	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		681	{
		682	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		683	}
		684
		685	// prefetch
		686	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		687	{
		688	RectLatLng area = MainMap.SelectedArea;
		689	if (!area.IsEmpty)
		690	{
		691	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		692	{
		693	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		694
		695	if (res == MessageBoxResult.Yes)
		696	{
		697	TilePrefetcher obj = new TilePrefetcher();
		698	obj.Owner = this;
		699	obj.ShowCompleteMessage = true;
		700	obj.Start(area, i, MainMap.MapProvider, 100);
		701	}
		702	else if (res == MessageBoxResult.No)
		703	{
		704	continue;
		705	}
		706	else if (res == MessageBoxResult.Cancel)
		707	{
		708	break;
		709	}
		710	}
		711	}
		712	else
		713	{
		714	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		715	}
		716	}
		717
		718	// goto by geocoder
		719	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		720	{
		721	_goto_byGeoCoder();
		722	}
		723	// goto by geocoder
		724	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		725	{
		726	if (e.Key == System.Windows.Input.Key.Enter)
		727	_goto_byGeoCoder();
		728	}
		729	void _goto_byGeoCoder()
		730	{
		731	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		732	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		733	{
		734	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		735	}
		736	}
		737	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		738	{
		739	try
		740	{
		741	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		742	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		743
		744	MainMap.Position = new PointLatLng(lat, lng);
		745	}
		746	catch (Exception ex)
		747	{
		748	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		749	}
		750
		751	}
		752
		753	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		754	{
		755	MainMap.ReloadMap();
		756	}
		757
		758	private void MainMap_OnPositionChanged(PointLatLng point)
		759	{
		760	if (_bFollowCopter)
		761	_setCopterData(MainMap.Position);
		762	}
		763
		764	private void MainMap_OnMapZoomChanged()
		765	{
		766	if (_bFollowCopter)
		767	_setCopterData(MainMap.Position);
		768	if((int)sliderMapZoom.Value != MainMap.Zoom)
		769	sliderMapZoom.Value = MainMap.Zoom;
		770	}
		771
		772	void _setCopterData(PointLatLng p)
		773	{
		774	Dispatcher.Invoke(() =>
		775	{
		776	copter.Position = p;
		777	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		778	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		779	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		780	});
		781	if (home != null && MainMap.Markers.Contains(home))
		782	{
		783	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		784	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		785	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	786
		787	if(d*1000 < _dThresholdDistanceWarn)
		788	{
		789	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		790	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		791	{
		792	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		793	_bAnimDistanceActive = false;
		794	}
		795	}
		796	else
		797	{
		798	if (_iDistanceJitter < 20)
		799	{ _iDistanceJitter++; }
		800	if (_iDistanceJitter == 20)
		801	{
		802	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		803	{
		804	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		805	_bAnimDistanceActive = true;
		806	}
		807	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		808	{
2295	-	809	Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		810	t.Start();
2291	-	811	_bVoiceDistanceActive = true;
		812	}
		813	_iDistanceJitter++;
		814	}
		815	}
2287	-	816	}
		817	}
		818
		819	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		820	{
		821	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		822	}
		823
		824	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		825	{
		826	if (MainMap.Zoom != sliderMapZoom.Value)
		827	MainMap.Zoom = (int)sliderMapZoom.Value;
		828	}
		829	#region Touch zooming hackattack ;)
		830	/// <summary>
		831	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		832	/// </summary>
		833	bool bFirstAccess = true;
		834	double dDistance = 0;
		835	int iZoom;
		836	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		837	{
		838	var id = e.StylusDevice.Id;
		839	e.StylusDevice.Capture(MainMap);
		840	if (iFirstStylusID == -1)
		841	{
		842	iFirstStylusID = id;
		843	}
		844	else
		845	{
		846
		847	MainMap.CanDragMap = false;
		848	}
		849	}
		850	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		851	{
		852	MainMap.ReleaseStylusCapture();
		853	iFirstStylusID = -1;
		854	bFirstAccess = true;
		855	MainMap.CanDragMap = true;
		856	iZoom = 0;
		857	}
		858	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		859	{
		860	var id = e.StylusDevice.Id;
		861	var tp = e.GetPosition(MainMap);
		862
		863	// This is the first Stylus point; just record its position.
		864	if (id == iFirstStylusID)
		865	{
		866	pTouch1.X = tp.X;
		867	pTouch1.Y = tp.Y;
		868	}
		869	else
		870	if (iFirstStylusID > -1)
		871	{
		872	pTouch2.X = tp.X;
		873	pTouch2.Y = tp.Y;
		874	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		875	if (!bFirstAccess)
		876	{
		877	if (distance > dDistance)
		878	iZoom++;
		879	else
		880	if (distance < dDistance)
		881	iZoom--;
		882	}
		883	if (iZoom > 30)
		884	{
		885	iZoom = 0;
		886	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		887	}
		888	if (iZoom < -30)
		889	{
		890	iZoom = 0;
		891	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		892	}
		893	dDistance = distance;
		894	bFirstAccess = false;
		895	}
		896	}
		897	#endregion Touch zooming hackattack ;)
		898
		899	#endregion GMap
		900
		901	#region settings
		902	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		903	{
		904	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		905	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		906	}
		907	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		908	{
		909	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		910	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		911	}
		912	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		913	{
		914	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		915	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		916	}
		917	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		918	{
		919	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		920	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		921	}
		922	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		923	{
		924	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		925	}
		926	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		927	{
		928	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		929	}
		930	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		931	{
		932	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		933	}
		934	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		935	{
		936	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		937	}
		938
		939	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		940	{
		941	if (cBoxLiPoCells.SelectedIndex > -1)
		942	{
		943	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		944	_LipoMinMax();
		945	}
		946	}
		947	void _LipoMinMax()
		948	{
		949	_dLipoVMax = (double)(_LipoCells) * 4.22;
		950	_dLipoVMin = (double)_LipoCells * 3;
		951	pbTopVoltage.Maximum = _dLipoVMax;
		952	pbTopVoltage.Minimum = _dLipoVMin;
		953	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		954	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		955	}
		956	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		957	{
		958	if (cBoxMotors.SelectedIndex > -1)
		959	{
		960	_iMotors = cBoxMotors.SelectedIndex + 3;
		961	Dispatcher.Invoke(() =>
		962	{
		963	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		964	GridMotors.Height = dgvMotors1.Height + 10;
		965	});
		966	}
		967	}
		968	void _setMotorGridSize()
		969	{
		970	if (dgvMotors1.Columns.Count > 2)
		971	{
		972	dgvMotors1.Columns[0].Width = 24;
		973	dgvMotors1.Columns[1].Width = 50;
		974	dgvMotors1.Columns[2].Width = 50;
		975	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		976	GridMotors.Height = dgvMotors1.Height + 10;
		977	}
		978
		979	}
		980	#endregion settings
		981
		982	#region functions
		983
		984	#region logging
		985	/// <summary> Log data to the terminal window. </summary>
		986	/// <param name="msgtype"> The type of message to be written. </param>
		987	/// <param name="msg"> The string containing the message to be shown. </param>
		988	private void Log(LogMsgType msgtype, string msg)
		989	{
		990	Dispatcher.Invoke(() =>
		991	{
		992	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		993	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		994	// rtfTerminal.AppendText(msg + "\r");
		995	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		996	tr.Text = msg;
		997	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		998	rtfTerminal.AppendText("\r");
		999	rtfTerminal.ScrollToEnd();
		1000	});
		1001	}
		1002	private void ErrorLog(LogMsgType msgtype, string msg)
		1003	{
		1004	Dispatcher.Invoke(() =>
		1005	{
		1006	TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1007	tr.Text = msg;
		1008	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1009	rtfError.AppendText("\r");
		1010	rtfError.ScrollToEnd();
		1011
		1012	_bErrorLog = true;
		1013	});
		1014	}
		1015	/// <summary>
		1016	/// Clear the line in the errorlog window
		1017	/// containing the error string when error has ceased
