WebSVN - Projects - Blame - Rev 2324 - /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;
2324	-	30	using System.Xml;
		31	using System.Xml.Linq;
2287	-	32
		33	namespace MKLiveView
		34	{
		35	/// <summary>
		36	/// Interaktionslogik für MainWindow.xaml
		37	/// </summary>
		38	public partial class MainWindow : Window
		39	{
2304	-	40	#region declarations
		41
2287	-	42	GMapMarker copter;
		43	GMapMarker home;
		44	PointLatLng start;
		45	PointLatLng end;
		46	PointLatLng pHome;
		47
2324	-	48	#region NC-Errors
2287	-	49	String[] NC_Error = new string[44]
		50	{
		51	"No Error",
		52	"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		53	"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		54	"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		55	"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		56	"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		57	"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		58	"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		59	"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		60	"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		61	"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		62	"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		63	"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		64	"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		65	"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		66	"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		67	"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		68	"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		69	"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		70	"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		71	"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		72	"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		73	"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		74	"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		75	"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		76	"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		77	"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		78	"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		79	"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		80	"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		81	"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		82	"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		83	"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		84	"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		85	"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		86	"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		87	"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		88	"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		89	"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		90	"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		91	"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		92	"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		93	"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		94	"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		95	};
2324	-	96	#endregion NC-Errors
2287	-	97	[FlagsAttribute]
		98	enum NC_HWError0 : short
		99	{
		100	None = 0,
		101	SPI_RX = 1,
		102	COMPASS_RX = 2,
		103	FC_INCOMPATIBLE = 4,
		104	COMPASS_INCOMPATIBLE = 8,
		105	GPS_RX = 16,
		106	COMPASS_VALUE = 32
		107	};
		108	[FlagsAttribute]
		109	enum FC_HWError0 : short
		110	{
		111	None = 0,
		112	GYRO_NICK = 1,
		113	GYRO_ROLL = 2,
		114	GYRO_YAW = 4,
		115	ACC_NICK = 8,
		116	ACC_ROLL = 16,
		117	ACC_TOP = 32,
		118	PRESSURE = 64,
		119	CAREFREE = 128
		120	};
		121	[FlagsAttribute]
		122	enum FC_HWError1 : short
		123	{
		124	None = 0,
		125	I2C = 1,
		126	BL_MISSING = 2,
		127	SPI_RX = 4,
		128	PPM = 8,
		129	MIXER = 16,
		130	RC_VOLTAGE = 32,
		131	ACC_NOT_CAL = 64,
		132	RES3 = 128
		133	};
		134	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		135	// Various colors for logging info
		136	private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red };
		137
		138	bool _bCBInit = true;
		139	bool _init = true;
		140	bool check_HWError = false;
		141
		142	string filePath = Directory.GetCurrentDirectory();
		143	bool bReadContinously = false;
		144	bool _debugDataAutorefresh = true;
		145	bool _navCtrlDataAutorefresh = true;
		146	bool _blctrlDataAutorefresh = true;
		147	bool _OSDAutorefresh = true;
		148	bool _bErrorLog = false;
		149	bool _bConnErr = false;
		150	bool _bFollowCopter = false;
2324	-	151	bool _bGPXLog = false;
2287	-	152
		153	bool _bSaveWinStateNormal = true;
		154	bool _bSaveWinStateFull = true;
		155
		156	double scaleNormalAll = 1;
		157	double scaleNormalTopBar = 1;
		158	double scaleNormalMotors = 1;
		159	double scaleNormalOSD = 1;
		160	double scaleNormalLOG = 1;
		161	double scaleNormalHorizon = 1;
		162
		163	double scaleFullAll = 1;
		164	double scaleFullTopBar = 1;
		165	double scaleFullMotors = 1;
		166	double scaleFullOSD = 1;
		167	double scaleFullLOG = 1;
		168	double scaleFullHorizon = 1;
		169
		170	int _iCtrlAct = 0;
		171	int iOSDPage = 0;
		172	int iOSDMax = 0;
		173	int _iLifeCounter = 0;
		174	int crcError = 0;
		175
2291	-	176	bool _bSatFix = false;
		177	Storyboard stbSatFixLostAnim;
		178	bool _bAnimSatFixActive = false;
		179	bool _bVoiceSatFixActive = false;
		180	bool _bVoiceSatFixPlay = false;
		181	int _iSatsLast = 0;
		182	int _iSatsJitter = 0;
		183
		184	bool _bMagneticFieldOK = false;
		185	Storyboard stbMagneticFieldAnim;
		186	bool _bAnimMagneticFieldActive = false;
		187	bool _bVoiceMagneticFieldActive = false;
		188	bool _bVoiceMagneticFieldPlay = false;
		189	int _iMagneticFieldLast = 0;
		190	int _iMagneticFieldJitter = 0;
		191
		192	bool _bRCLevelOK = false;
		193	Storyboard stbRCLevelAnim;
		194	bool _bAnimRCLevelActive = false;
		195	bool _bVoiceRCLevelActive = false;
		196	bool _bVoiceRCLevelPlay = false;
		197	int _iRCLevelLast = 0;
		198	int _iRCLevelJitter = 0;
		199
2287	-	200	int _iMotors = 4;
		201	int _LipoCells = 4;
		202
		203	double _dLipoVMax = 16.88;
		204	double _dLipoVMin = 12;
		205	double _dThresholdVoltageWarn = 0;
		206	double _dThresholdVoltageCrit = 0;
		207	Storyboard stbVoltageCritAnim;
		208	bool _bCritAnimVoltActive = false;
		209	bool _bCritVoiceVoltActive = false;
2291	-	210	bool _bWarnVoiceVoltActive = false;
2287	-	211	bool _bVoiceVoltPlay = false;
		212	double _dVoltLast = 0;
		213	int _iVoltJitter = 0;
		214
2291	-	215	double _dThresholdDistanceWarn = 100;
		216	Storyboard stbDistanceWarnAnim;
		217	bool _bAnimDistanceActive = false;
		218	bool _bVoiceDistanceActive = false;
		219	bool _bVoiceDistancePlay = false;
		220	double _dDistanceLast = 0;
		221	int _iDistanceJitter = 0;
		222
		223	double _dThresholdDistanceMax = 1000;
		224	int _iThresholdRC = 160;
		225	int _iThresholdMagField = 15;
		226
2295	-	227	bool _bAutoHome = false;
		228	bool _bFirstSatFix = false;
		229	int _iFirstSatFix = 0;
2291	-	230
2287	-	231	double _dTopHeight = 36;
		232
		233	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		234	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		235	string[] serChanTitle = new string[12];
		236
		237	string[] sAnalogLabel = new string[32];
		238	string[] sAnalogData = new string[32];
2324	-	239	int[] iAnalogData = new int[32];
2287	-	240
		241	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 };
		242	int[] iMotors = new int[] {3,4,5,6,7,8,9,10,11,12 };
		243	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		244	/// <summary>
		245	/// interval for sending debugdata (multiplied by 10ms)
		246	/// </summary>
		247	byte debugInterval = 10; //(=> 100ms)
		248	/// <summary>
		249	/// interval for sending BL-CTRL status (multiplied by 10ms)
		250	/// </summary>
		251	byte blctrlInterval = 75;
		252	/// <summary>
		253	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		254	/// </summary>
		255	byte navctrlInterval = 80;
		256	/// <summary>
		257	/// interval for sending OSD page update (multiplied by 10ms)
		258	/// </summary>
		259	byte OSDInterval = 85;
		260	/// <summary>
		261	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		262	/// </summary>
		263	DataTable dtAnalog = new DataTable();
		264	/// <summary>
		265	/// datatable for motordata (current,temp)
		266	/// </summary>
2315	-	267	DataTable dtMotors = new DataTable();
2287	-	268
		269	DataTable dtWaypoints = new DataTable();
2313	-	270	static volatile int _iWPCount = -1;
		271	static volatile int _iWPIndex = -1;
		272	int _iWPTimeout = 1000;
2287	-	273	bool _bGetWP = false;
		274	static volatile bool _bGetWPCount = false;
2324	-	275	DataTable dtGPX = new DataTable();
		276	DataRow drGPX;
		277	bool _bAirborne = false;
2287	-	278	DispatcherTimer timer = new DispatcherTimer();
		279
		280	/// <summary>
		281	/// stuff for enabeling touch zoom for the map
		282	/// </summary>
		283	Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0);
		284	int iFirstStylusID = -1;
		285	public string connectButtonText
		286	{
		287	get
		288	{
		289	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		290	}
		291	}
		292
		293	WinState winState = new WinState();
