WebSVN - Projects - Blame - Rev 2318 - /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);
2318	-	642
		643	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"),"red");
		644	if (comboBoxCopterColor.SelectionBoxItem != null)
		645	{
		646	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		647	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		648	}
2287	-	649	copter.Offset = new System.Windows.Point(-18, -18);
		650	copter.ZIndex = int.MaxValue;
		651	MainMap.Markers.Add(copter);
		652	copter.Position = MainMap.Position;
		653	}
		654	void setHomePos()
		655	{
		656	pHome = MainMap.Position;
		657	if (!MainMap.Markers.Contains(home))
		658	{
		659	home = new GMapMarker(MainMap.Position);
		660	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		661	home.Offset = new System.Windows.Point(-18, -18);
		662	// home.ZIndex = int.MaxValue;
		663	MainMap.Markers.Add(home);
		664	}
		665	home.Position = MainMap.Position;
		666	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		667	}
		668	void clearHomePos()
		669	{
		670	MainMap.Markers.Remove(home);
		671	}
		672
		673	// access mode
		674	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		675	{
		676	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		677	MainMap.ReloadMap();
		678	}
		679	// zoom up
		680	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		681	{
		682	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		683	}
		684
		685	// zoom down
		686	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		687	{
		688	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		689	}
		690
		691	// prefetch
		692	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		693	{
		694	RectLatLng area = MainMap.SelectedArea;
		695	if (!area.IsEmpty)
		696	{
		697	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		698	{
		699	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		700
		701	if (res == MessageBoxResult.Yes)
		702	{
		703	TilePrefetcher obj = new TilePrefetcher();
		704	obj.Owner = this;
		705	obj.ShowCompleteMessage = true;
		706	obj.Start(area, i, MainMap.MapProvider, 100);
		707	}
		708	else if (res == MessageBoxResult.No)
		709	{
		710	continue;
		711	}
		712	else if (res == MessageBoxResult.Cancel)
		713	{
		714	break;
		715	}
		716	}
		717	}
		718	else
		719	{
		720	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		721	}
		722	}
		723
		724	// goto by geocoder
		725	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		726	{
		727	_goto_byGeoCoder();
		728	}
		729	// goto by geocoder
		730	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		731	{
		732	if (e.Key == System.Windows.Input.Key.Enter)
		733	_goto_byGeoCoder();
		734	}
		735	void _goto_byGeoCoder()
		736	{
		737	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		738	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		739	{
		740	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		741	}
		742	}
		743	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		744	{
		745	try
		746	{
		747	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		748	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		749
		750	MainMap.Position = new PointLatLng(lat, lng);
		751	}
		752	catch (Exception ex)
		753	{
		754	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		755	}
		756
		757	}
		758
		759	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		760	{
		761	MainMap.ReloadMap();
		762	}
		763
		764	private void MainMap_OnPositionChanged(PointLatLng point)
		765	{
		766	if (_bFollowCopter)
		767	_setCopterData(MainMap.Position);
		768	}
		769
		770	private void MainMap_OnMapZoomChanged()
		771	{
		772	if (_bFollowCopter)
		773	_setCopterData(MainMap.Position);
		774	if((int)sliderMapZoom.Value != MainMap.Zoom)
		775	sliderMapZoom.Value = MainMap.Zoom;
		776	}
		777
		778	void _setCopterData(PointLatLng p)
		779	{
		780	Dispatcher.Invoke(() =>
		781	{
		782	copter.Position = p;
		783	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		784	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		785	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		786	});
		787	if (home != null && MainMap.Markers.Contains(home))
		788	{
		789	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		790	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		791	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	792
		793	if(d*1000 < _dThresholdDistanceWarn)
		794	{
		795	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		796	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		797	{
		798	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		799	_bAnimDistanceActive = false;
		800	}
		801	}
		802	else
		803	{
		804	if (_iDistanceJitter < 20)
		805	{ _iDistanceJitter++; }
		806	if (_iDistanceJitter == 20)
		807	{
		808	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		809	{
		810	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		811	_bAnimDistanceActive = true;
		812	}
		813	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		814	{
2295	-	815	Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		816	t.Start();
2291	-	817	_bVoiceDistanceActive = true;
		818	}
		819	_iDistanceJitter++;
		820	}
		821	}
2287	-	822	}
		823	}
		824
		825	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		826	{
		827	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		828	}
		829
		830	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		831	{
		832	if (MainMap.Zoom != sliderMapZoom.Value)
		833	MainMap.Zoom = (int)sliderMapZoom.Value;
		834	}
		835	#region Touch zooming hackattack ;)
		836	/// <summary>
		837	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		838	/// </summary>
		839	bool bFirstAccess = true;
		840	double dDistance = 0;
		841	int iZoom;
		842	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		843	{
		844	var id = e.StylusDevice.Id;
		845	e.StylusDevice.Capture(MainMap);
		846	if (iFirstStylusID == -1)
		847	{
		848	iFirstStylusID = id;
		849	}
		850	else
		851	{
		852
		853	MainMap.CanDragMap = false;
		854	}
		855	}
		856	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		857	{
		858	MainMap.ReleaseStylusCapture();
		859	iFirstStylusID = -1;
		860	bFirstAccess = true;
		861	MainMap.CanDragMap = true;
		862	iZoom = 0;
		863	}
		864	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		865	{
		866	var id = e.StylusDevice.Id;
		867	var tp = e.GetPosition(MainMap);
		868
		869	// This is the first Stylus point; just record its position.
		870	if (id == iFirstStylusID)
		871	{
		872	pTouch1.X = tp.X;
		873	pTouch1.Y = tp.Y;
		874	}
		875	else
		876	if (iFirstStylusID > -1)
		877	{
		878	pTouch2.X = tp.X;
		879	pTouch2.Y = tp.Y;
		880	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		881	if (!bFirstAccess)
		882	{
		883	if (distance > dDistance)
		884	iZoom++;
		885	else
		886	if (distance < dDistance)
		887	iZoom--;
		888	}
		889	if (iZoom > 30)
		890	{
		891	iZoom = 0;
		892	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		893	}
		894	if (iZoom < -30)
		895	{
		896	iZoom = 0;
		897	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		898	}
		899	dDistance = distance;
		900	bFirstAccess = false;
		901	}
		902	}
		903	#endregion Touch zooming hackattack ;)
		904
		905	#endregion GMap
		906
		907	#region settings
		908	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		909	{
		910	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		911	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		912	}
		913	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		914	{
		915	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		916	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		917	}
		918	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		919	{
		920	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		921	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		922	}
		923	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		924	{
		925	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		926	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		927	}
		928	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		929	{
		930	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		931	}
		932	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		933	{
		934	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		935	}
		936	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		937	{
		938	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		939	}
		940	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		941	{
		942	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		943	}
		944
		945	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		946	{
		947	if (cBoxLiPoCells.SelectedIndex > -1)
		948	{
		949	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		950	_LipoMinMax();
		951	}
		952	}
		953	void _LipoMinMax()
		954	{
		955	_dLipoVMax = (double)(_LipoCells) * 4.22;
		956	_dLipoVMin = (double)_LipoCells * 3;
		957	pbTopVoltage.Maximum = _dLipoVMax;