		1018	/// </summary>
		1019	/// <param name="s">substring of errrormessage</param>
		1020	void _clearErrorLog(string s)
		1021	{
		1022	Dispatcher.Invoke((Action)(() =>
		1023	{
		1024	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1025	TextRange foundRange = FindTextInRange(searchRange, s);
		1026
		1027	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1028
		1029
		1030	if (iStart > -1)
		1031	{
		1032	int iLength = 0;
		1033	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1034	if (iEnd > 0)
		1035	{
		1036	iLength = iEnd + 1;
		1037	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1038	if (iHttp == iLength)
		1039	{
		1040	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1041	if (iEnd2 > iLength)
		1042	{
		1043	iLength = iEnd2 + 1;
		1044	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1045
		1046	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1047	rtfError.Selection.Text = string.Empty;
		1048	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1049	}
		1050
		1051	}
		1052	else
		1053	{
		1054	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1055	rtfError.Selection.Text = string.Empty;
		1056	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1057	}
		1058	}
		1059	}
		1060	}));
		1061
		1062	}
		1063	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1064	{
		1065	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1066	if (offset < 0)
		1067	return null; // Not found
		1068
		1069	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1070	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1071
		1072	return result;
		1073	}
		1074	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1075	{
		1076	while (position != null)
		1077	{
		1078	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1079	{
		1080	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1081	if (characterCount <= count)
		1082	{
		1083	return position.GetPositionAtOffset(characterCount);
		1084	}
		1085
		1086	characterCount -= count;
		1087	}
		1088
		1089	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1090	if (nextContextPosition == null)
		1091	return position;
		1092
		1093	position = nextContextPosition;
		1094	}
		1095
		1096	return position;
		1097	}
		1098	#endregion logging
		1099
		1100	#region processing received data
		1101
		1102	private void processMessage(byte[] message)
		1103	{
		1104	if (message.Length > 0)
		1105	{
		1106	_iLifeCounter++;
		1107	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1108	//Log(LogMsgType.Incoming, message.Length.ToString());
		1109	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1110	char cmdID;
		1111	byte adr;
		1112	byte[] data;
		1113	byte[] tmp = null;
		1114	if (message[0] != '#')
		1115	{
		1116	int iFound = -1;
		1117	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1118	{ //so this is a workaround to not spam the log box
		1119	if (message[i] == 35)
		1120	{
		1121	iFound = i;
		1122	break;
		1123	}
		1124	}
		1125	if (iFound > 0)
		1126	{
		1127	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1128	tmp = new byte[message.Length - iFound];
		1129	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1130	}
		1131	s = s.Trim('\0', '\n', '\r');
		1132	if (s.Length > 0)
		1133	Log(LogMsgType.Normal, s);
		1134	if (tmp != null)
		1135	{
		1136	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1137	processMessage(tmp);
		1138	}
		1139	}
		1140	//Debug.Print(s);
		1141	else
		1142	{
		1143	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1144
		1145	if (adr == 255) { crcError++; }
		1146	else crcError = 0;
		1147	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1148	//display the active controller (FC / NC)
		1149	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...???
		1150	{
		1151	_iCtrlAct = adr;
		1152	switch (adr)
		1153	{
		1154	case 1:
		1155	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2298	-	1156	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
2287	-	1157	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1158	// _setFieldsNA(); //display fields NA for FC
		1159	break;
		1160	case 2:
		1161	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1162	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1163	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1164	break;
		1165	//case 3:
		1166	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1167	// break;
		1168	//case 4:
		1169	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1170	// break;
		1171	default:
		1172	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1173	break;
		1174	}
		1175	// _loadLabelNames();
		1176	}
		1177	// else
		1178	// Debug.Print("Address == 0?");
		1179
		1180	if (data != null && data.Length > 0)
		1181	{
		1182	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1183	s = s.Trim('\0', '\n');
		1184
		1185	switch (cmdID)
		1186	{
		1187	//case 'A': //Label names
		1188	// _processLabelNames(s);
		1189	// break;
		1190
		1191	case 'D': //Debug data
		1192	_processDebugVals(adr, data);
		1193	break;
		1194
		1195	case 'V': //Version
		1196	_processVersion(adr, data);
		1197	break;
		1198
		1199	case 'K'://BL-CTRL data
		1200	_processBLCtrl(data);
		1201	break;
		1202
		1203	case 'O': //NC Data
		1204	_processNCData(data);
		1205	break;
		1206
		1207	case 'E': //NC error-string
		1208	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1209	break;
		1210
		1211	case 'L': //OSD Menue (called by pagenumber)
		1212	_processOSDSingle(data);
		1213	break;
		1214
		1215	case 'H': //OSD Menue (with autoupdate - called by Key)
		1216	_processOSDAuto(data);
		1217	break;
		1218
		1219	case 'X': //Waypoint data
		1220	_processWPData(data);
		1221	break;
		1222
2313	-	1223	case 'W': //return new Waypoint items count after sending waypoint to copter
		1224	_iWPCount = data[0];
		1225	break;
2287	-	1226	//default:
		1227	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1228	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1229	// break;
		1230	}
		1231	}
		1232	//else
		1233	//{
		1234	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1235	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1236	//}
		1237	}
		1238	}
		1239	}
		1240	/// <summary>
		1241	/// Analog label names 'A'
		1242	/// each label name is returned as a single string
		1243	/// and added to string array sAnalogLabel[]
		1244	/// and the datatable dtAnalog
		1245	/// </summary>
		1246	/// <param name="s">the label name</param>
		1247	void _processLabelNames(string s)
		1248	{
		1249	//if (iLableIndex < 32)
		1250	//{
		1251	// sAnalogLabel[iLableIndex] = s;
		1252	// if (dtAnalog.Rows.Count < 32)
		1253	// dtAnalog.Rows.Add(s, "");
		1254	// else
		1255	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1256
		1257	// // _getAnalogLabels(iLableIndex + 1);
		1258	//}
		1259	//Debug.Print(s);
		1260	}
		1261	/// <summary>
		1262	/// Debug values 'D'
		1263	/// </summary>
		1264	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1265	/// <param name="data">the received byte array to process</param>
		1266	void _processDebugVals(byte adr, byte[] data)
		1267	{
		1268	if (data.Length == 66)
		1269	{
		1270	int[] iAnalogData = new int[32];
		1271	double v;
		1272	int index = 0;
		1273	Int16 i16 = 0;
		1274	double dTemp = 0;
		1275	for (int i = 2; i < 66; i += 2)
		1276	{
		1277	i16 = data[i + 1];
		1278	i16 = (Int16)(i16 << 8);
		1279	iAnalogData[index] = data[i] + i16;
		1280	sAnalogData[index] = (data[i] + i16).ToString();
		1281	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1282
		1283	if (adr == 2) //NC
		1284	{
		1285	switch (index)
		1286	{
		1287	case 0: //pitch (German: nick)
		1288	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1289	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1290	break;
		1291	case 1: //roll
		1292	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1293	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1294	break;
		1295	case 4: //altitude
		1296	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1297	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1298	break;
		1299	case 7: //Voltage
		1300	v = (double)iAnalogData[index] / (double)10;
		1301	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1302	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1303	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1304	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1305	{
		1306	if (v == _dVoltLast)
		1307	if(_iVoltJitter < 20) _iVoltJitter++;
		1308	else
		1309	{
		1310	_iVoltJitter = 0;
		1311	_dVoltLast = v;
		1312	}
		1313	if (_iVoltJitter == 20)
		1314	{
		1315	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1316
		1317	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1318	{
		1319	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1320	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1321	{
		1322	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1323	_bCritAnimVoltActive = true;
		1324	}
		1325	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1326	{
2295	-	1327	Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1328	t.Start();
2287	-	1329	_bCritVoiceVoltActive = true;
		1330	}
		1331	}
		1332	else
		1333	{
		1334	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1335	{
		1336	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1337	_bCritAnimVoltActive = false;
		1338	}
		1339	_bCritVoiceVoltActive = false;
		1340
2291	-	1341	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1342	{
2295	-	1343	Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1344	t.Start();
2291	-	1345	_bWarnVoiceVoltActive = true;
2287	-	1346	}
		1347	}
		1348	}
		1349	}
		1350	else
		1351	{