2304	-	294	#endregion declarations
2287	-	295	public MainWindow()
		296	{
		297	InitializeComponent();
		298	_initForm();
		299	_dataTablesInit();
		300	_setupMap();
		301	_init = false;
		302	timer.Tick += new EventHandler(timerEvent);
		303	timer.Interval = new TimeSpan(0, 0, 1);
		304	timer.Start();
		305	}
		306
		307	#region init
		308	void _initForm()
		309	{
		310	_readIni();
		311	if (_bSaveWinStateNormal)
		312	_setScaleSliders(false);
		313	cBoxTimingsDebug.ItemsSource =
		314	cBoxTimingsNav.ItemsSource =
		315	cBoxTimingsBl.ItemsSource =
		316	cBoxTimingsOSD.ItemsSource =
		317	iTimings;
		318	cBoxLiPoCells.ItemsSource = sLiPoCells;
		319	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		320	_LipoMinMax();
		321	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		322	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		323	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
2291	-	324	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		325	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		326	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		327	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		328	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
2287	-	329
2291	-	330	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		331
2287	-	332	cBoxMotors.ItemsSource = iMotors;
		333	cBoxMotors.SelectedItem = _iMotors;
		334
		335	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		336	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		337	serialPortCtrl.DataReceived += processMessage;
		338
		339	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		340	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		341	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		342	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		343
		344	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		345	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		346	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		347	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
2295	-	348	checkBoxAutoSetHP.IsChecked = _bAutoHome;
2287	-	349	checkBoxFollowCopter.IsChecked = _bFollowCopter;
2324	-	350	checkBoxGPXLog.IsChecked = _bGPXLog;
2287	-	351
		352	}
		353	/// <summary>
		354	/// initialize the datatables
		355	/// with columnnames etc
		356	/// </summary>
		357	void _dataTablesInit()
		358	{
2315	-	359	dtMotors.Columns.Add("#");
2313	-	360	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
2315	-	361	dtMotors.Columns.Add("Strom");
2313	-	362	else
2315	-	363	dtMotors.Columns.Add("Current");
		364	dtMotors.Columns.Add("Temp");
		365	dgvMotors1.DataContext = dtMotors.DefaultView;
2287	-	366	_initDTMotors();
		367
		368	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0));
		369	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		370	style.Setters.Add(setter);
		371	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		372	style.Setters.Add(setter);
		373	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		374	style.Setters.Add(setter);
2313	-	375
		376	dtWaypoints.Columns.Add("Index",typeof(int));
2315	-	377	dtWaypoints.Columns.Add("Type", typeof(int));
2313	-	378	dtWaypoints.Columns.Add("Name",typeof(string));
2315	-	379	dtWaypoints.Columns.Add("Latitude",typeof(double));
		380	dtWaypoints.Columns.Add("Longitude",typeof(double));
2313	-	381	dtWaypoints.Columns.Add("Altitude",typeof(string));
		382	dtWaypoints.Columns.Add("Heading",typeof(string));
		383	dtWaypoints.Columns.Add("Speed",typeof(string));
		384	dtWaypoints.Columns.Add("ClimbRate",typeof(string));
		385	dtWaypoints.Columns.Add("Radius",typeof(string));
		386	dtWaypoints.Columns.Add("HoldTime",typeof(string));
		387	dtWaypoints.Columns.Add("AutoTrigger",typeof(string));
		388	dtWaypoints.Columns.Add("CamAngle",typeof(string));
		389	dtWaypoints.Columns.Add("Event",typeof(string));
		390	dtWaypoints.Columns.Add("Out1Timer",typeof(string));
		391	dtWaypoints.Columns.Add("Status",typeof(string));
		392	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		393	dgvWP.ItemsSource = dtWaypoints.DefaultView;
2287	-	394	dgvWP.ColumnHeaderStyle = new Style();
		395	dgvWP.ColumnHeaderStyle = style;
2313	-	396
2324	-	397	dtGPX.Columns.Add("Index",typeof(int));
		398	dtGPX.Columns.Add("Latitude",typeof(double));
		399	dtGPX.Columns.Add("Longitude",typeof(double));
		400	dtGPX.Columns.Add("Elevation",typeof(int));
		401	dtGPX.Columns.Add("Time",typeof(string));
		402	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		403	drGPX = dtGPX.NewRow();
2313	-	404
2287	-	405	}
		406	/// <summary>
2315	-	407	/// initialize the datatable dtMotors for motor values
2313	-	408	/// DataGridView dgvMotors1 is bound to dtMotors1
2287	-	409	/// </summary>
		410	void _initDTMotors()
		411	{
		412	for (int i = 0; i < 12; i++)
		413	{
2315	-	414	if (dtMotors.Rows.Count < 12)
		415	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
2287	-	416	else
		417	{
2315	-	418	dtMotors.Rows[i].SetField(1, "NA");
		419	dtMotors.Rows[i].SetField(2, "NA");
2287	-	420	}
		421	}
		422	}
		423
		424	#endregion init
		425
		426	#region events
		427	private void serialPortCtrl_PortOpened()
		428	{
		429	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		430	_getVersion();
		431	Thread.Sleep(100);
		432	//_OSDMenue(0);
		433	//Thread.Sleep(200);
		434	//_sendSerialData();
		435	_readCont(true);
		436	}
		437	private void serialPortCtrl_PortClosed()
		438	{
		439	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		440	_readCont(false);
		441	}
2324	-	442	bool _bToggle = false;
2287	-	443	void timerEvent(object sender, EventArgs e)
		444	{
		445	if (bReadContinously)
		446	{
		447	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		448
		449	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		450
		451	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		452	check_HWError = true;
		453	_getVersion();
		454	Thread.Sleep(10);
		455	if (_OSDAutorefresh)
		456	{
		457	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		458	_initOSDCB();
		459	_OSDMenueAutoRefresh();
		460	}
		461	if (_iLifeCounter > 0)
		462	{
		463	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		464	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		465	_iLifeCounter = 0;
		466	_bConnErr = false;
2324	-	467	// if(_bAirborne && _bGPXLog)
		468	{
		469	drGPX[0] = dtGPX.Rows.Count;
		470	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		471	}
		472	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		473	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		474	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		475	_bToggle = !_bToggle;
2287	-	476	}
		477	else
		478	{
		479	if (!_bConnErr)
		480	{
		481	Log(LogMsgType.Error, "No communication to NC/FC!");
		482	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		483	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		484	_bConnErr = true;
		485	}
		486	}
		487	}
		488	}
		489
		490	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		491	{
		492	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		493	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		494	}
		495	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		496	{
		497	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		498	if (GridMotors.IsVisible)
		499	_setMotorGridSize();
		500	}
		501	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		502	{
		503	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		504	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		505	}
		506	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		507	{
		508	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		509	}
		510	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		511	{
		512	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		513	}
		514	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		515	{
		516	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		517	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		518	}
		519
		520	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		521	{
		522	Thread t = new Thread(new ThreadStart(_getWP));
		523	t.Start();
		524	}
		525	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		526	{
2313	-	527	Thread t = new Thread(new ThreadStart(_sendWPList));
		528	t.Start();
2287	-	529	}
		530
		531	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		532	{
		533	if (!serialPortCtrl.Port.IsOpen)
		534	serialPortCtrl.Connect(true);
		535	else
		536	_readCont(!bReadContinously);
		537	}
		538	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		539	{
		540	setHomePos();
		541	}
		542	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		543	{
		544	clearHomePos();
		545	}
		546	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		547	{
		548	if (home != null && MainMap.Markers.Contains(home))
		549	MainMap.Position = home.Position;
		550	}
2295	-	551	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		552	{
		553	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		554	}
2287	-	555	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		556	{
		557	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		558	}
		559	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		560	{