		958	pbTopVoltage.Minimum = _dLipoVMin;
		959	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		960	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		961	}
		962	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		963	{
		964	if (cBoxMotors.SelectedIndex > -1)
		965	{
		966	_iMotors = cBoxMotors.SelectedIndex + 3;
		967	Dispatcher.Invoke(() =>
		968	{
		969	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		970	GridMotors.Height = dgvMotors1.Height + 10;
		971	});
		972	}
		973	}
		974	void _setMotorGridSize()
		975	{
		976	if (dgvMotors1.Columns.Count > 2)
		977	{
		978	dgvMotors1.Columns[0].Width = 24;
		979	dgvMotors1.Columns[1].Width = 50;
		980	dgvMotors1.Columns[2].Width = 50;
		981	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		982	GridMotors.Height = dgvMotors1.Height + 10;
		983	}
		984
		985	}
		986	#endregion settings
		987
		988	#region functions
		989
		990	#region logging
		991	/// <summary> Log data to the terminal window. </summary>
		992	/// <param name="msgtype"> The type of message to be written. </param>
		993	/// <param name="msg"> The string containing the message to be shown. </param>
		994	private void Log(LogMsgType msgtype, string msg)
		995	{
		996	Dispatcher.Invoke(() =>
		997	{
		998	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		999	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1000	// rtfTerminal.AppendText(msg + "\r");
		1001	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1002	tr.Text = msg;
		1003	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1004	rtfTerminal.AppendText("\r");
		1005	rtfTerminal.ScrollToEnd();
		1006	});
		1007	}
		1008	private void ErrorLog(LogMsgType msgtype, string msg)
		1009	{
		1010	Dispatcher.Invoke(() =>
		1011	{
		1012	TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1013	tr.Text = msg;
		1014	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1015	rtfError.AppendText("\r");
		1016	rtfError.ScrollToEnd();
		1017
		1018	_bErrorLog = true;
		1019	});
		1020	}
		1021	/// <summary>
		1022	/// Clear the line in the errorlog window
		1023	/// containing the error string when error has ceased
		1024	/// </summary>
		1025	/// <param name="s">substring of errrormessage</param>
		1026	void _clearErrorLog(string s)
		1027	{
		1028	Dispatcher.Invoke((Action)(() =>
		1029	{
		1030	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1031	TextRange foundRange = FindTextInRange(searchRange, s);
		1032
		1033	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1034
		1035
		1036	if (iStart > -1)
		1037	{
		1038	int iLength = 0;
		1039	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1040	if (iEnd > 0)
		1041	{
		1042	iLength = iEnd + 1;
		1043	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1044	if (iHttp == iLength)
		1045	{
		1046	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1047	if (iEnd2 > iLength)
		1048	{
		1049	iLength = iEnd2 + 1;
		1050	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1051
		1052	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1053	rtfError.Selection.Text = string.Empty;
		1054	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1055	}
		1056
		1057	}
		1058	else
		1059	{
		1060	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1061	rtfError.Selection.Text = string.Empty;
		1062	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1063	}
		1064	}
		1065	}
		1066	}));
		1067
		1068	}
		1069	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1070	{
		1071	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1072	if (offset < 0)
		1073	return null; // Not found
		1074
		1075	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1076	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1077
		1078	return result;
		1079	}
		1080	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1081	{
		1082	while (position != null)
		1083	{
		1084	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1085	{
		1086	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1087	if (characterCount <= count)
		1088	{
		1089	return position.GetPositionAtOffset(characterCount);
		1090	}
		1091
		1092	characterCount -= count;
		1093	}
		1094
		1095	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1096	if (nextContextPosition == null)
		1097	return position;
		1098
		1099	position = nextContextPosition;
		1100	}
		1101
		1102	return position;
		1103	}
		1104	#endregion logging
		1105
		1106	#region processing received data
		1107
		1108	private void processMessage(byte[] message)
		1109	{
		1110	if (message.Length > 0)
		1111	{
		1112	_iLifeCounter++;
		1113	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1114	//Log(LogMsgType.Incoming, message.Length.ToString());
		1115	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1116	char cmdID;
		1117	byte adr;
		1118	byte[] data;
		1119	byte[] tmp = null;
		1120	if (message[0] != '#')
		1121	{
		1122	int iFound = -1;
		1123	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1124	{ //so this is a workaround to not spam the log box
		1125	if (message[i] == 35)
		1126	{
		1127	iFound = i;
		1128	break;
		1129	}
		1130	}
		1131	if (iFound > 0)
		1132	{
		1133	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1134	tmp = new byte[message.Length - iFound];
		1135	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1136	}
		1137	s = s.Trim('\0', '\n', '\r');
		1138	if (s.Length > 0)
		1139	Log(LogMsgType.Normal, s);
		1140	if (tmp != null)
		1141	{
		1142	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1143	processMessage(tmp);
		1144	}
		1145	}
		1146	//Debug.Print(s);
		1147	else
		1148	{
		1149	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1150
		1151	if (adr == 255) { crcError++; }
		1152	else crcError = 0;
		1153	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1154	//display the active controller (FC / NC)
		1155	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...???
		1156	{
		1157	_iCtrlAct = adr;
		1158	switch (adr)
		1159	{
		1160	case 1:
		1161	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2298	-	1162	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
2287	-	1163	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1164	// _setFieldsNA(); //display fields NA for FC
		1165	break;
		1166	case 2:
		1167	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1168	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1169	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1170	break;
		1171	//case 3:
		1172	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1173	// break;
		1174	//case 4:
		1175	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1176	// break;
		1177	default:
		1178	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1179	break;
		1180	}
		1181	// _loadLabelNames();
		1182	}
		1183	// else
		1184	// Debug.Print("Address == 0?");
		1185
		1186	if (data != null && data.Length > 0)
		1187	{
		1188	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1189	s = s.Trim('\0', '\n');
		1190
		1191	switch (cmdID)
		1192	{
		1193	//case 'A': //Label names
		1194	// _processLabelNames(s);
		1195	// break;
		1196
		1197	case 'D': //Debug data
		1198	_processDebugVals(adr, data);
		1199	break;
		1200
		1201	case 'V': //Version
		1202	_processVersion(adr, data);
		1203	break;
		1204
		1205	case 'K'://BL-CTRL data
		1206	_processBLCtrl(data);
		1207	break;
		1208
		1209	case 'O': //NC Data
		1210	_processNCData(data);
		1211	break;
		1212
		1213	case 'E': //NC error-string
		1214	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1215	break;
		1216
		1217	case 'L': //OSD Menue (called by pagenumber)
		1218	_processOSDSingle(data);
		1219	break;
		1220
		1221	case 'H': //OSD Menue (with autoupdate - called by Key)
		1222	_processOSDAuto(data);
		1223	break;
		1224
		1225	case 'X': //Waypoint data
		1226	_processWPData(data);
		1227	break;
		1228
2313	-	1229	case 'W': //return new Waypoint items count after sending waypoint to copter
		1230	_iWPCount = data[0];
		1231	break;
2287	-	1232	//default:
		1233	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1234	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1235	// break;
		1236	}
		1237	}
		1238	//else
		1239	//{
		1240	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1241	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1242	//}
		1243	}
		1244	}
		1245	}
		1246	/// <summary>
		1247	/// Analog label names 'A'
		1248	/// each label name is returned as a single string
		1249	/// and added to string array sAnalogLabel[]
		1250	/// and the datatable dtAnalog
		1251	/// </summary>
		1252	/// <param name="s">the label name</param>
		1253	void _processLabelNames(string s)
		1254	{
		1255	//if (iLableIndex < 32)
		1256	//{
		1257	// sAnalogLabel[iLableIndex] = s;
		1258	// if (dtAnalog.Rows.Count < 32)
		1259	// dtAnalog.Rows.Add(s, "");
		1260	// else
		1261	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1262
		1263	// // _getAnalogLabels(iLableIndex + 1);
		1264	//}