		1352	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1353	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1354	{
		1355	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1356	_bCritAnimVoltActive = false;
		1357	}
		1358	_bCritVoiceVoltActive = false;
2291	-	1359	_bWarnVoiceVoltActive = false;
2287	-	1360	_iVoltJitter = 0;
		1361	}
		1362	break;
		1363	case 8: // Current
		1364	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1365	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1366	break;
		1367	case 10: //heading
2291	-	1368	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2287	-	1369	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1370	break;
		1371	case 12: // SPI error
2291	-	1372	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1373	break;
		1374	case 14: //i2c error
2291	-	1375	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1376	break;
		1377	case 20: //Earthmagnet field
2291	-	1378	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1379	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1380
		1381	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1382	{
		1383	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1384	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1385	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1386	{
		1387	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1388	_bAnimMagneticFieldActive = false;
		1389	}
		1390	}
		1391	else
		1392	{
		1393	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1394	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1395	{
		1396	if (_iMagneticFieldJitter < 20)
		1397	_iMagneticFieldJitter++;
		1398	}
		1399	else
		1400	{
		1401	_iMagneticFieldJitter = 0;
		1402	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1403	}
		1404	if(_iMagneticFieldJitter == 20)
		1405	{
		1406	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1407	{
		1408	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1409	_bAnimMagneticFieldActive = true;
		1410	}
		1411	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1412	{
2295	-	1413	Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1414	t.Start();
2291	-	1415	_bVoiceMagneticFieldActive = true;
		1416	}
		1417	}
		1418	}
2287	-	1419	break;
		1420	case 21: //GroundSpeed
		1421	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1422	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1423	break;
2291	-	1424
		1425	///******** needs testing --> not sure what position this is *************
2287	-	1426	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1427	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1428	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1429	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1430	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1431	dTemp = Math.Sqrt(dTemp) / (double)10;
		1432	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1433	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1434	break;
2291	-	1435
2287	-	1436	case 31: //Sats used
		1437	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1438	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1439	break;
		1440	}
		1441	}
		1442	index++;
		1443	}
		1444	}
		1445	else
		1446	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1447	}
		1448	/// <summary>
		1449	/// Version string 'V'
		1450	/// </summary>
		1451	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1452	/// <param name="data">the received byte array to process</param>
		1453	void _processVersion(byte adr, byte[] data)
		1454	{
		1455	if (data.Length == 12)
		1456	{
		1457	if (!check_HWError)
		1458	{
		1459	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1460	string sVersion = "";
		1461	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1462	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1463	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1464	Log(LogMsgType.Incoming, sVersion);
		1465	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1466	Log(LogMsgType.Incoming, sVersion);
		1467	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1468	}
		1469	if (data[5] > 0) //error0
		1470	{
		1471	if (adr == 1)
		1472	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		1473	if (adr == 2)
		1474	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		1475	}
		1476	if (data[6] > 0) //error1
		1477	{
		1478	if (adr == 1)
		1479	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		1480	if (adr == 2)
		1481	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		1482	}
		1483	if ((data[5] + data[6] == 0) && _bErrorLog)
		1484	_clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		1485
		1486	}
		1487	check_HWError = false;
		1488	}
		1489	/// <summary>
		1490	/// BL-Ctrl data 'K'
		1491	/// for FC you have to use a customized firmware
		1492	/// </summary>
		1493	/// <param name="data">the received byte array to process</param>
		1494	void _processBLCtrl(byte[] data)
		1495	{
		1496	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1497	{
		1498	bool bAvailable = false;
		1499	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1500	{
		1501
		1502	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1503	bAvailable = true;
		1504	else
		1505	bAvailable = false;
		1506
		1507	if (data[i] < _iMotors)
		1508	{
		1509	if (bAvailable)
		1510	{
2315	-	1511	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1512	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1513	}
		1514	else
		1515	{
2315	-	1516	dtMotors.Rows[data[i]].SetField(1, "NA");
		1517	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1518	}
		1519	}
		1520	//if (data[i] > 3 && data[i] < 8)
		1521	//{
		1522	// if (bAvailable)
		1523	// {
		1524	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1525	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1526	// }
		1527	// else
		1528	// {
		1529	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1530	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1531	// }
		1532	//}
		1533	}
		1534	}
		1535	}
		1536	/// <summary>
		1537	/// Navi-Ctrl data 'O'
		1538	/// GPS-Position, capacatiy, flying time...
		1539	/// </summary>
		1540	/// <param name="data">the received byte array to process</param>
		1541	void _processNCData(byte[] data)
		1542	{
		1543	int i_32, i_16, iVal;
		1544	double d;
		1545	i_32 = data[4];
		1546	iVal = i_32 << 24;
		1547	i_32 = data[3];
		1548	iVal += i_32 << 16;
		1549	i_32 = data[2];
		1550	iVal += i_32 << 8;
		1551	iVal += data[1];
		1552	d = (double)iVal / Math.Pow(10, 7);
		1553
		1554	PointLatLng p = new PointLatLng();
		1555
		1556	p.Lng = d;
		1557	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1558	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1559
		1560	i_32 = data[8];
		1561	iVal = i_32 << 24;
		1562	i_32 = data[7];
		1563	iVal += i_32 << 16;
		1564	i_32 = data[6];
		1565	iVal += i_32 << 8;
		1566	iVal += data[5];
		1567	d = (double)iVal / Math.Pow(10, 7);
		1568	p.Lat = d;
2291	-	1569	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1570	{
		1571	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1572	if(_bAutoHome && !_bFirstSatFix)
		1573	{
		1574	if (_iFirstSatFix < 3)
		1575	_iFirstSatFix++;
		1576	else
		1577	{
		1578	_bFirstSatFix = true;
		1579	Dispatcher.Invoke(() => setHomePos());
		1580	}
		1581	}
2291	-	1582	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1583	{
		1584	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1585	_bAnimSatFixActive = false;
		1586	}
		1587	if (!_bFollowCopter)
		1588	{
		1589	_setCopterData(p);
		1590	if (!MainMap.ViewArea.Contains(p))
		1591	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1592
2291	-	1593	}
		1594	else
2287	-	1595	Dispatcher.Invoke(() => MainMap.Position = p);
		1596	}
		1597	else
2291	-	1598	{
		1599	if(_bSatFix)
		1600	{
		1601	if (data[50] == _iSatsLast)
		1602	{
		1603	if (_iSatsJitter < 20) _iSatsJitter++;
		1604	}
		1605	else
		1606	{
		1607	_iSatsJitter = 0;
		1608	_iSatsLast = data[50];
		1609	}
2287	-	1610
2291	-	1611	if (_iSatsJitter == 20)
		1612	{
		1613	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1614	{
		1615	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1616	_bAnimSatFixActive = true;
		1617	}
		1618	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1619	{
2295	-	1620	Thread th = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1621	th.Start();
2291	-	1622	_bVoiceSatFixActive = true;
		1623	}
		1624
		1625	_bSatFix = false;
		1626	}
		1627	}
		1628	}
		1629
2287	-	1630	// lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
		1631	//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
		1632
		1633	i_16 = data[28];
		1634	i_16 = (Int16)(i_16 << 8);
		1635	iVal = data[27] + i_16;
		1636	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1637
		1638	i_16 = data[45];
		1639	i_16 = (Int16)(i_16 << 8);
		1640	iVal = data[44] + i_16;
		1641	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1642	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1643
		1644	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
		1645	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
		1646
		1647	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1648
		1649
		1650	//--------------- Capacity used ------------------------
		1651	i_16 = data[81];
		1652	i_16 = (Int16)(i_16 << 8);
		1653	iVal = data[80] + i_16;
		1654	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1655	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1656
		1657	//--------------- Flying time ------------------------
		1658	i_16 = data[56];
		1659	i_16 = (Int16)(i_16 << 8);
		1660	iVal = data[55] + i_16;