		561	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		562	}
		563
2291	-	564	#region thresholds
2287	-	565	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		566	{
		567	if(!_init)
		568	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		569	}
		570	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		571	{
		572	if(!_init)
		573	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		574	}
		575	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		576	{
		577	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		578	}
2291	-	579
		580	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		581	{
		582	if(!_init)
		583	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		584	}
		585	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		586	{
		587	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		588	}
		589
		590	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		591	{
		592	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		593	}
		594	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		595	{
		596	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		597	}
		598	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		599	{
		600	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		601	}
		602	#endregion thresholds
		603
2287	-	604	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		605	{
		606	_switchToNC();
		607	}
		608
		609	private void Window_Loaded(object sender, RoutedEventArgs e)
		610	{
		611	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
2291	-	612	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		613	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		614	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		615	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
2287	-	616	_setMotorGridSize();
		617	}
2310	-	618	private void Window_Closing(object sender, CancelEventArgs e)
		619	{
		620	_writeIni();
2324	-	621	if(_bGPXLog && dtGPX.Rows.Count > 0)
		622	_saveGPXLog();
2310	-	623	}
2287	-	624	#endregion events
		625
		626	#region GMap
		627
		628	void _setupMap()
		629	{
		630	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		631	MainMap.MapProvider = GMapProviders.BingHybridMap;
		632	MainMap.SetPositionByKeywords("Landshut");
		633	MainMap.MinZoom = 0;
		634	MainMap.MaxZoom = 24;
		635	MainMap.Zoom = 16;
		636	MainMap.ShowCenter = true;
		637	MainMap.ShowTileGridLines = false;
		638	sliderMapZoom.Value = 16;
		639	comboBoxMapType.ItemsSource = providerList;
		640	comboBoxMapType.DisplayMemberPath = "Name";
		641	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		642
		643	// acccess mode
		644	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		645	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		646
		647	}
		648
		649	/// <summary>
		650	/// selection of relevant map providers --> if You need more, You can change the line:
		651	/// comboBoxMapType.ItemsSource = providerList;
		652	/// to:
		653	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		654	/// in _setupMap()
		655	/// or add items here:
		656	/// </summary>
		657	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		658	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		659	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		660	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		661	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		662
		663	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		664	{
		665	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		666	copter = new GMapMarker(MainMap.Position);
2318	-	667
		668	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"),"red");
		669	if (comboBoxCopterColor.SelectionBoxItem != null)
		670	{
		671	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		672	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		673	}
2287	-	674	copter.Offset = new System.Windows.Point(-18, -18);
		675	copter.ZIndex = int.MaxValue;
		676	MainMap.Markers.Add(copter);
		677	copter.Position = MainMap.Position;
		678	}
		679	void setHomePos()
		680	{
		681	pHome = MainMap.Position;
		682	if (!MainMap.Markers.Contains(home))
		683	{
		684	home = new GMapMarker(MainMap.Position);
		685	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		686	home.Offset = new System.Windows.Point(-18, -18);
		687	// home.ZIndex = int.MaxValue;
		688	MainMap.Markers.Add(home);
		689	}
		690	home.Position = MainMap.Position;
		691	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		692	}
		693	void clearHomePos()
		694	{
		695	MainMap.Markers.Remove(home);
		696	}
		697
		698	// access mode
		699	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		700	{
		701	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		702	MainMap.ReloadMap();
		703	}
		704	// zoom up
		705	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		706	{
		707	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		708	}
		709
		710	// zoom down
		711	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		712	{
		713	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		714	}
		715
		716	// prefetch
		717	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		718	{
		719	RectLatLng area = MainMap.SelectedArea;
		720	if (!area.IsEmpty)
		721	{
		722	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		723	{
		724	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		725
		726	if (res == MessageBoxResult.Yes)
		727	{
		728	TilePrefetcher obj = new TilePrefetcher();
		729	obj.Owner = this;
		730	obj.ShowCompleteMessage = true;
		731	obj.Start(area, i, MainMap.MapProvider, 100);
		732	}
		733	else if (res == MessageBoxResult.No)
		734	{
		735	continue;
		736	}
		737	else if (res == MessageBoxResult.Cancel)
		738	{
		739	break;
		740	}
		741	}
		742	}
		743	else
		744	{
		745	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		746	}
		747	}
		748
		749	// goto by geocoder
		750	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		751	{
		752	_goto_byGeoCoder();
		753	}
		754	// goto by geocoder
		755	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		756	{
		757	if (e.Key == System.Windows.Input.Key.Enter)
		758	_goto_byGeoCoder();
		759	}
		760	void _goto_byGeoCoder()
		761	{
		762	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		763	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		764	{
		765	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		766	}
		767	}
		768	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		769	{
		770	try
		771	{
		772	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		773	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		774
		775	MainMap.Position = new PointLatLng(lat, lng);
		776	}
		777	catch (Exception ex)
		778	{
		779	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		780	}
		781
		782	}
		783
		784	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		785	{
		786	MainMap.ReloadMap();
		787	}
		788
		789	private void MainMap_OnPositionChanged(PointLatLng point)
		790	{
		791	if (_bFollowCopter)
		792	_setCopterData(MainMap.Position);
		793	}
		794
		795	private void MainMap_OnMapZoomChanged()
		796	{
		797	if (_bFollowCopter)
		798	_setCopterData(MainMap.Position);
		799	if((int)sliderMapZoom.Value != MainMap.Zoom)
		800	sliderMapZoom.Value = MainMap.Zoom;
		801	}
		802
		803	void _setCopterData(PointLatLng p)
		804	{
		805	Dispatcher.Invoke(() =>
		806	{
		807	copter.Position = p;
		808	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		809	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		810	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		811	});
		812	if (home != null && MainMap.Markers.Contains(home))
		813	{
		814	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		815	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		816	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	817
		818	if(d*1000 < _dThresholdDistanceWarn)
		819	{
		820	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		821	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		822	{
		823	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		824	_bAnimDistanceActive = false;
		825	}
		826	}
		827	else
		828	{
		829	if (_iDistanceJitter < 20)
		830	{ _iDistanceJitter++; }
		831	if (_iDistanceJitter == 20)
		832	{
		833	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		834	{
		835	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		836	_bAnimDistanceActive = true;
		837	}
		838	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		839	{
2295	-	840	Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		841	t.Start();
2291	-	842	_bVoiceDistanceActive = true;
		843	}
		844	_iDistanceJitter++;
		845	}
		846	}
2287	-	847	}
		848	}
		849
		850	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		851	{
		852	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		853	}
		854
		855	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		856	{
		857	if (MainMap.Zoom != sliderMapZoom.Value)
		858	MainMap.Zoom = (int)sliderMapZoom.Value;
		859	}
		860	#region Touch zooming hackattack ;)
		861	/// <summary>
		862	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		863	/// </summary>
		864	bool bFirstAccess = true;