		1265	//Debug.Print(s);
		1266	}
		1267	/// <summary>
		1268	/// Debug values 'D'
		1269	/// </summary>
		1270	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1271	/// <param name="data">the received byte array to process</param>
		1272	void _processDebugVals(byte adr, byte[] data)
		1273	{
		1274	if (data.Length == 66)
		1275	{
		1276	int[] iAnalogData = new int[32];
		1277	double v;
		1278	int index = 0;
		1279	Int16 i16 = 0;
		1280	double dTemp = 0;
		1281	for (int i = 2; i < 66; i += 2)
		1282	{
		1283	i16 = data[i + 1];
		1284	i16 = (Int16)(i16 << 8);
		1285	iAnalogData[index] = data[i] + i16;
		1286	sAnalogData[index] = (data[i] + i16).ToString();
		1287	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1288
		1289	if (adr == 2) //NC
		1290	{
		1291	switch (index)
		1292	{
		1293	case 0: //pitch (German: nick)
		1294	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1295	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1296	break;
		1297	case 1: //roll
		1298	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1299	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1300	break;
		1301	case 4: //altitude
		1302	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1303	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1304	break;
		1305	case 7: //Voltage
		1306	v = (double)iAnalogData[index] / (double)10;
		1307	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1308	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1309	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1310	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1311	{
		1312	if (v == _dVoltLast)
		1313	if(_iVoltJitter < 20) _iVoltJitter++;
		1314	else
		1315	{
		1316	_iVoltJitter = 0;
		1317	_dVoltLast = v;
		1318	}
		1319	if (_iVoltJitter == 20)
		1320	{
		1321	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1322
		1323	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1324	{
		1325	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1326	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1327	{
		1328	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1329	_bCritAnimVoltActive = true;
		1330	}
		1331	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1332	{
2295	-	1333	Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1334	t.Start();
2287	-	1335	_bCritVoiceVoltActive = true;
		1336	}
		1337	}
		1338	else
		1339	{
		1340	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1341	{
		1342	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1343	_bCritAnimVoltActive = false;
		1344	}
		1345	_bCritVoiceVoltActive = false;
		1346
2291	-	1347	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1348	{
2295	-	1349	Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1350	t.Start();
2291	-	1351	_bWarnVoiceVoltActive = true;
2287	-	1352	}
		1353	}
		1354	}
		1355	}
		1356	else
		1357	{
		1358	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1359	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1360	{
		1361	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1362	_bCritAnimVoltActive = false;
		1363	}
		1364	_bCritVoiceVoltActive = false;
2291	-	1365	_bWarnVoiceVoltActive = false;
2287	-	1366	_iVoltJitter = 0;
		1367	}
		1368	break;
		1369	case 8: // Current
		1370	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1371	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1372	break;
		1373	case 10: //heading
2291	-	1374	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2287	-	1375	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1376	break;
		1377	case 12: // SPI error
2291	-	1378	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1379	break;
		1380	case 14: //i2c error
2291	-	1381	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1382	break;
		1383	case 20: //Earthmagnet field
2291	-	1384	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1385	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1386
		1387	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1388	{
		1389	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1390	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1391	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1392	{
		1393	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1394	_bAnimMagneticFieldActive = false;
		1395	}
		1396	}
		1397	else
		1398	{
		1399	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1400	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1401	{
		1402	if (_iMagneticFieldJitter < 20)
		1403	_iMagneticFieldJitter++;
		1404	}
		1405	else
		1406	{
		1407	_iMagneticFieldJitter = 0;
		1408	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1409	}
		1410	if(_iMagneticFieldJitter == 20)
		1411	{
		1412	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1413	{
		1414	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1415	_bAnimMagneticFieldActive = true;
		1416	}
		1417	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1418	{
2295	-	1419	Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1420	t.Start();
2291	-	1421	_bVoiceMagneticFieldActive = true;
		1422	}
		1423	}
		1424	}
2287	-	1425	break;
		1426	case 21: //GroundSpeed
		1427	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1428	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1429	break;
2291	-	1430
		1431	///******** needs testing --> not sure what position this is *************
2287	-	1432	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1433	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1434	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1435	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1436	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1437	dTemp = Math.Sqrt(dTemp) / (double)10;
		1438	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1439	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1440	break;
2291	-	1441
2287	-	1442	case 31: //Sats used
		1443	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1444	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1445	break;
		1446	}
		1447	}
		1448	index++;
		1449	}
		1450	}
		1451	else
		1452	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1453	}
		1454	/// <summary>
		1455	/// Version string 'V'
		1456	/// </summary>
		1457	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1458	/// <param name="data">the received byte array to process</param>
		1459	void _processVersion(byte adr, byte[] data)
		1460	{
		1461	if (data.Length == 12)
		1462	{
		1463	if (!check_HWError)
		1464	{
		1465	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1466	string sVersion = "";
		1467	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1468	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1469	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1470	Log(LogMsgType.Incoming, sVersion);
		1471	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1472	Log(LogMsgType.Incoming, sVersion);
		1473	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1474	}
		1475	if (data[5] > 0) //error0
		1476	{
		1477	if (adr == 1)
		1478	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		1479	if (adr == 2)
		1480	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		1481	}
		1482	if (data[6] > 0) //error1
		1483	{
		1484	if (adr == 1)
		1485	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		1486	if (adr == 2)
		1487	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		1488	}
		1489	if ((data[5] + data[6] == 0) && _bErrorLog)
		1490	_clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		1491
		1492	}
		1493	check_HWError = false;
		1494	}
		1495	/// <summary>
		1496	/// BL-Ctrl data 'K'
		1497	/// for FC you have to use a customized firmware
		1498	/// </summary>
		1499	/// <param name="data">the received byte array to process</param>
		1500	void _processBLCtrl(byte[] data)
		1501	{
		1502	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1503	{
		1504	bool bAvailable = false;
		1505	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1506	{
		1507
		1508	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1509	bAvailable = true;
		1510	else
		1511	bAvailable = false;
		1512
		1513	if (data[i] < _iMotors)
		1514	{
		1515	if (bAvailable)
		1516	{
2315	-	1517	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1518	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1519	}
		1520	else
		1521	{
2315	-	1522	dtMotors.Rows[data[i]].SetField(1, "NA");
		1523	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1524	}
		1525	}
		1526	//if (data[i] > 3 && data[i] < 8)
		1527	//{
		1528	// if (bAvailable)
		1529	// {
		1530	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1531	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1532	// }
		1533	// else
		1534	// {
		1535	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1536	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1537	// }
		1538	//}
		1539	}
		1540	}
		1541	}
		1542	/// <summary>
		1543	/// Navi-Ctrl data 'O'
		1544	/// GPS-Position, capacatiy, flying time...