		1661	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1662	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1663	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1664	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1665
		1666	//--------------- RC quality ------------------------
		1667	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1668	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1669
2291	-	1670	if(data[66] > _iThresholdRC)
		1671	{
		1672	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1673	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1674	{
		1675	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1676	_bAnimRCLevelActive = false;
		1677	}
		1678	}
		1679	else
		1680	{
		1681	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1682	if (_iRCLevelJitter == 20)
		1683	{
		1684	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1685	{
		1686	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1687	_bAnimRCLevelActive = true;
		1688	}
		1689	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1690	{
2295	-	1691	Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1692	th.Start();
2291	-	1693	_bVoiceRCLevelActive = true;
		1694	}
		1695	_iRCLevelJitter++;
		1696	}
		1697	}
		1698
2287	-	1699	//--------------- NC Error ------------------------
		1700	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1701	if (data[69] > 0)
		1702	_readNCError();
		1703	if (data[69] > 0 & data[69] < 44)
		1704	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
		1705	else
		1706	if (_bErrorLog) _clearErrorLog("NC Error");
		1707
2298	-	1708	//-------------FC / NC Status Flags
		1709	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1710	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1711	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1712	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1713	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1714	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1715
		1716	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1717	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1718	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1719	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1720	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1721	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
		1722	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		1723	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		1724
		1725	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1726	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1727	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1728	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1729	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1730	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1731	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	1732
		1733	//Sidebar StatusSymbols
		1734	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1735	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
		1736	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
		1737
		1738	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1739	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
		1740	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
		1741
		1742	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	1743	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
		1744	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	-	1745
		1746	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1747	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
		1748	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
		1749
		1750	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	1751	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
		1752	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
		1753	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	-	1754
2287	-	1755	}
		1756	/// <summary>
		1757	/// Navi-Ctrl WP data struct 'X'
		1758	/// called by index
		1759	/// </summary>
		1760	/// <param name="data">the received byte array to process</param>
		1761	void _processWPData(byte[] data)
		1762	{
2313	-	1763	_iWPCount = data[0];
2287	-	1764	_bGetWPCount = false;
		1765	if (data.Length >= 28)
		1766	{
		1767	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		1768	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		1769	if (_bGetWP)
		1770	{
		1771	if (data[1] == 1)
2315	-	1772	{
2287	-	1773	dtWaypoints.Rows.Clear();
2315	-	1774	foreach (GMapMarker p in MainMap.Markers)
		1775	{
		1776	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		1777	MainMap.Markers.Remove(p);
		1778	}
		1779	}
2287	-	1780	DataRow dr = dtWaypoints.NewRow();
		1781	dr = Waypoints.toDataRow(data, dr);
2313	-	1782	dtWaypoints.Rows.Add(dr);
2315	-	1783	GMapMarker wp = new GMapMarker(new PointLatLng((double)dr[3], (double)dr[4]));
		1784	wp.Shape = new CustomMarkerWP(this, wp, (string)dr[2],(int)dr[1]);
		1785	_setMarkerColor(wp, (int)dr[1]);
		1786	MainMap.Markers.Add(wp);
2313	-	1787	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1788	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	1789	if (data[1] == data[0])
		1790	{
		1791	_bGetWP = false;
		1792	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1793	}
		1794
		1795	}
		1796	}
		1797	else
		1798	{
		1799	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		1800	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		1801	}
		1802	}
		1803	/// <summary>
		1804	/// OSD Menue 'L'
		1805	/// single page called by pagenumber
		1806	/// no autoupdate
		1807	/// </summary>
		1808	/// <param name="data">the received byte array to process</param>
		1809	void _processOSDSingle(byte[] data)
		1810	{
		1811	if (data.Length == 84)
		1812	{
		1813	string sMessage = "";
		1814	iOSDPage = data[0];
		1815	iOSDMax = data[1];
		1816	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		1817	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		1818	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1819	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1820	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1821	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1822	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		1823	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		1824
		1825	}
		1826	//else
		1827	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		1828
		1829	}
		1830	/// <summary>
		1831	/// OSD Menue 'H'
		1832	/// called by keys (0x01,0x02,0x03,0x04)
		1833	/// autoupdate
		1834	/// </summary>
		1835	/// <param name="data">the received byte array to process</param>
		1836	void _processOSDAuto(byte[] data)
		1837	{
		1838	if (data.Length == 81)
		1839	{
		1840	string sMessage = "";
		1841	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		1842	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1843	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1844	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1845	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1846
		1847	}
		1848	//else
		1849	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		1850	}
		1851
		1852	#endregion processing received data
		1853
		1854	#region controller messages
		1855	/// <summary> send message to controller to request data
		1856	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1857	/// </summary>
		1858	/// <param name="CMDID"> the command ID </param>
		1859	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1860	private void _sendControllerMessage(char CMDID, byte address)
		1861	{
		1862	if (serialPortCtrl.Port.IsOpen)
		1863	{
		1864	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1865	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		1866	serialStream.Write(bytes, 0, bytes.Length);
		1867
		1868	}
		1869	else
		1870	Log(LogMsgType.Error, "NOT CONNECTED!");
		1871	}
		1872	/// <summary> send message to controller to request data
		1873	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1874	/// </summary>
		1875	/// <param name="CMDID"> the command ID </param>
		1876	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1877	/// <param name="data"> additional data for the request</param>
		1878	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		1879	{
		1880	if (serialPortCtrl.Port.IsOpen)
		1881	{
		1882	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1883	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		1884	serialStream.Write(bytes, 0, bytes.Length);
		1885
		1886	}
		1887	else
		1888	Log(LogMsgType.Error, "NOT CONNECTED!");
		1889	}
		1890
		1891	/// <summary>
		1892	/// start/stop continous polling of controller values
		1893	/// </summary>
		1894	/// <param name="b">start/stop switch</param>
		1895	void _readCont(bool b)
		1896	{
		1897	bReadContinously = b;
		1898	if (bReadContinously)
		1899	{
		1900	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		1901	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		1902	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		1903	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		1904	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		1905	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		1906	}
		1907	else
		1908	{
		1909	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		1910	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		1911	_bConnErr = false;
		1912	}
		1913	_iLifeCounter = 0;
		1914	}
		1915
		1916	private void _getVersion()
		1917	{
		1918	_sendControllerMessage('v', 0);
		1919	}
		1920	/// <summary>
		1921	/// get FC version struct via NC
		1922	/// by sending '1' as data (not documented in wiki...)