		865	double dDistance = 0;
		866	int iZoom;
		867	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		868	{
		869	var id = e.StylusDevice.Id;
		870	e.StylusDevice.Capture(MainMap);
		871	if (iFirstStylusID == -1)
		872	{
		873	iFirstStylusID = id;
		874	}
		875	else
		876	{
		877
		878	MainMap.CanDragMap = false;
		879	}
		880	}
		881	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		882	{
		883	MainMap.ReleaseStylusCapture();
		884	iFirstStylusID = -1;
		885	bFirstAccess = true;
		886	MainMap.CanDragMap = true;
		887	iZoom = 0;
		888	}
		889	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		890	{
		891	var id = e.StylusDevice.Id;
		892	var tp = e.GetPosition(MainMap);
		893
		894	// This is the first Stylus point; just record its position.
		895	if (id == iFirstStylusID)
		896	{
		897	pTouch1.X = tp.X;
		898	pTouch1.Y = tp.Y;
		899	}
		900	else
		901	if (iFirstStylusID > -1)
		902	{
		903	pTouch2.X = tp.X;
		904	pTouch2.Y = tp.Y;
		905	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		906	if (!bFirstAccess)
		907	{
		908	if (distance > dDistance)
		909	iZoom++;
		910	else
		911	if (distance < dDistance)
		912	iZoom--;
		913	}
		914	if (iZoom > 30)
		915	{
		916	iZoom = 0;
		917	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		918	}
		919	if (iZoom < -30)
		920	{
		921	iZoom = 0;
		922	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		923	}
		924	dDistance = distance;
		925	bFirstAccess = false;
		926	}
		927	}
		928	#endregion Touch zooming hackattack ;)
		929
		930	#endregion GMap
		931
		932	#region settings
		933	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		934	{
		935	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		936	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		937	}
		938	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		939	{
		940	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		941	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		942	}
		943	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		944	{
		945	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		946	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		947	}
		948	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		949	{
		950	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		951	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		952	}
		953	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		954	{
		955	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		956	}
		957	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		958	{
		959	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		960	}
		961	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		962	{
		963	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		964	}
		965	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		966	{
		967	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		968	}
		969
		970	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		971	{
		972	if (cBoxLiPoCells.SelectedIndex > -1)
		973	{
		974	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		975	_LipoMinMax();
		976	}
		977	}
		978	void _LipoMinMax()
		979	{
		980	_dLipoVMax = (double)(_LipoCells) * 4.22;
		981	_dLipoVMin = (double)_LipoCells * 3;
		982	pbTopVoltage.Maximum = _dLipoVMax;
		983	pbTopVoltage.Minimum = _dLipoVMin;
		984	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		985	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		986	}
		987	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		988	{
		989	if (cBoxMotors.SelectedIndex > -1)
		990	{
		991	_iMotors = cBoxMotors.SelectedIndex + 3;
		992	Dispatcher.Invoke(() =>
		993	{
		994	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		995	GridMotors.Height = dgvMotors1.Height + 10;
		996	});
		997	}
		998	}
		999	void _setMotorGridSize()
		1000	{
		1001	if (dgvMotors1.Columns.Count > 2)
		1002	{
		1003	dgvMotors1.Columns[0].Width = 24;
		1004	dgvMotors1.Columns[1].Width = 50;
		1005	dgvMotors1.Columns[2].Width = 50;
		1006	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1007	GridMotors.Height = dgvMotors1.Height + 10;
		1008	}
		1009
		1010	}
		1011	#endregion settings
		1012
		1013	#region functions
		1014
		1015	#region logging
		1016	/// <summary> Log data to the terminal window. </summary>
		1017	/// <param name="msgtype"> The type of message to be written. </param>
		1018	/// <param name="msg"> The string containing the message to be shown. </param>
		1019	private void Log(LogMsgType msgtype, string msg)
		1020	{
		1021	Dispatcher.Invoke(() =>
		1022	{
		1023	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1024	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1025	// rtfTerminal.AppendText(msg + "\r");
		1026	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1027	tr.Text = msg;
		1028	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1029	rtfTerminal.AppendText("\r");
		1030	rtfTerminal.ScrollToEnd();
		1031	});
		1032	}
		1033	private void ErrorLog(LogMsgType msgtype, string msg)
		1034	{
		1035	Dispatcher.Invoke(() =>
		1036	{
		1037	TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1038	tr.Text = msg;
		1039	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1040	rtfError.AppendText("\r");
		1041	rtfError.ScrollToEnd();
		1042
		1043	_bErrorLog = true;
		1044	});
		1045	}
		1046	/// <summary>
		1047	/// Clear the line in the errorlog window
		1048	/// containing the error string when error has ceased
		1049	/// </summary>
		1050	/// <param name="s">substring of errrormessage</param>
		1051	void _clearErrorLog(string s)
		1052	{
		1053	Dispatcher.Invoke((Action)(() =>
		1054	{
		1055	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1056	TextRange foundRange = FindTextInRange(searchRange, s);
		1057
		1058	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1059
		1060
		1061	if (iStart > -1)
		1062	{
		1063	int iLength = 0;
		1064	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1065	if (iEnd > 0)
		1066	{
		1067	iLength = iEnd + 1;
		1068	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1069	if (iHttp == iLength)
		1070	{
		1071	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1072	if (iEnd2 > iLength)
		1073	{
		1074	iLength = iEnd2 + 1;
		1075	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1076
		1077	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1078	rtfError.Selection.Text = string.Empty;
		1079	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1080	}
		1081
		1082	}
		1083	else
		1084	{
		1085	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1086	rtfError.Selection.Text = string.Empty;
		1087	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1088	}
		1089	}
		1090	}
		1091	}));
		1092
		1093	}
		1094	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1095	{
		1096	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1097	if (offset < 0)
		1098	return null; // Not found
		1099
		1100	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1101	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1102
		1103	return result;
		1104	}
		1105	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1106	{
		1107	while (position != null)
		1108	{
		1109	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1110	{
		1111	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1112	if (characterCount <= count)
		1113	{
		1114	return position.GetPositionAtOffset(characterCount);
		1115	}
		1116
		1117	characterCount -= count;
		1118	}
		1119
		1120	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1121	if (nextContextPosition == null)
		1122	return position;
		1123
		1124	position = nextContextPosition;
		1125	}
		1126
		1127	return position;
		1128	}
		1129	#endregion logging
		1130
		1131	#region processing received data
		1132
		1133	private void processMessage(byte[] message)
		1134	{
		1135	if (message.Length > 0)
		1136	{
		1137	_iLifeCounter++;
		1138	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1139	//Log(LogMsgType.Incoming, message.Length.ToString());
		1140	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1141	char cmdID;
		1142	byte adr;
		1143	byte[] data;
		1144	byte[] tmp = null;
		1145	if (message[0] != '#')
		1146	{
		1147	int iFound = -1;
		1148	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1149	{ //so this is a workaround to not spam the log box
		1150	if (message[i] == 35)
		1151	{
		1152	iFound = i;
		1153	break;
		1154	}
		1155	}
		1156	if (iFound > 0)
		1157	{
		1158	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1159	tmp = new byte[message.Length - iFound];
		1160	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1161	}
		1162	s = s.Trim('\0', '\n', '\r');
		1163	if (s.Length > 0)
		1164	Log(LogMsgType.Normal, s);
		1165	if (tmp != null)
		1166	{
		1167	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1168	processMessage(tmp);
		1169	}
		1170	}
		1171	//Debug.Print(s);
		1172	else
		1173	{
		1174	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1175
		1176	if (adr == 255) { crcError++; }
		1177	else crcError = 0;
		1178	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1179	//display the active controller (FC / NC)
		1180	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...???