		1545	/// </summary>
		1546	/// <param name="data">the received byte array to process</param>
		1547	void _processNCData(byte[] data)
		1548	{
		1549	int i_32, i_16, iVal;
		1550	double d;
		1551	i_32 = data[4];
		1552	iVal = i_32 << 24;
		1553	i_32 = data[3];
		1554	iVal += i_32 << 16;
		1555	i_32 = data[2];
		1556	iVal += i_32 << 8;
		1557	iVal += data[1];
		1558	d = (double)iVal / Math.Pow(10, 7);
		1559
		1560	PointLatLng p = new PointLatLng();
		1561
		1562	p.Lng = d;
		1563	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1564	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1565
		1566	i_32 = data[8];
		1567	iVal = i_32 << 24;
		1568	i_32 = data[7];
		1569	iVal += i_32 << 16;
		1570	i_32 = data[6];
		1571	iVal += i_32 << 8;
		1572	iVal += data[5];
		1573	d = (double)iVal / Math.Pow(10, 7);
		1574	p.Lat = d;
2291	-	1575	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1576	{
		1577	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1578	if(_bAutoHome && !_bFirstSatFix)
		1579	{
		1580	if (_iFirstSatFix < 3)
		1581	_iFirstSatFix++;
		1582	else
		1583	{
		1584	_bFirstSatFix = true;
		1585	Dispatcher.Invoke(() => setHomePos());
		1586	}
		1587	}
2291	-	1588	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1589	{
		1590	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1591	_bAnimSatFixActive = false;
		1592	}
		1593	if (!_bFollowCopter)
		1594	{
		1595	_setCopterData(p);
		1596	if (!MainMap.ViewArea.Contains(p))
		1597	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1598
2291	-	1599	}
		1600	else
2287	-	1601	Dispatcher.Invoke(() => MainMap.Position = p);
		1602	}
		1603	else
2291	-	1604	{
		1605	if(_bSatFix)
		1606	{
		1607	if (data[50] == _iSatsLast)
		1608	{
		1609	if (_iSatsJitter < 20) _iSatsJitter++;
		1610	}
		1611	else
		1612	{
		1613	_iSatsJitter = 0;
		1614	_iSatsLast = data[50];
		1615	}
2287	-	1616
2291	-	1617	if (_iSatsJitter == 20)
		1618	{
		1619	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1620	{
		1621	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1622	_bAnimSatFixActive = true;
		1623	}
		1624	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1625	{
2295	-	1626	Thread th = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1627	th.Start();
2291	-	1628	_bVoiceSatFixActive = true;
		1629	}
		1630
		1631	_bSatFix = false;
		1632	}
		1633	}
		1634	}
		1635
2287	-	1636	// lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
		1637	//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
		1638
		1639	i_16 = data[28];
		1640	i_16 = (Int16)(i_16 << 8);
		1641	iVal = data[27] + i_16;
		1642	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1643
		1644	i_16 = data[45];
		1645	i_16 = (Int16)(i_16 << 8);
		1646	iVal = data[44] + i_16;
		1647	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1648	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1649
		1650	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
		1651	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
		1652
		1653	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1654
		1655
		1656	//--------------- Capacity used ------------------------
		1657	i_16 = data[81];
		1658	i_16 = (Int16)(i_16 << 8);
		1659	iVal = data[80] + i_16;
		1660	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1661	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1662
		1663	//--------------- Flying time ------------------------
		1664	i_16 = data[56];
		1665	i_16 = (Int16)(i_16 << 8);
		1666	iVal = data[55] + i_16;
		1667	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1668	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1669	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1670	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1671
		1672	//--------------- RC quality ------------------------
		1673	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1674	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1675
2291	-	1676	if(data[66] > _iThresholdRC)
		1677	{
		1678	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1679	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1680	{
		1681	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1682	_bAnimRCLevelActive = false;
		1683	}
		1684	}
		1685	else
		1686	{
		1687	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1688	if (_iRCLevelJitter == 20)
		1689	{
		1690	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1691	{
		1692	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1693	_bAnimRCLevelActive = true;
		1694	}
		1695	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1696	{
2295	-	1697	Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1698	th.Start();
2291	-	1699	_bVoiceRCLevelActive = true;
		1700	}
		1701	_iRCLevelJitter++;
		1702	}
		1703	}
		1704
2287	-	1705	//--------------- NC Error ------------------------
		1706	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1707	if (data[69] > 0)
		1708	_readNCError();
		1709	if (data[69] > 0 & data[69] < 44)
		1710	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
		1711	else
		1712	if (_bErrorLog) _clearErrorLog("NC Error");
		1713
2298	-	1714	//-------------FC / NC Status Flags
		1715	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1716	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1717	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1718	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1719	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1720	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1721
		1722	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1723	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1724	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1725	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1726	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1727	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
		1728	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		1729	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		1730
		1731	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1732	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1733	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1734	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1735	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1736	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1737	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	1738
		1739	//Sidebar StatusSymbols
		1740	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1741	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
		1742	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
		1743
		1744	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1745	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
		1746	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
		1747
		1748	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	1749	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
		1750	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	-	1751
		1752	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1753	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
		1754	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
		1755
		1756	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	1757	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
		1758	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
		1759	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	-	1760
2287	-	1761	}
		1762	/// <summary>
		1763	/// Navi-Ctrl WP data struct 'X'
		1764	/// called by index
		1765	/// </summary>
		1766	/// <param name="data">the received byte array to process</param>
		1767	void _processWPData(byte[] data)
		1768	{
2313	-	1769	_iWPCount = data[0];
2287	-	1770	_bGetWPCount = false;
		1771	if (data.Length >= 28)
		1772	{
		1773	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		1774	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		1775	if (_bGetWP)
		1776	{
		1777	if (data[1] == 1)
2315	-	1778	{
2287	-	1779	dtWaypoints.Rows.Clear();
2318	-	1780	Dispatcher.Invoke(() => {
		1781	for (int k = 0; k < MainMap.Markers.Count;)
		1782	{
		1783	GMapMarker p = MainMap.Markers[k];
		1784	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		1785	MainMap.Markers.Remove(p);
		1786	else
		1787	k++;
		1788	}
		1789	});
2315	-	1790	}
2287	-	1791	DataRow dr = dtWaypoints.NewRow();
		1792	dr = Waypoints.toDataRow(data, dr);
2313	-	1793	dtWaypoints.Rows.Add(dr);
2318	-	1794	Dispatcher.Invoke(() => {
		1795	GMapMarker wp = new GMapMarker(new PointLatLng((double)dr[3], (double)dr[4]));
		1796	wp.Shape = new CustomMarkerWP(this, wp, (string)dr[2],(int)dr[1]);
		1797	_setMarkerColor(wp, (int)dr[1]);
		1798	MainMap.Markers.Add(wp);
		1799	});
2313	-	1800	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1801	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	1802	if (data[1] == data[0])
		1803	{
		1804	_bGetWP = false;
		1805	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1806	}
		1807
		1808	}
		1809	}
		1810	else
		1811	{
		1812	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		1813	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		1814	}
		1815	}
		1816	/// <summary>
		1817	/// OSD Menue 'L'
		1818	/// single page called by pagenumber
		1819	/// no autoupdate
		1820	/// </summary>
		1821	/// <param name="data">the received byte array to process</param>
		1822	void _processOSDSingle(byte[] data)
		1823	{
		1824	if (data.Length == 84)
		1825	{
		1826	string sMessage = "";
		1827	iOSDPage = data[0];
		1828	iOSDMax = data[1];
		1829	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		1830	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		1831	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1832	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1833	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1834	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1835	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		1836	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		1837
		1838	}
		1839	//else
		1840	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		1841
		1842	}
		1843	/// <summary>
		1844	/// OSD Menue 'H'
		1845	/// called by keys (0x01,0x02,0x03,0x04)
		1846	/// autoupdate
		1847	/// </summary>
		1848	/// <param name="data">the received byte array to process</param>
		1849	void _processOSDAuto(byte[] data)
		1850	{
		1851	if (data.Length == 81)
		1852	{
		1853	string sMessage = "";
		1854	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		1855	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1856	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1857	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1858	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1859
		1860	}
		1861	//else
		1862	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		1863	}
		1864
		1865	#endregion processing received data
		1866
		1867	#region controller messages
		1868	/// <summary> send message to controller to request data
		1869	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1870	/// </summary>
		1871	/// <param name="CMDID"> the command ID </param>
		1872	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1873	private void _sendControllerMessage(char CMDID, byte address)
		1874	{
		1875	if (serialPortCtrl.Port.IsOpen)
		1876	{
		1877	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1878	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		1879	serialStream.Write(bytes, 0, bytes.Length);
		1880
		1881	}
		1882	else
		1883	Log(LogMsgType.Error, "NOT CONNECTED!");
		1884	}
		1885	/// <summary> send message to controller to request data
		1886	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1887	/// </summary>
		1888	/// <param name="CMDID"> the command ID </param>
		1889	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1890	/// <param name="data"> additional data for the request</param>
		1891	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		1892	{
		1893	if (serialPortCtrl.Port.IsOpen)
		1894	{
		1895	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1896	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		1897	serialStream.Write(bytes, 0, bytes.Length);
		1898
		1899	}
		1900	else
		1901	Log(LogMsgType.Error, "NOT CONNECTED!");
		1902	}
		1903
		1904	/// <summary>
		1905	/// start/stop continous polling of controller values
		1906	/// </summary>
		1907	/// <param name="b">start/stop switch</param>
		1908	void _readCont(bool b)
		1909	{
		1910	bReadContinously = b;
		1911	if (bReadContinously)
		1912	{
		1913	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		1914	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		1915	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		1916	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		1917	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		1918	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		1919	}
		1920	else
		1921	{
		1922	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		1923	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		1924	_bConnErr = false;
		1925	}
		1926	_iLifeCounter = 0;
		1927	}
		1928
		1929	private void _getVersion()
		1930	{
		1931	_sendControllerMessage('v', 0);
		1932	}
		1933	/// <summary>
		1934	/// get FC version struct via NC
		1935	/// by sending '1' as data (not documented in wiki...)