		1923	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		1924	/// </summary>
		1925	/// <param name="ctrl">controller number 1=FC</param>
		1926	private void _getVersion(byte ctrl)
		1927	{
		1928	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		1929	}
		1930	/// <summary>
		1931	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		1932	/// </summary>
		1933	private void _switchToNC()
		1934	{
		1935	if (serialPortCtrl.Port.IsOpen)
		1936	{
		1937	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1938	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		1939	serialStream.Write(bytes, 0, bytes.Length);
		1940
		1941	Thread.Sleep(100);
		1942	_getVersion();
		1943	Thread.Sleep(100);
		1944	// _OSDMenue(0);
		1945	}
		1946	else
		1947	Log(LogMsgType.Error, "NOT CONNECTED!");
		1948	}
		1949	/// <summary>
		1950	/// switch to FC
		1951	/// </summary>
		1952	private void _switchToFC()
		1953	{
		1954	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		1955	Thread.Sleep(100);
		1956	_getVersion();
		1957	Thread.Sleep(100);
		1958	// _OSDMenue(0);
		1959	}
		1960	/// <summary>
		1961	/// send RESET signal to FC
		1962	/// </summary>
		1963	private void _resetCtrl()
		1964	{
		1965	_sendControllerMessage('R', 1);
		1966	}
		1967	/// <summary>
		1968	/// poll the debug data (4sec subscription)
		1969	/// </summary>
		1970	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1971	private void _readDebugData(bool auto)
		1972	{
		1973	byte interval = auto ? debugInterval : (byte)0;
		1974	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		1975	}
		1976	/// <summary>
		1977	/// poll the BL-CTRL status via NC (4sec subscription)
		1978	/// </summary>
		1979	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1980	private void _readBLCtrl(bool auto)
		1981	{
		1982	byte interval = auto ? blctrlInterval : (byte)0;
		1983	_sendControllerMessage('k', 0, new byte[1] { interval });
		1984	}
		1985	/// <summary>
		1986	/// poll the NC data struct (4sec subscription)
		1987	/// </summary>
		1988	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1989	private void _readNavData(bool auto)
		1990	{
		1991	byte interval = auto ? navctrlInterval : (byte)0;
		1992	_sendControllerMessage('o', 2, new byte[1] { interval });
		1993	}
		1994	/// <summary>
		1995	/// get the errortext for pending NC error
		1996	/// </summary>
		1997	private void _readNCError()
		1998	{
		1999	_sendControllerMessage('e', 2);
		2000	}
		2001	/// <summary>
		2002	/// request the Waypoint at index
		2003	/// </summary>
		2004	/// <param name="index"></param>
		2005	void _getpWP(int index)
		2006	{
		2007	if (serialPortCtrl.Port.IsOpen)
		2008	{
		2009	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2010	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2011	serialStream.Write(bytes, 0, bytes.Length);
		2012	}
		2013	else
		2014	Log(LogMsgType.Error, "NOT CONNECTED!");
		2015
		2016	}
		2017	void _getWP()
		2018	{
		2019	_bGetWPCount = true;
2315	-	2020	_getpWP(1); //get the itemscount of wp
2287	-	2021	while (_bGetWPCount)
		2022	Thread.Sleep(100);
2313	-	2023	if (_iWPCount > 0)
2287	-	2024	_getWPList();
		2025	}
		2026	void _getWPList()
		2027	{
		2028	_bGetWP = true;
2313	-	2029	int iTimeout=0;
		2030	for (int j = 0; j < _iWPCount; j++)
2287	-	2031	{
		2032	_getpWP(j + 1);
2313	-	2033	iTimeout = 0;
		2034	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2035	{
		2036	Thread.Sleep(1);
		2037	iTimeout++;
		2038	}
2287	-	2039	}
		2040	}
2313	-	2041	void _sendWPList()
		2042	{
		2043	if (serialPortCtrl.Port.IsOpen)
		2044	{
		2045	byte[] bData = new byte[30];
		2046	for (int i = 0; i < 30; i++)
		2047	bData[i] = 0;
		2048	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2049	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2050	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2051
2313	-	2052	_iWPCount = -1;
		2053	while (_iWPCount == -1)
		2054	Thread.Sleep(10);
		2055	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2287	-	2056
2313	-	2057	int iVal;
		2058	double dVal;
		2059	NumberFormatInfo nfi = new NumberFormatInfo();
		2060	nfi.NumberDecimalSeparator = ",";
		2061	for (int i = 0; i < dtWaypoints.Rows.Count; i++)
		2062	{
		2063	//longitude
		2064	dVal = Convert.ToDouble(dtWaypoints.Rows[i][4], nfi);
		2065	iVal = (int)(dVal * Math.Pow(10, 7));
		2066	bData[0] = (byte)(iVal & 0xff);
		2067	bData[1] = (byte)((iVal >> 8) & 0xff);
		2068	bData[2] = (byte)((iVal >> 16) & 0xff);
		2069	bData[3] = (byte)(iVal >> 24);
		2070	//latitude
		2071	dVal = Convert.ToDouble(dtWaypoints.Rows[i][3], nfi);
		2072	iVal = (int)(dVal * Math.Pow(10, 7));
		2073	bData[4] = (byte)(iVal & 0xff);
		2074	bData[5] = (byte)((iVal >> 8) & 0xff);
		2075	bData[6] = (byte)((iVal >> 16) & 0xff);
		2076	bData[7] = (byte)(iVal >> 24);
		2077	//altitude
		2078	dVal = Convert.ToDouble(dtWaypoints.Rows[i][5], nfi);
		2079	iVal = (int)(dVal * 10);
		2080	bData[8] = (byte)(iVal & 0xff);
		2081	bData[9] = (byte)((iVal >> 8) & 0xff);
		2082	bData[10] = (byte)((iVal >> 16) & 0xff);
		2083	bData[11] = (byte)(iVal >> 24);
		2084	//Status 'NEWDATA'
		2085	bData[12] = 1;
		2086	//heading
		2087	iVal = Convert.ToInt16(dtWaypoints.Rows[i][6]);
		2088	bData[13] = (byte)(iVal & 0xff);
		2089	bData[14] = (byte)((iVal >> 8) & 0xff);
		2090	//ToleranceRadius
		2091	bData[15] = Convert.ToByte(dtWaypoints.Rows[i][9]);
		2092	//HoldTime
		2093	bData[16] = Convert.ToByte(dtWaypoints.Rows[i][10]);
		2094	//Event_Flag
		2095	bData[17] = Convert.ToByte(dtWaypoints.Rows[i][13]);
		2096	//Index
		2097	bData[18] = Convert.ToByte((int)dtWaypoints.Rows[i][0]);
		2098	//Type
		2099	bData[19] = Convert.ToByte(dtWaypoints.Rows[i][1]);
		2100	//WP_EventChannelValue
		2101	bData[20] = Convert.ToByte(dtWaypoints.Rows[i][14]);
		2102	//AltitudeRate
		2103	bData[21] = Convert.ToByte(dtWaypoints.Rows[i][8]);
		2104	//Speed
		2105	bData[22] = Convert.ToByte(dtWaypoints.Rows[i][7]);
		2106	//CamAngle
		2107	bData[23] = (byte)Convert.ToInt16(dtWaypoints.Rows[i][12]);
		2108	//Name
		2109	byte[] name = ASCIIEncoding.ASCII.GetBytes((string)dtWaypoints.Rows[i][2]);
		2110	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2111	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2112	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2113	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2114	//Autotrigger
		2115	bData[28] = Convert.ToByte(dtWaypoints.Rows[i][11]);
		2116
		2117	bytes = FlightControllerMessage.CreateMessage('w', 2, bData);
		2118	serialStream.Write(bytes, 0, bytes.Length);
		2119
		2120	_iWPCount = -1;
		2121	while (_iWPCount == -1)
		2122	Thread.Sleep(10);
		2123	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
		2124	}
		2125	}
		2126	else
		2127	Log(LogMsgType.Error, "NOT CONNECTED!");
		2128
		2129	}
		2130
2287	-	2131	#region OSD-Menue
		2132
		2133	/// <summary>
		2134	/// one time query of the OSD Menue with pagenumber
		2135	/// </summary>
		2136	/// <param name="iMenue">Menue page</param>
		2137	void _OSDMenue(int iMenue)
		2138	{
		2139	if (serialPortCtrl.Port.IsOpen)
		2140	{
		2141	if (iMenue > iOSDMax)
		2142	iMenue = 0;
		2143	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2144	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2145	serialStream.Write(bytes, 0, bytes.Length);
		2146	}
		2147	else
		2148	Log(LogMsgType.Error, "NOT CONNECTED!");
		2149
		2150	}
		2151	/// <summary>
		2152	/// call the OSDMenue and start autorefresh
		2153	/// usually by sending a menuekey
		2154	/// 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)
		2155	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2156	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2157	/// </summary>
		2158	void _OSDMenueAutoRefresh()
		2159	{
		2160	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2161	}
		2162	void _OSDMenueAutoRefresh(byte key)
		2163	{
		2164	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2165	}
		2166	/// <summary>
		2167	/// initialize the OSD menue combobox
		2168	/// combox is filled by numbers from 0 to max pagenumber
		2169	/// </summary>
		2170	void _initOSDCB()
		2171	{
		2172	_bCBInit = true;
		2173	if (iOSDMax == 0)
		2174	{
		2175	_OSDMenue(0);
		2176	Thread.Sleep(10);
		2177	}
		2178	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2179	for (int i = 0; i <= iOSDMax; i++)
		2180	{
		2181	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2182	}
		2183	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2184	_bCBInit = false;
		2185	}
		2186	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2187	{
		2188	iOSDPage++;
		2189	if (iOSDPage > iOSDMax)
		2190	iOSDPage = 0;
		2191
		2192	_OSDMenue(iOSDPage);
		2193	}
		2194	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2195	{
		2196	iOSDPage--;
		2197	if (iOSDPage < 0)
		2198	iOSDPage = iOSDMax;
		2199
		2200	_OSDMenue(iOSDPage);
		2201	}
		2202	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2203	{
		2204	_OSDMenueAutoRefresh(8);
		2205	}
		2206	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2207	{
		2208	_OSDMenueAutoRefresh(4);