		1181	{
		1182	_iCtrlAct = adr;
		1183	switch (adr)
		1184	{
		1185	case 1:
		1186	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2298	-	1187	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
2287	-	1188	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1189	// _setFieldsNA(); //display fields NA for FC
		1190	break;
		1191	case 2:
		1192	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1193	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1194	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1195	break;
		1196	//case 3:
		1197	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1198	// break;
		1199	//case 4:
		1200	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1201	// break;
		1202	default:
		1203	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1204	break;
		1205	}
		1206	// _loadLabelNames();
		1207	}
		1208	// else
		1209	// Debug.Print("Address == 0?");
		1210
		1211	if (data != null && data.Length > 0)
		1212	{
		1213	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1214	s = s.Trim('\0', '\n');
		1215
		1216	switch (cmdID)
		1217	{
		1218	//case 'A': //Label names
		1219	// _processLabelNames(s);
		1220	// break;
		1221
		1222	case 'D': //Debug data
		1223	_processDebugVals(adr, data);
		1224	break;
		1225
		1226	case 'V': //Version
		1227	_processVersion(adr, data);
		1228	break;
		1229
		1230	case 'K'://BL-CTRL data
		1231	_processBLCtrl(data);
		1232	break;
		1233
		1234	case 'O': //NC Data
		1235	_processNCData(data);
		1236	break;
		1237
		1238	case 'E': //NC error-string
		1239	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1240	break;
		1241
		1242	case 'L': //OSD Menue (called by pagenumber)
		1243	_processOSDSingle(data);
		1244	break;
		1245
		1246	case 'H': //OSD Menue (with autoupdate - called by Key)
		1247	_processOSDAuto(data);
		1248	break;
		1249
		1250	case 'X': //Waypoint data
		1251	_processWPData(data);
		1252	break;
		1253
2313	-	1254	case 'W': //return new Waypoint items count after sending waypoint to copter
		1255	_iWPCount = data[0];
		1256	break;
2287	-	1257	//default:
		1258	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1259	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1260	// break;
		1261	}
		1262	}
		1263	//else
		1264	//{
		1265	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1266	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1267	//}
		1268	}
		1269	}
		1270	}
		1271	/// <summary>
		1272	/// Analog label names 'A'
		1273	/// each label name is returned as a single string
		1274	/// and added to string array sAnalogLabel[]
		1275	/// and the datatable dtAnalog
		1276	/// </summary>
		1277	/// <param name="s">the label name</param>
		1278	void _processLabelNames(string s)
		1279	{
		1280	//if (iLableIndex < 32)
		1281	//{
		1282	// sAnalogLabel[iLableIndex] = s;
		1283	// if (dtAnalog.Rows.Count < 32)
		1284	// dtAnalog.Rows.Add(s, "");
		1285	// else
		1286	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1287
		1288	// // _getAnalogLabels(iLableIndex + 1);
		1289	//}
		1290	//Debug.Print(s);
		1291	}
		1292	/// <summary>
		1293	/// Debug values 'D'
		1294	/// </summary>
		1295	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1296	/// <param name="data">the received byte array to process</param>
		1297	void _processDebugVals(byte adr, byte[] data)
		1298	{
		1299	if (data.Length == 66)
		1300	{
2324	-	1301
2287	-	1302	double v;
		1303	int index = 0;
		1304	Int16 i16 = 0;
		1305	double dTemp = 0;
		1306	for (int i = 2; i < 66; i += 2)
		1307	{
		1308	i16 = data[i + 1];
		1309	i16 = (Int16)(i16 << 8);
		1310	iAnalogData[index] = data[i] + i16;
		1311	sAnalogData[index] = (data[i] + i16).ToString();
		1312	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1313
		1314	if (adr == 2) //NC
		1315	{
		1316	switch (index)
		1317	{
		1318	case 0: //pitch (German: nick)
		1319	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1320	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1321	break;
		1322	case 1: //roll
		1323	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1324	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1325	break;
		1326	case 4: //altitude
		1327	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1328	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2324	-	1329	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1330	break;
		1331	case 7: //Voltage
		1332	v = (double)iAnalogData[index] / (double)10;
		1333	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1334	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1335	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1336	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1337	{
		1338	if (v == _dVoltLast)
		1339	if(_iVoltJitter < 20) _iVoltJitter++;
		1340	else
		1341	{
		1342	_iVoltJitter = 0;
		1343	_dVoltLast = v;
		1344	}
		1345	if (_iVoltJitter == 20)
		1346	{
		1347	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1348
		1349	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1350	{
		1351	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1352	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1353	{
		1354	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1355	_bCritAnimVoltActive = true;
		1356	}
		1357	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1358	{
2295	-	1359	Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1360	t.Start();
2287	-	1361	_bCritVoiceVoltActive = true;
		1362	}
		1363	}
		1364	else
		1365	{
		1366	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1367	{
		1368	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1369	_bCritAnimVoltActive = false;
		1370	}
		1371	_bCritVoiceVoltActive = false;
		1372
2291	-	1373	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1374	{
2295	-	1375	Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1376	t.Start();
2291	-	1377	_bWarnVoiceVoltActive = true;
2287	-	1378	}
		1379	}
		1380	}
		1381	}
		1382	else
		1383	{
		1384	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1385	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1386	{
		1387	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1388	_bCritAnimVoltActive = false;
		1389	}
		1390	_bCritVoiceVoltActive = false;
2291	-	1391	_bWarnVoiceVoltActive = false;
2287	-	1392	_iVoltJitter = 0;
		1393	}
		1394	break;
		1395	case 8: // Current
		1396	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1397	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1398	break;
		1399	case 10: //heading
2291	-	1400	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2287	-	1401	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1402	break;
		1403	case 12: // SPI error
2291	-	1404	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1405	break;
		1406	case 14: //i2c error
2291	-	1407	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1408	break;
		1409	case 20: //Earthmagnet field
2291	-	1410	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1411	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1412
		1413	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1414	{
		1415	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1416	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1417	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1418	{
		1419	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1420	_bAnimMagneticFieldActive = false;
		1421	}
		1422	}
		1423	else
		1424	{
		1425	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1426	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1427	{
		1428	if (_iMagneticFieldJitter < 20)
		1429	_iMagneticFieldJitter++;
		1430	}
		1431	else
		1432	{
		1433	_iMagneticFieldJitter = 0;
		1434	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1435	}
		1436	if(_iMagneticFieldJitter == 20)
		1437	{
		1438	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1439	{
		1440	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1441	_bAnimMagneticFieldActive = true;
		1442	}
		1443	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1444	{
2295	-	1445	Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1446	t.Start();
2291	-	1447	_bVoiceMagneticFieldActive = true;
		1448	}
		1449	}
		1450	}
2287	-	1451	break;
		1452	case 21: //GroundSpeed
		1453	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1454	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1455	break;
2291	-	1456
		1457	///******** needs testing --> not sure what position this is *************