		1936	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		1937	/// </summary>
		1938	/// <param name="ctrl">controller number 1=FC</param>
		1939	private void _getVersion(byte ctrl)
		1940	{
		1941	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		1942	}
		1943	/// <summary>
		1944	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		1945	/// </summary>
		1946	private void _switchToNC()
		1947	{
		1948	if (serialPortCtrl.Port.IsOpen)
		1949	{
		1950	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1951	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		1952	serialStream.Write(bytes, 0, bytes.Length);
		1953
		1954	Thread.Sleep(100);
		1955	_getVersion();
		1956	Thread.Sleep(100);
		1957	// _OSDMenue(0);
		1958	}
		1959	else
		1960	Log(LogMsgType.Error, "NOT CONNECTED!");
		1961	}
		1962	/// <summary>
		1963	/// switch to FC
		1964	/// </summary>
		1965	private void _switchToFC()
		1966	{
		1967	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		1968	Thread.Sleep(100);
		1969	_getVersion();
		1970	Thread.Sleep(100);
		1971	// _OSDMenue(0);
		1972	}
		1973	/// <summary>
		1974	/// send RESET signal to FC
		1975	/// </summary>
		1976	private void _resetCtrl()
		1977	{
		1978	_sendControllerMessage('R', 1);
		1979	}
		1980	/// <summary>
		1981	/// poll the debug data (4sec subscription)
		1982	/// </summary>
		1983	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1984	private void _readDebugData(bool auto)
		1985	{
		1986	byte interval = auto ? debugInterval : (byte)0;
		1987	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		1988	}
		1989	/// <summary>
		1990	/// poll the BL-CTRL status via NC (4sec subscription)
		1991	/// </summary>
		1992	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1993	private void _readBLCtrl(bool auto)
		1994	{
		1995	byte interval = auto ? blctrlInterval : (byte)0;
		1996	_sendControllerMessage('k', 0, new byte[1] { interval });
		1997	}
		1998	/// <summary>
		1999	/// poll the NC data struct (4sec subscription)
		2000	/// </summary>
		2001	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2002	private void _readNavData(bool auto)
		2003	{
		2004	byte interval = auto ? navctrlInterval : (byte)0;
		2005	_sendControllerMessage('o', 2, new byte[1] { interval });
		2006	}
		2007	/// <summary>
		2008	/// get the errortext for pending NC error
		2009	/// </summary>
		2010	private void _readNCError()
		2011	{
		2012	_sendControllerMessage('e', 2);
		2013	}
		2014	/// <summary>
		2015	/// request the Waypoint at index
		2016	/// </summary>
		2017	/// <param name="index"></param>
		2018	void _getpWP(int index)
		2019	{
		2020	if (serialPortCtrl.Port.IsOpen)
		2021	{
		2022	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2023	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2024	serialStream.Write(bytes, 0, bytes.Length);
		2025	}
		2026	else
		2027	Log(LogMsgType.Error, "NOT CONNECTED!");
		2028
		2029	}
		2030	void _getWP()
		2031	{
		2032	_bGetWPCount = true;
2315	-	2033	_getpWP(1); //get the itemscount of wp
2287	-	2034	while (_bGetWPCount)
		2035	Thread.Sleep(100);
2313	-	2036	if (_iWPCount > 0)
2287	-	2037	_getWPList();
		2038	}
		2039	void _getWPList()
		2040	{
		2041	_bGetWP = true;
2313	-	2042	int iTimeout=0;
		2043	for (int j = 0; j < _iWPCount; j++)
2287	-	2044	{
		2045	_getpWP(j + 1);
2313	-	2046	iTimeout = 0;
		2047	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2048	{
		2049	Thread.Sleep(1);
		2050	iTimeout++;
		2051	}
2287	-	2052	}
		2053	}
2313	-	2054	void _sendWPList()
		2055	{
		2056	if (serialPortCtrl.Port.IsOpen)
		2057	{
		2058	byte[] bData = new byte[30];
		2059	for (int i = 0; i < 30; i++)
		2060	bData[i] = 0;
		2061	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2062	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2063	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2064
2313	-	2065	_iWPCount = -1;
		2066	while (_iWPCount == -1)
		2067	Thread.Sleep(10);
		2068	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2287	-	2069
2313	-	2070	int iVal;
		2071	double dVal;
		2072	NumberFormatInfo nfi = new NumberFormatInfo();
		2073	nfi.NumberDecimalSeparator = ",";
		2074	for (int i = 0; i < dtWaypoints.Rows.Count; i++)
		2075	{
		2076	//longitude
		2077	dVal = Convert.ToDouble(dtWaypoints.Rows[i][4], nfi);
		2078	iVal = (int)(dVal * Math.Pow(10, 7));
		2079	bData[0] = (byte)(iVal & 0xff);
		2080	bData[1] = (byte)((iVal >> 8) & 0xff);
		2081	bData[2] = (byte)((iVal >> 16) & 0xff);
		2082	bData[3] = (byte)(iVal >> 24);
		2083	//latitude
		2084	dVal = Convert.ToDouble(dtWaypoints.Rows[i][3], nfi);
		2085	iVal = (int)(dVal * Math.Pow(10, 7));
		2086	bData[4] = (byte)(iVal & 0xff);
		2087	bData[5] = (byte)((iVal >> 8) & 0xff);
		2088	bData[6] = (byte)((iVal >> 16) & 0xff);
		2089	bData[7] = (byte)(iVal >> 24);
		2090	//altitude
		2091	dVal = Convert.ToDouble(dtWaypoints.Rows[i][5], nfi);
		2092	iVal = (int)(dVal * 10);
		2093	bData[8] = (byte)(iVal & 0xff);
		2094	bData[9] = (byte)((iVal >> 8) & 0xff);
		2095	bData[10] = (byte)((iVal >> 16) & 0xff);
		2096	bData[11] = (byte)(iVal >> 24);
		2097	//Status 'NEWDATA'
		2098	bData[12] = 1;
		2099	//heading
		2100	iVal = Convert.ToInt16(dtWaypoints.Rows[i][6]);
		2101	bData[13] = (byte)(iVal & 0xff);
		2102	bData[14] = (byte)((iVal >> 8) & 0xff);
		2103	//ToleranceRadius
		2104	bData[15] = Convert.ToByte(dtWaypoints.Rows[i][9]);
		2105	//HoldTime
		2106	bData[16] = Convert.ToByte(dtWaypoints.Rows[i][10]);
		2107	//Event_Flag
		2108	bData[17] = Convert.ToByte(dtWaypoints.Rows[i][13]);
		2109	//Index
		2110	bData[18] = Convert.ToByte((int)dtWaypoints.Rows[i][0]);
		2111	//Type
		2112	bData[19] = Convert.ToByte(dtWaypoints.Rows[i][1]);
		2113	//WP_EventChannelValue
		2114	bData[20] = Convert.ToByte(dtWaypoints.Rows[i][14]);
		2115	//AltitudeRate
		2116	bData[21] = Convert.ToByte(dtWaypoints.Rows[i][8]);
		2117	//Speed
		2118	bData[22] = Convert.ToByte(dtWaypoints.Rows[i][7]);
		2119	//CamAngle
		2120	bData[23] = (byte)Convert.ToInt16(dtWaypoints.Rows[i][12]);
		2121	//Name
		2122	byte[] name = ASCIIEncoding.ASCII.GetBytes((string)dtWaypoints.Rows[i][2]);
		2123	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2124	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2125	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2126	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2127	//Autotrigger
		2128	bData[28] = Convert.ToByte(dtWaypoints.Rows[i][11]);
		2129
		2130	bytes = FlightControllerMessage.CreateMessage('w', 2, bData);
		2131	serialStream.Write(bytes, 0, bytes.Length);
		2132
		2133	_iWPCount = -1;
		2134	while (_iWPCount == -1)
		2135	Thread.Sleep(10);
		2136	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
		2137	}
		2138	}
		2139	else
		2140	Log(LogMsgType.Error, "NOT CONNECTED!");
		2141
		2142	}
		2143
2287	-	2144	#region OSD-Menue
		2145
		2146	/// <summary>
		2147	/// one time query of the OSD Menue with pagenumber
		2148	/// </summary>
		2149	/// <param name="iMenue">Menue page</param>
		2150	void _OSDMenue(int iMenue)
		2151	{
		2152	if (serialPortCtrl.Port.IsOpen)
		2153	{
		2154	if (iMenue > iOSDMax)
		2155	iMenue = 0;
		2156	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2157	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2158	serialStream.Write(bytes, 0, bytes.Length);
		2159	}
		2160	else
		2161	Log(LogMsgType.Error, "NOT CONNECTED!");
		2162
		2163	}
		2164	/// <summary>
		2165	/// call the OSDMenue and start autorefresh
		2166	/// usually by sending a menuekey
		2167	/// 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)
		2168	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2169	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2170	/// </summary>
		2171	void _OSDMenueAutoRefresh()
		2172	{
		2173	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2174	}
		2175	void _OSDMenueAutoRefresh(byte key)
		2176	{
		2177	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2178	}
		2179	/// <summary>
		2180	/// initialize the OSD menue combobox
		2181	/// combox is filled by numbers from 0 to max pagenumber
		2182	/// </summary>
		2183	void _initOSDCB()
		2184	{
		2185	_bCBInit = true;
		2186	if (iOSDMax == 0)
		2187	{
		2188	_OSDMenue(0);
		2189	Thread.Sleep(10);
		2190	}
		2191	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2192	for (int i = 0; i <= iOSDMax; i++)
		2193	{
		2194	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2195	}
		2196	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2197	_bCBInit = false;
		2198	}
		2199	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2200	{
		2201	iOSDPage++;
		2202	if (iOSDPage > iOSDMax)
		2203	iOSDPage = 0;
		2204
		2205	_OSDMenue(iOSDPage);
		2206	}
		2207	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2208	{
		2209	iOSDPage--;
		2210	if (iOSDPage < 0)
		2211	iOSDPage = iOSDMax;
		2212
		2213	_OSDMenue(iOSDPage);
		2214	}
		2215	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2216	{
		2217	_OSDMenueAutoRefresh(8);
		2218	}
		2219	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2220	{
		2221	_OSDMenueAutoRefresh(4);
		2222	}
		2223	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2224	{