		2209	}
		2210	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2211	{
		2212	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2213	_OSDMenue(cbOSD.SelectedIndex);
		2214	}
		2215	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2216	{
		2217	Dispatcher.Invoke(() =>
		2218	{
		2219	TextRange tr;
		2220	if (bNew)
		2221	{
		2222	rtfOSD.SelectAll();
		2223	rtfOSD.Selection.Text = string.Empty;
		2224	}
		2225	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2226	tr.Text = msg;
		2227	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2228	// rtfOSD.AppendText("\r");
		2229	rtfOSD.ScrollToEnd();
		2230
		2231	});
		2232	}
		2233
		2234	#endregion OSD-Menue
		2235
		2236	#endregion controller messages
		2237
2295	-	2238	void _mediaPlayer(string file)
		2239	{
		2240	if (File.Exists(file))
		2241	{
		2242	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		2243	mp.Open(file);
		2244	mp.Play();
		2245	}
		2246	}
2310	-	2247
		2248	/// <summary>
		2249	/// Switch between fullscreen and normal window mode
		2250	/// save & restore scaling settings
		2251	/// </summary>
		2252	/// <param name="sender"></param>
		2253	/// <param name="e"></param>
2287	-	2254	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2255	{
		2256	if (winState.isMaximized)
		2257	{
		2258	winState.Restore(this);
		2259	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2260	if(_bSaveWinStateFull)
		2261	_saveScaleSliders(true);
		2262	if(_bSaveWinStateNormal)
		2263	_setScaleSliders(false);
		2264	}
		2265	else
		2266	{
		2267	winState.Maximize(this);
		2268	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2269	if(_bSaveWinStateNormal)
		2270	_saveScaleSliders(false);
		2271	if(_bSaveWinStateFull)
		2272	_setScaleSliders(true);
		2273	}
		2274	}
		2275
		2276	/// <summary>
		2277	/// reset the scaling of all UI elements to default
		2278	/// </summary>
		2279	/// <param name="sender"></param>
		2280	/// <param name="e"></param>
		2281	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2282	{
		2283	UIScaleHorizonSlider.Value =
		2284	UIScaleLOGSlider.Value =
		2285	UIScaleMotorsSlider.Value =
		2286	UIScaleOSDSlider.Value =
		2287	UIScaleSlider.Value =
		2288	UIScaleTopSlider.Value = 1;
		2289	}
		2290	/// <summary>
		2291	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2292	/// </summary>
		2293	/// <param name="sender"></param>
		2294	/// <param name="e"></param>
		2295	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2296	{
		2297	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2298	if (GridMotors != null)
		2299	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2300	if (GridSideBar != null)
		2301	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2302	if (GridOSD != null)
		2303	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2304	if (GridData != null)
		2305	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2306	if (GridWP != null)
		2307	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2308	}
2310	-	2309	/// <summary>
		2310	/// restore the saved scalings for the fullscreen/normal window mode
		2311	/// </summary>
		2312	/// <param name="bFull">the mode the window is set to</param>
2287	-	2313	void _setScaleSliders(bool bFull)
		2314	{
		2315	if(bFull)
		2316	{
		2317	UIScaleSlider.Value = scaleFullAll;
		2318	UIScaleTopSlider.Value = scaleFullTopBar;
		2319	UIScaleMotorsSlider.Value = scaleFullMotors;
		2320	UIScaleOSDSlider.Value = scaleFullOSD;
		2321	UIScaleLOGSlider.Value = scaleFullLOG;
		2322	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2323	}
		2324	else
		2325	{
		2326	UIScaleSlider.Value = scaleNormalAll;
		2327	UIScaleTopSlider.Value = scaleNormalTopBar;
		2328	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2329	UIScaleOSDSlider.Value = scaleNormalOSD;
		2330	UIScaleLOGSlider.Value = scaleNormalLOG;
		2331	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2332	}
		2333	}
		2334
2310	-	2335	/// <summary>
		2336	/// save the scalings for the actual window mode
		2337	/// </summary>
		2338	/// <param name="bFull">the actual window mode</param>
2287	-	2339	void _saveScaleSliders(bool bFull)
		2340	{
		2341
		2342	if (bFull)
		2343	{
		2344	scaleFullAll = UIScaleSlider.Value;
		2345	scaleFullTopBar = UIScaleTopSlider.Value;
		2346	scaleFullMotors = UIScaleMotorsSlider.Value;
		2347	scaleFullOSD = UIScaleOSDSlider.Value;
		2348	scaleFullLOG = UIScaleLOGSlider.Value;
		2349	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2350	}
		2351	else
		2352	{
		2353	scaleNormalAll = UIScaleSlider.Value;
		2354	scaleNormalTopBar = UIScaleTopSlider.Value;
		2355	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2356	scaleNormalOSD = UIScaleOSDSlider.Value;
		2357	scaleNormalLOG = UIScaleLOGSlider.Value;
		2358	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2359	}
		2360	}
		2361
		2362	/// <summary>
		2363	/// read settings from ini-file
		2364	/// </summary>
		2365	void _readIni()
		2366	{
		2367	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2368	_writeIni();
		2369	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2370	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2371	try
		2372	{
2287	-	2373
2312	-	2374	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2375	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2376	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2377	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2378	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2379	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2380	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2381	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2382
2312	-	2383	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2384	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2385	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2386	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2387	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2388	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2389	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2390	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2391
2312	-	2392	sVal = ini.IniReadValue("topBar", "voltage");
		2393	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2394	sVal = ini.IniReadValue("topBar", "capacity");
		2395	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2396	sVal = ini.IniReadValue("topBar", "current");
		2397	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2398	sVal = ini.IniReadValue("topBar", "flightTime");
		2399	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2400	sVal = ini.IniReadValue("topBar", "distanceHP");
		2401	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2402	sVal = ini.IniReadValue("topBar", "height");
		2403	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2404	sVal = ini.IniReadValue("topBar", "speed");
		2405	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2406	sVal = ini.IniReadValue("topBar", "magneticField");
		2407	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2408	sVal = ini.IniReadValue("topBar", "satellites");
		2409	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2410	sVal = ini.IniReadValue("topBar", "rc");
		2411	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2412
2312	-	2413	sVal = ini.IniReadValue("style", "saveFullScreen");
		2414	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2415	sVal = ini.IniReadValue("style", "saveNormalState");
		2416	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2417
2312	-	2418	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2419	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2420	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2421	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2422	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2423	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2424	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2425	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2426	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2427	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2428	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2429	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2430
2312	-	2431	sVal = ini.IniReadValue("style", "scaleFullAll");
		2432	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2433	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2434	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2435	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2436	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2437	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2438	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2439	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2440	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2441	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2442	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2443
2312	-	2444	sVal = ini.IniReadValue("general", "LiPoCells");
		2445	_LipoCells = Convert.ToInt16(sVal);
		2446	sVal = ini.IniReadValue("general", "Motors");