2287	-	1458	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1459	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1460	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1461	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1462	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1463	dTemp = Math.Sqrt(dTemp) / (double)10;
		1464	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1465	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1466	break;
2291	-	1467
2287	-	1468	case 31: //Sats used
		1469	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1470	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1471	break;
		1472	}
		1473	}
		1474	index++;
		1475	}
		1476	}
		1477	else
		1478	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1479	}
		1480	/// <summary>
		1481	/// Version string 'V'
		1482	/// </summary>
		1483	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1484	/// <param name="data">the received byte array to process</param>
		1485	void _processVersion(byte adr, byte[] data)
		1486	{
		1487	if (data.Length == 12)
		1488	{
		1489	if (!check_HWError)
		1490	{
		1491	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1492	string sVersion = "";
		1493	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1494	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1495	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1496	Log(LogMsgType.Incoming, sVersion);
		1497	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1498	Log(LogMsgType.Incoming, sVersion);
		1499	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1500	}
		1501	if (data[5] > 0) //error0
		1502	{
		1503	if (adr == 1)
		1504	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		1505	if (adr == 2)
		1506	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		1507	}
		1508	if (data[6] > 0) //error1
		1509	{
		1510	if (adr == 1)
		1511	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		1512	if (adr == 2)
		1513	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		1514	}
		1515	if ((data[5] + data[6] == 0) && _bErrorLog)
		1516	_clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		1517
		1518	}
		1519	check_HWError = false;
		1520	}
		1521	/// <summary>
		1522	/// BL-Ctrl data 'K'
		1523	/// for FC you have to use a customized firmware
		1524	/// </summary>
		1525	/// <param name="data">the received byte array to process</param>
		1526	void _processBLCtrl(byte[] data)
		1527	{
		1528	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1529	{
		1530	bool bAvailable = false;
		1531	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1532	{
		1533
		1534	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1535	bAvailable = true;
		1536	else
		1537	bAvailable = false;
		1538
		1539	if (data[i] < _iMotors)
		1540	{
		1541	if (bAvailable)
		1542	{
2315	-	1543	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1544	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1545	}
		1546	else
		1547	{
2315	-	1548	dtMotors.Rows[data[i]].SetField(1, "NA");
		1549	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1550	}
		1551	}
		1552	//if (data[i] > 3 && data[i] < 8)
		1553	//{
		1554	// if (bAvailable)
		1555	// {
		1556	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1557	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1558	// }
		1559	// else
		1560	// {
		1561	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1562	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1563	// }
		1564	//}
		1565	}
		1566	}
		1567	}
		1568	/// <summary>
		1569	/// Navi-Ctrl data 'O'
		1570	/// GPS-Position, capacatiy, flying time...
		1571	/// </summary>
		1572	/// <param name="data">the received byte array to process</param>
		1573	void _processNCData(byte[] data)
		1574	{
		1575	int i_32, i_16, iVal;
		1576	double d;
		1577	i_32 = data[4];
		1578	iVal = i_32 << 24;
		1579	i_32 = data[3];
		1580	iVal += i_32 << 16;
		1581	i_32 = data[2];
		1582	iVal += i_32 << 8;
		1583	iVal += data[1];
		1584	d = (double)iVal / Math.Pow(10, 7);
2324	-	1585	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1586
2287	-	1587	PointLatLng p = new PointLatLng();
		1588
		1589	p.Lng = d;
		1590	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1591	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1592
		1593	i_32 = data[8];
		1594	iVal = i_32 << 24;
		1595	i_32 = data[7];
		1596	iVal += i_32 << 16;
		1597	i_32 = data[6];
		1598	iVal += i_32 << 8;
		1599	iVal += data[5];
		1600	d = (double)iVal / Math.Pow(10, 7);
2324	-	1601	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1602	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1603	p.Lat = d;
2291	-	1604	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1605	{
		1606	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1607	if(_bAutoHome && !_bFirstSatFix)
		1608	{
		1609	if (_iFirstSatFix < 3)
		1610	_iFirstSatFix++;
		1611	else
		1612	{
		1613	_bFirstSatFix = true;
		1614	Dispatcher.Invoke(() => setHomePos());
		1615	}
		1616	}
2291	-	1617	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1618	{
		1619	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1620	_bAnimSatFixActive = false;
		1621	}
		1622	if (!_bFollowCopter)
		1623	{
		1624	_setCopterData(p);
		1625	if (!MainMap.ViewArea.Contains(p))
		1626	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1627
2291	-	1628	}
		1629	else
2287	-	1630	Dispatcher.Invoke(() => MainMap.Position = p);
		1631	}
		1632	else
2291	-	1633	{
		1634	if(_bSatFix)
		1635	{
		1636	if (data[50] == _iSatsLast)
		1637	{
		1638	if (_iSatsJitter < 20) _iSatsJitter++;
		1639	}
		1640	else
		1641	{
		1642	_iSatsJitter = 0;
		1643	_iSatsLast = data[50];
		1644	}
2287	-	1645
2291	-	1646	if (_iSatsJitter == 20)
		1647	{
		1648	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1649	{
		1650	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1651	_bAnimSatFixActive = true;
		1652	}
		1653	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1654	{
2295	-	1655	Thread th = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1656	th.Start();
2291	-	1657	_bVoiceSatFixActive = true;
		1658	}
		1659
		1660	_bSatFix = false;
		1661	}
		1662	}
		1663	}
		1664
2287	-	1665	// lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
		1666	//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
		1667
		1668	i_16 = data[28];
		1669	i_16 = (Int16)(i_16 << 8);
		1670	iVal = data[27] + i_16;
		1671	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1672
		1673	i_16 = data[45];
		1674	i_16 = (Int16)(i_16 << 8);
		1675	iVal = data[44] + i_16;
		1676	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1677	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1678
		1679	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
		1680	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
		1681
		1682	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1683
		1684
		1685	//--------------- Capacity used ------------------------
		1686	i_16 = data[81];
		1687	i_16 = (Int16)(i_16 << 8);
		1688	iVal = data[80] + i_16;
		1689	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1690	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1691
		1692	//--------------- Flying time ------------------------
		1693	i_16 = data[56];
		1694	i_16 = (Int16)(i_16 << 8);
		1695	iVal = data[55] + i_16;
		1696	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1697	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1698	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1699	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1700
		1701	//--------------- RC quality ------------------------
		1702	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1703	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1704
2291	-	1705	if(data[66] > _iThresholdRC)
		1706	{
		1707	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1708	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1709	{
		1710	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1711	_bAnimRCLevelActive = false;
		1712	}
		1713	}
		1714	else
		1715	{
		1716	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1717	if (_iRCLevelJitter == 20)
		1718	{
		1719	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1720	{
		1721	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1722	_bAnimRCLevelActive = true;
		1723	}
		1724	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1725	{
2295	-	1726	Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1727	th.Start();
2291	-	1728	_bVoiceRCLevelActive = true;
		1729	}
		1730	_iRCLevelJitter++;
		1731	}
		1732	}
		1733
2287	-	1734	//--------------- NC Error ------------------------