		2225	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2226	_OSDMenue(cbOSD.SelectedIndex);
		2227	}
		2228	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2229	{
		2230	Dispatcher.Invoke(() =>
		2231	{
		2232	TextRange tr;
		2233	if (bNew)
		2234	{
		2235	rtfOSD.SelectAll();
		2236	rtfOSD.Selection.Text = string.Empty;
		2237	}
		2238	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2239	tr.Text = msg;
		2240	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2241	// rtfOSD.AppendText("\r");
		2242	rtfOSD.ScrollToEnd();
		2243
		2244	});
		2245	}
		2246
		2247	#endregion OSD-Menue
		2248
		2249	#endregion controller messages
		2250
2295	-	2251	void _mediaPlayer(string file)
		2252	{
		2253	if (File.Exists(file))
		2254	{
		2255	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		2256	mp.Open(file);
		2257	mp.Play();
		2258	}
		2259	}
2310	-	2260
		2261	/// <summary>
		2262	/// Switch between fullscreen and normal window mode
		2263	/// save & restore scaling settings
		2264	/// </summary>
		2265	/// <param name="sender"></param>
		2266	/// <param name="e"></param>
2287	-	2267	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2268	{
		2269	if (winState.isMaximized)
		2270	{
		2271	winState.Restore(this);
		2272	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2273	if(_bSaveWinStateFull)
		2274	_saveScaleSliders(true);
		2275	if(_bSaveWinStateNormal)
		2276	_setScaleSliders(false);
		2277	}
		2278	else
		2279	{
		2280	winState.Maximize(this);
		2281	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2282	if(_bSaveWinStateNormal)
		2283	_saveScaleSliders(false);
		2284	if(_bSaveWinStateFull)
		2285	_setScaleSliders(true);
		2286	}
		2287	}
		2288
		2289	/// <summary>
		2290	/// reset the scaling of all UI elements to default
		2291	/// </summary>
		2292	/// <param name="sender"></param>
		2293	/// <param name="e"></param>
		2294	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2295	{
		2296	UIScaleHorizonSlider.Value =
		2297	UIScaleLOGSlider.Value =
		2298	UIScaleMotorsSlider.Value =
		2299	UIScaleOSDSlider.Value =
		2300	UIScaleSlider.Value =
		2301	UIScaleTopSlider.Value = 1;
		2302	}
		2303	/// <summary>
		2304	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2305	/// </summary>
		2306	/// <param name="sender"></param>
		2307	/// <param name="e"></param>
		2308	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2309	{
		2310	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2311	if (GridMotors != null)
		2312	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2313	if (GridSideBar != null)
		2314	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2315	if (GridOSD != null)
		2316	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2317	if (GridData != null)
		2318	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2319	if (GridWP != null)
		2320	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2321	}
2310	-	2322	/// <summary>
		2323	/// restore the saved scalings for the fullscreen/normal window mode
		2324	/// </summary>
		2325	/// <param name="bFull">the mode the window is set to</param>
2287	-	2326	void _setScaleSliders(bool bFull)
		2327	{
		2328	if(bFull)
		2329	{
		2330	UIScaleSlider.Value = scaleFullAll;
		2331	UIScaleTopSlider.Value = scaleFullTopBar;
		2332	UIScaleMotorsSlider.Value = scaleFullMotors;
		2333	UIScaleOSDSlider.Value = scaleFullOSD;
		2334	UIScaleLOGSlider.Value = scaleFullLOG;
		2335	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2336	}
		2337	else
		2338	{
		2339	UIScaleSlider.Value = scaleNormalAll;
		2340	UIScaleTopSlider.Value = scaleNormalTopBar;
		2341	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2342	UIScaleOSDSlider.Value = scaleNormalOSD;
		2343	UIScaleLOGSlider.Value = scaleNormalLOG;
		2344	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2345	}
		2346	}
		2347
2310	-	2348	/// <summary>
		2349	/// save the scalings for the actual window mode
		2350	/// </summary>
		2351	/// <param name="bFull">the actual window mode</param>
2287	-	2352	void _saveScaleSliders(bool bFull)
		2353	{
		2354
		2355	if (bFull)
		2356	{
		2357	scaleFullAll = UIScaleSlider.Value;
		2358	scaleFullTopBar = UIScaleTopSlider.Value;
		2359	scaleFullMotors = UIScaleMotorsSlider.Value;
		2360	scaleFullOSD = UIScaleOSDSlider.Value;
		2361	scaleFullLOG = UIScaleLOGSlider.Value;
		2362	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2363	}
		2364	else
		2365	{
		2366	scaleNormalAll = UIScaleSlider.Value;
		2367	scaleNormalTopBar = UIScaleTopSlider.Value;
		2368	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2369	scaleNormalOSD = UIScaleOSDSlider.Value;
		2370	scaleNormalLOG = UIScaleLOGSlider.Value;
		2371	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2372	}
		2373	}
		2374
		2375	/// <summary>
		2376	/// read settings from ini-file
		2377	/// </summary>
		2378	void _readIni()
		2379	{
		2380	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2381	_writeIni();
		2382	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2383	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2384	try
		2385	{
2287	-	2386
2312	-	2387	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2388	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2389	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2390	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2391	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2392	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2393	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2394	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2395
2312	-	2396	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2397	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2398	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2399	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2400	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2401	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2402	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2403	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2404
2312	-	2405	sVal = ini.IniReadValue("topBar", "voltage");
		2406	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2407	sVal = ini.IniReadValue("topBar", "capacity");
		2408	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2409	sVal = ini.IniReadValue("topBar", "current");
		2410	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2411	sVal = ini.IniReadValue("topBar", "flightTime");
		2412	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2413	sVal = ini.IniReadValue("topBar", "distanceHP");
		2414	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2415	sVal = ini.IniReadValue("topBar", "height");
		2416	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2417	sVal = ini.IniReadValue("topBar", "speed");
		2418	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2419	sVal = ini.IniReadValue("topBar", "magneticField");
		2420	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2421	sVal = ini.IniReadValue("topBar", "satellites");
		2422	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2423	sVal = ini.IniReadValue("topBar", "rc");
		2424	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2425
2312	-	2426	sVal = ini.IniReadValue("style", "saveFullScreen");
		2427	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2428	sVal = ini.IniReadValue("style", "saveNormalState");
		2429	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2430
2312	-	2431	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2432	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2433	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2434	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2435	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2436	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2437	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2438	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2439	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2440	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2441	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2442	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2443
2312	-	2444	sVal = ini.IniReadValue("style", "scaleFullAll");
		2445	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2446	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2447	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2448	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2449	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2450	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2451	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2452	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2453	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2454	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2455	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2456
2312	-	2457	sVal = ini.IniReadValue("general", "LiPoCells");
		2458	_LipoCells = Convert.ToInt16(sVal);
		2459	sVal = ini.IniReadValue("general", "Motors");
		2460	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2461
2312	-	2462	sVal = ini.IniReadValue("map", "followMe");