		2447	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2448
2312	-	2449	sVal = ini.IniReadValue("map", "followMe");
		2450	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2451	sVal = ini.IniReadValue("map", "AutoSetHome");
		2452	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2287	-	2453
2312	-	2454	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2455	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2456	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2457	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2458	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2459	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2460	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2461	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2462	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2463	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2464	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2465	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2466	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2467	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2468	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2469	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2470	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2471	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2472	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2473	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2474	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2475	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
		2476	}
		2477	catch (Exception e)
		2478	{
2287	-	2479
2312	-	2480	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2481	}
		2482
2287	-	2483	}
		2484
		2485	/// <summary>
		2486	/// save settings to ini-file
		2487	/// </summary>
		2488	void _writeIni()
		2489	{
		2490
		2491	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2492	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2493
2312	-	2494	try
		2495	{
2287	-	2496
2312	-	2497	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2498	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2499	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2500	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2501
2312	-	2502	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2503	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2504	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2505	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2506
2312	-	2507	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2508	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2509
2312	-	2510	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2511	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2287	-	2512
2312	-	2513	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2514	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2515	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2516	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2517	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2518	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2519	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2520	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2521	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2522	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2523
2312	-	2524	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2525	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2526
2312	-	2527	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2528	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2529	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2530	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2531	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2532	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	2533
2312	-	2534	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2535	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2536	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2537	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2538	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2539	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	2540
2312	-	2541	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2542
		2543	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2544	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2545	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2546	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2547	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2548	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2549	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2550	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2551	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2552	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2553	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
		2554	}
		2555	catch (Exception e)
		2556	{
		2557
		2558	MessageBox.Show("Error writing ini-file!" + Environment.NewLine + "Please make sure that the programm is in a location where it is allowed to write" + Environment.NewLine + e.Message, "Write ini-file", MessageBoxButton.OK, MessageBoxImage.Error);
		2559	}
2287	-	2560	}
2312	-	2561
2315	-	2562	#region WP
2312	-	2563	void _readWPLFile()
		2564	{
		2565	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		2566	fd.Filter = "Waypointlists \| *.wpl";
		2567	fd.Multiselect = false;
		2568	if (fd.ShowDialog().Value)
		2569	{
		2570	string file = fd.SafeFileName;
		2571	IniFile ini = new IniFile(fd.SafeFileName);
		2572	ini.path = fd.FileName;
		2573
		2574	try
		2575	{
		2576	string sVal = ini.IniReadValue("General", "FileVersion");
		2577	if (sVal == "")
		2578	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2579	else
		2580	{
		2581	if (Convert.ToInt16(sVal) < 3)
		2582	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2583	else
		2584	{
		2585	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		2586	if (sVal == "")
		2587	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2588	else
		2589	{
		2590	int wpnum = Convert.ToInt16(sVal);
		2591	string wp;
		2592	int i;
2313	-	2593	NumberFormatInfo nfi = new NumberFormatInfo();
		2594	nfi.NumberDecimalSeparator = ".";
2312	-	2595	dtWaypoints.Rows.Clear();
2315	-	2596	for(int k = 0; k < MainMap.Markers.Count;)
		2597	{
		2598	GMapMarker p = MainMap.Markers[k];
		2599	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2600	MainMap.Markers.Remove(p);
		2601	else
		2602	k++;
		2603	}
2312	-	2604	for (int k = 1; k <= wpnum; k++)
		2605	{
		2606	DataRow dr = dtWaypoints.NewRow();
		2607	dr.ItemArray = new object[16];
		2608	object[] o = new object[16];
		2609	i = 0;
		2610	wp = "Point" + k.ToString();
		2611	o[i] = k;
		2612	i++;
		2613	sVal = ini.IniReadValue(wp, "Type");
		2614	if (sVal != "")
2315	-	2615	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	2616	i++;
		2617	sVal = ini.IniReadValue(wp, "Prefix");
		2618	if (sVal != "")
		2619	o[i] = sVal == "0" ? "P" + k.ToString() : sVal + k.ToString();
		2620	i++;
2313	-	2621	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	2622	if (sVal != "")
2313	-	2623	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2624	i++;
2313	-	2625	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	2626	if (sVal != "")
2313	-	2627	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2628	i++;
		2629	sVal = ini.IniReadValue(wp, "Altitude");
		2630	if (sVal != "")
2313	-	2631	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2632	i++;
		2633	sVal = ini.IniReadValue(wp, "Heading");
		2634	if (sVal != "")
		2635	o[i] = Convert.ToInt16(sVal);
		2636	i++;
		2637	sVal = ini.IniReadValue(wp, "Speed");
		2638	if (sVal != "")
2315	-	2639	o[i] = Convert.ToInt16(sVal);
2312	-	2640	i++;
		2641	sVal = ini.IniReadValue(wp, "ClimbRate");
		2642	if (sVal != "")
		2643	o[i] = Convert.ToInt16(sVal);
		2644	i++;
		2645	sVal = ini.IniReadValue(wp, "Radius");
		2646	if (sVal != "")
		2647	o[i] = Convert.ToInt16(sVal);
		2648	i++;
		2649	sVal = ini.IniReadValue(wp, "DelayTime");
		2650	if (sVal != "")
		2651	o[i] = Convert.ToInt16(sVal);
		2652	i++;
		2653	sVal = ini.IniReadValue(wp, "AutoTrigger");
		2654	if (sVal != "")
		2655	o[i] = Convert.ToInt16(sVal); ;
		2656	i++;
		2657	sVal = ini.IniReadValue(wp, "CAM-Nick");
		2658	if (sVal != "")
2313	-	2659	o[i] = Convert.ToInt16(sVal);
2312	-	2660	i++;
		2661	o[i] = 0;
		2662	i++;
		2663	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		2664	if (sVal != "")
		2665	o[i] = Convert.ToInt16(sVal);
		2666	i++;
		2667	o[i] = "New";
		2668
		2669	dr.ItemArray = o;
		2670	dtWaypoints.Rows.Add(dr);
2315	-	2671	GMapMarker wpMarker = new GMapMarker(new PointLatLng((double)o[3], (double)o[4]));
		2672	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, (string)dr[2], (int)o[1]);
		2673	_setMarkerColor(wpMarker, (int)o[1]);
		2674	MainMap.Markers.Add(wpMarker);
		2675
2312	-	2676	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		2677	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		2678	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2679	Thread.Sleep(10);