		1735	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1736	if (data[69] > 0)
		1737	_readNCError();
		1738	if (data[69] > 0 & data[69] < 44)
		1739	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
		1740	else
		1741	if (_bErrorLog) _clearErrorLog("NC Error");
		1742
2298	-	1743	//-------------FC / NC Status Flags
		1744	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1745	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1746	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1747	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1748	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1749	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1750
		1751	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1752	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1753	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1754	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1755	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1756	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
		1757	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		1758	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		1759
		1760	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1761	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1762	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1763	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1764	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1765	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1766	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	1767
		1768	//Sidebar StatusSymbols
		1769	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1770	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
		1771	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
		1772
		1773	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1774	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
		1775	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
		1776
		1777	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	1778	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
		1779	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	-	1780
		1781	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1782	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
		1783	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
		1784
		1785	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	1786	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
		1787	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
		1788	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	-	1789
2324	-	1790	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	1791	}
		1792	/// <summary>
		1793	/// Navi-Ctrl WP data struct 'X'
		1794	/// called by index
		1795	/// </summary>
		1796	/// <param name="data">the received byte array to process</param>
		1797	void _processWPData(byte[] data)
		1798	{
2313	-	1799	_iWPCount = data[0];
2287	-	1800	_bGetWPCount = false;
		1801	if (data.Length >= 28)
		1802	{
		1803	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		1804	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		1805	if (_bGetWP)
		1806	{
		1807	if (data[1] == 1)
2315	-	1808	{
2287	-	1809	dtWaypoints.Rows.Clear();
2318	-	1810	Dispatcher.Invoke(() => {
		1811	for (int k = 0; k < MainMap.Markers.Count;)
		1812	{
		1813	GMapMarker p = MainMap.Markers[k];
		1814	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		1815	MainMap.Markers.Remove(p);
		1816	else
		1817	k++;
		1818	}
		1819	});
2315	-	1820	}
2287	-	1821	DataRow dr = dtWaypoints.NewRow();
		1822	dr = Waypoints.toDataRow(data, dr);
2313	-	1823	dtWaypoints.Rows.Add(dr);
2318	-	1824	Dispatcher.Invoke(() => {
		1825	GMapMarker wp = new GMapMarker(new PointLatLng((double)dr[3], (double)dr[4]));
		1826	wp.Shape = new CustomMarkerWP(this, wp, (string)dr[2],(int)dr[1]);
		1827	_setMarkerColor(wp, (int)dr[1]);
		1828	MainMap.Markers.Add(wp);
		1829	});
2313	-	1830	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1831	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	1832	if (data[1] == data[0])
		1833	{
		1834	_bGetWP = false;
		1835	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1836	}
		1837
		1838	}
		1839	}
		1840	else
		1841	{
		1842	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		1843	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		1844	}
		1845	}
		1846	/// <summary>
		1847	/// OSD Menue 'L'
		1848	/// single page called by pagenumber
		1849	/// no autoupdate
		1850	/// </summary>
		1851	/// <param name="data">the received byte array to process</param>
		1852	void _processOSDSingle(byte[] data)
		1853	{
		1854	if (data.Length == 84)
		1855	{
		1856	string sMessage = "";
		1857	iOSDPage = data[0];
		1858	iOSDMax = data[1];
		1859	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		1860	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		1861	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1862	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1863	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1864	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1865	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		1866	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		1867
		1868	}
		1869	//else
		1870	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		1871
		1872	}
		1873	/// <summary>
		1874	/// OSD Menue 'H'
		1875	/// called by keys (0x01,0x02,0x03,0x04)
		1876	/// autoupdate
		1877	/// </summary>
		1878	/// <param name="data">the received byte array to process</param>
		1879	void _processOSDAuto(byte[] data)
		1880	{
		1881	if (data.Length == 81)
		1882	{
		1883	string sMessage = "";
		1884	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		1885	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1886	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1887	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1888	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1889
		1890	}
		1891	//else
		1892	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		1893	}
		1894
		1895	#endregion processing received data
		1896
		1897	#region controller messages
		1898	/// <summary> send message to controller to request data
		1899	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1900	/// </summary>
		1901	/// <param name="CMDID"> the command ID </param>
		1902	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1903	private void _sendControllerMessage(char CMDID, byte address)
		1904	{
		1905	if (serialPortCtrl.Port.IsOpen)
		1906	{
		1907	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1908	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		1909	serialStream.Write(bytes, 0, bytes.Length);
		1910
		1911	}
		1912	else
		1913	Log(LogMsgType.Error, "NOT CONNECTED!");
		1914	}
		1915	/// <summary> send message to controller to request data
		1916	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1917	/// </summary>
		1918	/// <param name="CMDID"> the command ID </param>
		1919	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1920	/// <param name="data"> additional data for the request</param>
		1921	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		1922	{
		1923	if (serialPortCtrl.Port.IsOpen)
		1924	{
		1925	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1926	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		1927	serialStream.Write(bytes, 0, bytes.Length);
		1928
		1929	}
		1930	else
		1931	Log(LogMsgType.Error, "NOT CONNECTED!");
		1932	}
		1933
		1934	/// <summary>
		1935	/// start/stop continous polling of controller values
		1936	/// </summary>
		1937	/// <param name="b">start/stop switch</param>
		1938	void _readCont(bool b)
		1939	{
		1940	bReadContinously = b;
		1941	if (bReadContinously)
		1942	{
		1943	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		1944	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		1945	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		1946	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		1947	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		1948	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		1949	}
		1950	else
		1951	{
		1952	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		1953	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		1954	_bConnErr = false;
		1955	}
		1956	_iLifeCounter = 0;
		1957	}
		1958
		1959	private void _getVersion()
		1960	{
		1961	_sendControllerMessage('v', 0);
		1962	}
		1963	/// <summary>
		1964	/// get FC version struct via NC
		1965	/// by sending '1' as data (not documented in wiki...)