		2463	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2464	sVal = ini.IniReadValue("map", "AutoSetHome");
		2465	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2287	-	2466
2312	-	2467	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2468	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2469	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2470	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2471	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2472	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2473	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2474	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2475	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2476	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2477	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2478	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2479	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2480	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2481	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2482	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2483	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2484	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2485	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2486	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2487	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2488	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
		2489	}
		2490	catch (Exception e)
		2491	{
2287	-	2492
2312	-	2493	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2494	}
		2495
2287	-	2496	}
		2497
		2498	/// <summary>
		2499	/// save settings to ini-file
		2500	/// </summary>
		2501	void _writeIni()
		2502	{
		2503
		2504	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2505	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2506
2312	-	2507	try
		2508	{
2287	-	2509
2312	-	2510	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2511	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2512	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2513	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2514
2312	-	2515	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2516	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2517	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2518	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2519
2312	-	2520	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2521	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2522
2312	-	2523	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2524	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2287	-	2525
2312	-	2526	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2527	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2528	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2529	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2530	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2531	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2532	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2533	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2534	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2535	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2536
2312	-	2537	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2538	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2539
2312	-	2540	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2541	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2542	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2543	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2544	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2545	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	2546
2312	-	2547	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2548	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2549	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2550	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2551	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2552	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	2553
2312	-	2554	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2555
		2556	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2557	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2558	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2559	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2560	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2561	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2562	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2563	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2564	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2565	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2566	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
		2567	}
		2568	catch (Exception e)
		2569	{
		2570
		2571	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);
		2572	}
2287	-	2573	}
2312	-	2574
2315	-	2575	#region WP
2312	-	2576	void _readWPLFile()
		2577	{
		2578	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		2579	fd.Filter = "Waypointlists \| *.wpl";
		2580	fd.Multiselect = false;
		2581	if (fd.ShowDialog().Value)
		2582	{
		2583	string file = fd.SafeFileName;
		2584	IniFile ini = new IniFile(fd.SafeFileName);
		2585	ini.path = fd.FileName;
		2586
		2587	try
		2588	{
		2589	string sVal = ini.IniReadValue("General", "FileVersion");
		2590	if (sVal == "")
		2591	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2592	else
		2593	{
		2594	if (Convert.ToInt16(sVal) < 3)
		2595	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2596	else
		2597	{
		2598	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		2599	if (sVal == "")
		2600	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2601	else
		2602	{
		2603	int wpnum = Convert.ToInt16(sVal);
		2604	string wp;
		2605	int i;
2313	-	2606	NumberFormatInfo nfi = new NumberFormatInfo();
		2607	nfi.NumberDecimalSeparator = ".";
2312	-	2608	dtWaypoints.Rows.Clear();
2315	-	2609	for(int k = 0; k < MainMap.Markers.Count;)
		2610	{
		2611	GMapMarker p = MainMap.Markers[k];
		2612	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2613	MainMap.Markers.Remove(p);
		2614	else
		2615	k++;
		2616	}
2312	-	2617	for (int k = 1; k <= wpnum; k++)
		2618	{
		2619	DataRow dr = dtWaypoints.NewRow();
		2620	dr.ItemArray = new object[16];
		2621	object[] o = new object[16];
		2622	i = 0;
		2623	wp = "Point" + k.ToString();
		2624	o[i] = k;
		2625	i++;
		2626	sVal = ini.IniReadValue(wp, "Type");
		2627	if (sVal != "")
2315	-	2628	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	2629	i++;
		2630	sVal = ini.IniReadValue(wp, "Prefix");
		2631	if (sVal != "")
		2632	o[i] = sVal == "0" ? "P" + k.ToString() : sVal + k.ToString();
		2633	i++;
2313	-	2634	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	2635	if (sVal != "")
2313	-	2636	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2637	i++;
2313	-	2638	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	2639	if (sVal != "")
2313	-	2640	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2641	i++;
		2642	sVal = ini.IniReadValue(wp, "Altitude");
		2643	if (sVal != "")
2313	-	2644	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2645	i++;
		2646	sVal = ini.IniReadValue(wp, "Heading");
		2647	if (sVal != "")
		2648	o[i] = Convert.ToInt16(sVal);
		2649	i++;
		2650	sVal = ini.IniReadValue(wp, "Speed");
		2651	if (sVal != "")
2315	-	2652	o[i] = Convert.ToInt16(sVal);
2312	-	2653	i++;
		2654	sVal = ini.IniReadValue(wp, "ClimbRate");
		2655	if (sVal != "")
		2656	o[i] = Convert.ToInt16(sVal);
		2657	i++;
		2658	sVal = ini.IniReadValue(wp, "Radius");
		2659	if (sVal != "")
		2660	o[i] = Convert.ToInt16(sVal);
		2661	i++;
		2662	sVal = ini.IniReadValue(wp, "DelayTime");
		2663	if (sVal != "")
		2664	o[i] = Convert.ToInt16(sVal);
		2665	i++;
		2666	sVal = ini.IniReadValue(wp, "AutoTrigger");
		2667	if (sVal != "")
		2668	o[i] = Convert.ToInt16(sVal); ;
		2669	i++;
		2670	sVal = ini.IniReadValue(wp, "CAM-Nick");
		2671	if (sVal != "")
2313	-	2672	o[i] = Convert.ToInt16(sVal);
2312	-	2673	i++;
		2674	o[i] = 0;
		2675	i++;
		2676	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		2677	if (sVal != "")
		2678	o[i] = Convert.ToInt16(sVal);
		2679	i++;
		2680	o[i] = "New";
		2681
		2682	dr.ItemArray = o;
		2683	dtWaypoints.Rows.Add(dr);
2315	-	2684	GMapMarker wpMarker = new GMapMarker(new PointLatLng((double)o[3], (double)o[4]));
		2685	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, (string)dr[2], (int)o[1]);
		2686	_setMarkerColor(wpMarker, (int)o[1]);
		2687	MainMap.Markers.Add(wpMarker);
		2688
2312	-	2689	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		2690	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		2691	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2692	Thread.Sleep(10);
		2693	}
		2694	}
		2695	}
		2696	}
		2697
		2698	}
		2699	catch (Exception e)
		2700	{
		2701
		2702	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		2703	}
		2704
		2705	}
		2706	}
2315	-	2707	void _setMarkerColor(GMapMarker wpMarker,int iType)
		2708	{