		2680	}
		2681	}
		2682	}
		2683	}
		2684
		2685	}
		2686	catch (Exception e)
		2687	{
		2688
		2689	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		2690	}
		2691
		2692	}
		2693	}
2315	-	2694	void _setMarkerColor(GMapMarker wpMarker,int iType)
		2695	{
		2696	Dispatcher.Invoke(() =>
		2697	{
		2698	switch (iType)
		2699	{
		2700	case 0:
		2701	if (comboBoxWPColor.SelectionBoxItem != null)
		2702	{
		2703	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		2704	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2705	}
		2706	else
		2707	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2708	break;
		2709	case 1:
		2710	if (comboBoxPOIColor.SelectionBoxItem != null)
		2711	{
		2712	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		2713	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2714	}
		2715	else
		2716	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2717	break;
		2718	case 2:
		2719	if (comboBoxFSColor.SelectionBoxItem != null)
		2720	{
		2721	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		2722	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2723	}
		2724	else
		2725	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2726	break;
		2727	default:
		2728	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2729	break;
		2730	}
		2731	});
2312	-	2732
2315	-	2733	}
		2734	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2312	-	2735	{
2315	-	2736	Dispatcher.Invoke(() =>
		2737	{
		2738	if (comboBoxWPColor.SelectionBoxItem != null)
		2739	{
		2740	for (int k = 0; k < MainMap.Markers.Count;k++)
		2741	{
		2742	GMapMarker p = MainMap.Markers[k];
		2743	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2744	{
		2745	if (((CustomMarkerWP)p.Shape).WPType == 0)
		2746	{
		2747	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		2748	((CustomMarkerWP)(p.Shape)).setColor(s);
		2749	}
		2750	}
		2751	}
		2752	}
		2753	});
2312	-	2754	}
2315	-	2755	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		2756	{
		2757	Dispatcher.Invoke(() =>
		2758	{
		2759	if (comboBoxPOIColor.SelectionBoxItem != null)
		2760	{
		2761	for (int k = 0; k < MainMap.Markers.Count; k++)
		2762	{
		2763	GMapMarker p = MainMap.Markers[k];
		2764	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2765	{
		2766	if (((CustomMarkerWP)p.Shape).WPType == 1)
		2767	{
		2768	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		2769	((CustomMarkerWP)(p.Shape)).setColor(s);
		2770	}
		2771	}
		2772	}
		2773	}
		2774	});
2287	-	2775
2315	-	2776	}
		2777	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
2287	-	2778	{
2315	-	2779	Dispatcher.Invoke(() =>
		2780	{
		2781	if (comboBoxFSColor.SelectionBoxItem != null)
		2782	{
		2783	for (int k = 0; k < MainMap.Markers.Count; k++)
		2784	{
		2785	GMapMarker p = MainMap.Markers[k];
		2786	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2787	{
		2788	if (((CustomMarkerWP)p.Shape).WPType == 2)
		2789	{
		2790	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		2791	((CustomMarkerWP)(p.Shape)).setColor(s);
		2792	}
		2793	}
		2794	}
		2795	}
		2796	});
2287	-	2797	}
2315	-	2798	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	2799	{
2315	-	2800	_readWPLFile();
2287	-	2801	}
2315	-	2802	#endregion WP
		2803
		2804	#endregion functions
2287	-	2805	}
2315	-	2806	/// <summary>
		2807	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		2808	/// </summary>
2313	-	2809	public class waypointsConverter : IValueConverter
		2810	{
		2811	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		2812	{
		2813	if (value != null)
		2814	{
		2815	switch ((string)parameter)
		2816	{
		2817	case "Latitude":
		2818	return value.ToString() + " °";
		2819	case "Longitude":
		2820	return value.ToString() + " °";
		2821	case "Radius":
		2822	return value.ToString() + " m";
		2823	case "Altitude":
		2824	return value.ToString() + " m";
		2825	case "ClimbRate":
		2826	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		2827	case "DelayTime":
		2828	return value.ToString() + " s";
		2829	case "Heading":
		2830	return Waypoints.Heading(System.Convert.ToInt32(value));
		2831	case "Speed":
		2832	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		2833	case "CamAngle":
		2834	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		2835	case "Type":
		2836	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		2837	case "AutoTrigger":
		2838	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		2839	case "Status":
		2840	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		2841	}
		2842
		2843	return value.ToString();
		2844	}
		2845	else return value;
		2846	}
		2847
		2848	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		2849	{
		2850	throw new NotImplementedException();
		2851	}
		2852	}
		2853
2287	-	2854	public class IniFile
		2855	{
		2856	public string path;
		2857
		2858	[DllImport("kernel32")]
		2859	private static extern long WritePrivateProfileString(string section,
		2860	string key, string val, string filePath);
		2861
		2862	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		2863	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		2864	uint nSize, string lpFileName);
		2865
		2866	[DllImport("kernel32")]
		2867	private static extern int GetPrivateProfileString(string section,
		2868	string key, string def, StringBuilder retVal,
		2869	int size, string filePath);
		2870
		2871	public IniFile(string INIPath)
		2872	{
		2873	path = INIPath;
		2874	}
		2875
		2876	public void IniWriteValue(string Section, string Key, string Value)
		2877	{
		2878	WritePrivateProfileString(Section, Key, Value, this.path);
		2879	}
		2880
		2881	public string IniReadValue(string Section, string Key)
		2882	{
		2883	StringBuilder temp = new StringBuilder(255);
		2884	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		2885	return temp.ToString();
		2886	}
		2887	//Ini_sections auslesen in String-Array
		2888	public string[] IniSectionNames()
		2889	{
		2890
		2891	// uint MAX_BUFFER = 32767;
		2892	uint MAX_BUFFER = 8388608;
		2893	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		2894	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		2895	if (bytesReturned == 0)
		2896	{
		2897	Marshal.FreeCoTaskMem(pReturnedString);
		2898	return null;
		2899	}
		2900	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		2901	Marshal.FreeCoTaskMem(pReturnedString);
		2902	//use of Substring below removes terminating null for split
		2903	return local.Substring(0, local.Length - 1).Split('\0');
		2904
		2905
		2906	}
		2907	}
		2908
		2909	/// <summary>
		2910	/// Selected Win AI Function Calls
		2911	/// </summary>
		2912	public class WinApi
		2913	{
		2914	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		2915	public static extern int GetSystemMetrics(int which);
		2916	[DllImport("user32.dll")]
		2917	public static extern void
		2918	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		2919	int X, int Y, int width, int height, uint flags);
		2920
		2921	private const int SM_CXSCREEN = 0;
		2922	private const int SM_CYSCREEN = 1;
		2923	private static IntPtr HWND_TOP = IntPtr.Zero;
		2924	private const int SWP_SHOWWINDOW = 64; // 0x0040
		2925
		2926	public static int ScreenX
		2927	{
		2928	get { return GetSystemMetrics(SM_CXSCREEN); }
		2929	}
		2930
		2931	public static int ScreenY
		2932	{
		2933	get { return GetSystemMetrics(SM_CYSCREEN); }
		2934	}
		2935
		2936	public static void SetWinFullScreen(IntPtr hwnd)
		2937	{
		2938	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		2939	}
		2940	}
		2941	/// <summary>
		2942	/// Class used to preserve / restore state of the window
		2943	/// </summary>
		2944	public class WinState
		2945	{
		2946	private WindowState winState;
		2947	private WindowStyle brdStyle;
		2948	private bool topMost;
		2949	private Rect restore;
		2950	private bool IsMaximized = false;
		2951
		2952	public bool isMaximized
		2953	{
		2954	get { return IsMaximized; }
		2955	}
		2956	public void Maximize(Window targetForm)
		2957	{
		2958	if (!IsMaximized)
		2959	{
		2960	IsMaximized = true;
		2961	Save(targetForm);
		2962	targetForm.WindowState = WindowState.Maximized;
		2963	targetForm.WindowStyle = WindowStyle.None;
		2964	targetForm.Topmost = true;
		2965	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		2966	}
		2967	}
		2968
		2969	public void Save(Window targetForm)
		2970	{
		2971	winState = targetForm.WindowState;
		2972	brdStyle = targetForm.WindowStyle;
		2973	topMost = targetForm.Topmost;
		2974	restore = targetForm.RestoreBounds;
		2975	}
		2976	public void Restore(Window targetForm)
		2977	{
		2978	targetForm.WindowState = winState;
		2979	targetForm.WindowStyle = brdStyle;
		2980	targetForm.Topmost = topMost;
		2981
		2982	targetForm.Left = restore.Left;
		2983	targetForm.Top = restore.Top;
		2984	targetForm.Height = restore.Height;
		2985	targetForm.Width = restore.Width;
		2986	IsMaximized = false;
		2987	}
		2988	}
		2989
		2990	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs - Rev 2315