		2709	Dispatcher.Invoke(() =>
		2710	{
		2711	switch (iType)
		2712	{
		2713	case 0:
		2714	if (comboBoxWPColor.SelectionBoxItem != null)
		2715	{
		2716	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		2717	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2718	}
		2719	else
		2720	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2721	break;
		2722	case 1:
		2723	if (comboBoxPOIColor.SelectionBoxItem != null)
		2724	{
		2725	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		2726	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2727	}
		2728	else
		2729	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2730	break;
		2731	case 2:
		2732	if (comboBoxFSColor.SelectionBoxItem != null)
		2733	{
		2734	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		2735	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2736	}
		2737	else
		2738	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2739	break;
		2740	default:
		2741	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2742	break;
		2743	}
		2744	});
2312	-	2745
2315	-	2746	}
		2747	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2312	-	2748	{
2315	-	2749	Dispatcher.Invoke(() =>
		2750	{
		2751	if (comboBoxWPColor.SelectionBoxItem != null)
		2752	{
		2753	for (int k = 0; k < MainMap.Markers.Count;k++)
		2754	{
		2755	GMapMarker p = MainMap.Markers[k];
		2756	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2757	{
		2758	if (((CustomMarkerWP)p.Shape).WPType == 0)
		2759	{
		2760	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		2761	((CustomMarkerWP)(p.Shape)).setColor(s);
		2762	}
		2763	}
		2764	}
		2765	}
		2766	});
2312	-	2767	}
2315	-	2768	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		2769	{
		2770	Dispatcher.Invoke(() =>
		2771	{
		2772	if (comboBoxPOIColor.SelectionBoxItem != null)
		2773	{
		2774	for (int k = 0; k < MainMap.Markers.Count; k++)
		2775	{
		2776	GMapMarker p = MainMap.Markers[k];
		2777	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2778	{
		2779	if (((CustomMarkerWP)p.Shape).WPType == 1)
		2780	{
		2781	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		2782	((CustomMarkerWP)(p.Shape)).setColor(s);
		2783	}
		2784	}
		2785	}
		2786	}
		2787	});
2287	-	2788
2315	-	2789	}
		2790	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
2287	-	2791	{
2315	-	2792	Dispatcher.Invoke(() =>
		2793	{
		2794	if (comboBoxFSColor.SelectionBoxItem != null)
		2795	{
		2796	for (int k = 0; k < MainMap.Markers.Count; k++)
		2797	{
		2798	GMapMarker p = MainMap.Markers[k];
		2799	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2800	{
		2801	if (((CustomMarkerWP)p.Shape).WPType == 2)
		2802	{
		2803	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		2804	((CustomMarkerWP)(p.Shape)).setColor(s);
		2805	}
		2806	}
		2807	}
		2808	}
		2809	});
2287	-	2810	}
2318	-	2811
		2812	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
		2813	{
		2814	Dispatcher.Invoke(() => {
		2815	if (comboBoxCopterColor.SelectionBoxItem != null)
		2816	{
		2817	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		2818	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		2819	}
		2820	else
		2821	((CustomMarkerCopter)(copter.Shape)).setColor("red");
		2822	});
		2823	}
		2824
2315	-	2825	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	2826	{
2315	-	2827	_readWPLFile();
2287	-	2828	}
2315	-	2829	#endregion WP
		2830
		2831	#endregion functions
2287	-	2832	}
2315	-	2833	/// <summary>
		2834	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		2835	/// </summary>
2313	-	2836	public class waypointsConverter : IValueConverter
		2837	{
		2838	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		2839	{
		2840	if (value != null)
		2841	{
		2842	switch ((string)parameter)
		2843	{
		2844	case "Latitude":
		2845	return value.ToString() + " °";
		2846	case "Longitude":
		2847	return value.ToString() + " °";
		2848	case "Radius":
		2849	return value.ToString() + " m";
		2850	case "Altitude":
		2851	return value.ToString() + " m";
		2852	case "ClimbRate":
		2853	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		2854	case "DelayTime":
		2855	return value.ToString() + " s";
		2856	case "Heading":
		2857	return Waypoints.Heading(System.Convert.ToInt32(value));
		2858	case "Speed":
		2859	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		2860	case "CamAngle":
		2861	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		2862	case "Type":
		2863	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		2864	case "AutoTrigger":
		2865	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		2866	case "Status":
		2867	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		2868	}
		2869
		2870	return value.ToString();
		2871	}
		2872	else return value;
		2873	}
		2874
		2875	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		2876	{
		2877	throw new NotImplementedException();
		2878	}
		2879	}
		2880
2287	-	2881	public class IniFile
		2882	{
		2883	public string path;
		2884
		2885	[DllImport("kernel32")]
		2886	private static extern long WritePrivateProfileString(string section,
		2887	string key, string val, string filePath);
		2888
		2889	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		2890	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		2891	uint nSize, string lpFileName);
		2892
		2893	[DllImport("kernel32")]
		2894	private static extern int GetPrivateProfileString(string section,
		2895	string key, string def, StringBuilder retVal,
		2896	int size, string filePath);
		2897
		2898	public IniFile(string INIPath)
		2899	{
		2900	path = INIPath;
		2901	}
		2902
		2903	public void IniWriteValue(string Section, string Key, string Value)
		2904	{
		2905	WritePrivateProfileString(Section, Key, Value, this.path);
		2906	}
		2907
		2908	public string IniReadValue(string Section, string Key)
		2909	{
		2910	StringBuilder temp = new StringBuilder(255);
		2911	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		2912	return temp.ToString();
		2913	}
		2914	//Ini_sections auslesen in String-Array
		2915	public string[] IniSectionNames()
		2916	{
		2917
		2918	// uint MAX_BUFFER = 32767;
		2919	uint MAX_BUFFER = 8388608;
		2920	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		2921	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		2922	if (bytesReturned == 0)
		2923	{
		2924	Marshal.FreeCoTaskMem(pReturnedString);
		2925	return null;
		2926	}
		2927	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		2928	Marshal.FreeCoTaskMem(pReturnedString);
		2929	//use of Substring below removes terminating null for split
		2930	return local.Substring(0, local.Length - 1).Split('\0');
		2931
		2932
		2933	}
		2934	}
		2935
		2936	/// <summary>
		2937	/// Selected Win AI Function Calls
		2938	/// </summary>
		2939	public class WinApi
		2940	{
		2941	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		2942	public static extern int GetSystemMetrics(int which);
		2943	[DllImport("user32.dll")]
		2944	public static extern void
		2945	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		2946	int X, int Y, int width, int height, uint flags);
		2947
		2948	private const int SM_CXSCREEN = 0;
		2949	private const int SM_CYSCREEN = 1;
		2950	private static IntPtr HWND_TOP = IntPtr.Zero;
		2951	private const int SWP_SHOWWINDOW = 64; // 0x0040
		2952
		2953	public static int ScreenX
		2954	{
		2955	get { return GetSystemMetrics(SM_CXSCREEN); }
		2956	}
		2957
		2958	public static int ScreenY
		2959	{
		2960	get { return GetSystemMetrics(SM_CYSCREEN); }
		2961	}
		2962
		2963	public static void SetWinFullScreen(IntPtr hwnd)
		2964	{
		2965	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		2966	}
		2967	}
		2968	/// <summary>
		2969	/// Class used to preserve / restore state of the window
		2970	/// </summary>
		2971	public class WinState
		2972	{
		2973	private WindowState winState;
		2974	private WindowStyle brdStyle;
		2975	private bool topMost;
		2976	private Rect restore;
		2977	private bool IsMaximized = false;
		2978
		2979	public bool isMaximized
		2980	{
		2981	get { return IsMaximized; }
		2982	}
		2983	public void Maximize(Window targetForm)
		2984	{
		2985	if (!IsMaximized)
		2986	{
		2987	IsMaximized = true;
		2988	Save(targetForm);
		2989	targetForm.WindowState = WindowState.Maximized;
		2990	targetForm.WindowStyle = WindowStyle.None;
		2991	targetForm.Topmost = true;
		2992	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		2993	}
		2994	}
		2995
		2996	public void Save(Window targetForm)
		2997	{
		2998	winState = targetForm.WindowState;
		2999	brdStyle = targetForm.WindowStyle;
		3000	topMost = targetForm.Topmost;
		3001	restore = targetForm.RestoreBounds;
		3002	}
		3003	public void Restore(Window targetForm)
		3004	{
		3005	targetForm.WindowState = winState;
		3006	targetForm.WindowStyle = brdStyle;
		3007	targetForm.Topmost = topMost;
		3008
		3009	targetForm.Left = restore.Left;
		3010	targetForm.Top = restore.Top;
		3011	targetForm.Height = restore.Height;
		3012	targetForm.Width = restore.Width;
		3013	IsMaximized = false;
		3014	}
		3015	}
		3016
		3017	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2340 - Rev 2318