		1966	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		1967	/// </summary>
		1968	/// <param name="ctrl">controller number 1=FC</param>
		1969	private void _getVersion(byte ctrl)
		1970	{
		1971	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		1972	}
		1973	/// <summary>
		1974	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		1975	/// </summary>
		1976	private void _switchToNC()
		1977	{
		1978	if (serialPortCtrl.Port.IsOpen)
		1979	{
		1980	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1981	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		1982	serialStream.Write(bytes, 0, bytes.Length);
		1983
		1984	Thread.Sleep(100);
		1985	_getVersion();
		1986	Thread.Sleep(100);
		1987	// _OSDMenue(0);
		1988	}
		1989	else
		1990	Log(LogMsgType.Error, "NOT CONNECTED!");
		1991	}
		1992	/// <summary>
		1993	/// switch to FC
		1994	/// </summary>
		1995	private void _switchToFC()
		1996	{
		1997	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		1998	Thread.Sleep(100);
		1999	_getVersion();
		2000	Thread.Sleep(100);
		2001	// _OSDMenue(0);
		2002	}
		2003	/// <summary>
		2004	/// send RESET signal to FC
		2005	/// </summary>
		2006	private void _resetCtrl()
		2007	{
		2008	_sendControllerMessage('R', 1);
		2009	}
		2010	/// <summary>
		2011	/// poll the debug data (4sec subscription)
		2012	/// </summary>
		2013	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2014	private void _readDebugData(bool auto)
		2015	{
		2016	byte interval = auto ? debugInterval : (byte)0;
		2017	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2018	}
		2019	/// <summary>
		2020	/// poll the BL-CTRL status via NC (4sec subscription)
		2021	/// </summary>
		2022	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2023	private void _readBLCtrl(bool auto)
		2024	{
		2025	byte interval = auto ? blctrlInterval : (byte)0;
		2026	_sendControllerMessage('k', 0, new byte[1] { interval });
		2027	}
		2028	/// <summary>
		2029	/// poll the NC data struct (4sec subscription)
		2030	/// </summary>
		2031	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2032	private void _readNavData(bool auto)
		2033	{
		2034	byte interval = auto ? navctrlInterval : (byte)0;
		2035	_sendControllerMessage('o', 2, new byte[1] { interval });
		2036	}
		2037	/// <summary>
		2038	/// get the errortext for pending NC error
		2039	/// </summary>
		2040	private void _readNCError()
		2041	{
		2042	_sendControllerMessage('e', 2);
		2043	}
		2044	/// <summary>
		2045	/// request the Waypoint at index
		2046	/// </summary>
		2047	/// <param name="index"></param>
		2048	void _getpWP(int index)
		2049	{
		2050	if (serialPortCtrl.Port.IsOpen)
		2051	{
		2052	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2053	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2054	serialStream.Write(bytes, 0, bytes.Length);
		2055	}
		2056	else
		2057	Log(LogMsgType.Error, "NOT CONNECTED!");
		2058
		2059	}
		2060	void _getWP()
		2061	{
		2062	_bGetWPCount = true;
2315	-	2063	_getpWP(1); //get the itemscount of wp
2287	-	2064	while (_bGetWPCount)
		2065	Thread.Sleep(100);
2313	-	2066	if (_iWPCount > 0)
2287	-	2067	_getWPList();
		2068	}
		2069	void _getWPList()
		2070	{
		2071	_bGetWP = true;
2313	-	2072	int iTimeout=0;
		2073	for (int j = 0; j < _iWPCount; j++)
2287	-	2074	{
		2075	_getpWP(j + 1);
2313	-	2076	iTimeout = 0;
		2077	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2078	{
		2079	Thread.Sleep(1);
		2080	iTimeout++;
		2081	}
2287	-	2082	}
		2083	}
2313	-	2084	void _sendWPList()
		2085	{
		2086	if (serialPortCtrl.Port.IsOpen)
		2087	{
		2088	byte[] bData = new byte[30];
		2089	for (int i = 0; i < 30; i++)
		2090	bData[i] = 0;
		2091	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2092	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2093	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2094
2313	-	2095	_iWPCount = -1;
		2096	while (_iWPCount == -1)
		2097	Thread.Sleep(10);
		2098	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2287	-	2099
2313	-	2100	int iVal;
		2101	double dVal;
		2102	NumberFormatInfo nfi = new NumberFormatInfo();
		2103	nfi.NumberDecimalSeparator = ",";
		2104	for (int i = 0; i < dtWaypoints.Rows.Count; i++)
		2105	{
		2106	//longitude
		2107	dVal = Convert.ToDouble(dtWaypoints.Rows[i][4], nfi);
		2108	iVal = (int)(dVal * Math.Pow(10, 7));
		2109	bData[0] = (byte)(iVal & 0xff);
		2110	bData[1] = (byte)((iVal >> 8) & 0xff);
		2111	bData[2] = (byte)((iVal >> 16) & 0xff);
		2112	bData[3] = (byte)(iVal >> 24);
		2113	//latitude
		2114	dVal = Convert.ToDouble(dtWaypoints.Rows[i][3], nfi);
		2115	iVal = (int)(dVal * Math.Pow(10, 7));
		2116	bData[4] = (byte)(iVal & 0xff);
		2117	bData[5] = (byte)((iVal >> 8) & 0xff);
		2118	bData[6] = (byte)((iVal >> 16) & 0xff);
		2119	bData[7] = (byte)(iVal >> 24);
		2120	//altitude
		2121	dVal = Convert.ToDouble(dtWaypoints.Rows[i][5], nfi);
		2122	iVal = (int)(dVal * 10);
		2123	bData[8] = (byte)(iVal & 0xff);
		2124	bData[9] = (byte)((iVal >> 8) & 0xff);
		2125	bData[10] = (byte)((iVal >> 16) & 0xff);
		2126	bData[11] = (byte)(iVal >> 24);
		2127	//Status 'NEWDATA'
		2128	bData[12] = 1;
		2129	//heading
		2130	iVal = Convert.ToInt16(dtWaypoints.Rows[i][6]);
		2131	bData[13] = (byte)(iVal & 0xff);
		2132	bData[14] = (byte)((iVal >> 8) & 0xff);
		2133	//ToleranceRadius
		2134	bData[15] = Convert.ToByte(dtWaypoints.Rows[i][9]);
		2135	//HoldTime
		2136	bData[16] = Convert.ToByte(dtWaypoints.Rows[i][10]);
		2137	//Event_Flag
		2138	bData[17] = Convert.ToByte(dtWaypoints.Rows[i][13]);
		2139	//Index
		2140	bData[18] = Convert.ToByte((int)dtWaypoints.Rows[i][0]);
		2141	//Type
		2142	bData[19] = Convert.ToByte(dtWaypoints.Rows[i][1]);
		2143	//WP_EventChannelValue
		2144	bData[20] = Convert.ToByte(dtWaypoints.Rows[i][14]);
		2145	//AltitudeRate
		2146	bData[21] = Convert.ToByte(dtWaypoints.Rows[i][8]);
		2147	//Speed
		2148	bData[22] = Convert.ToByte(dtWaypoints.Rows[i][7]);
		2149	//CamAngle
		2150	bData[23] = (byte)Convert.ToInt16(dtWaypoints.Rows[i][12]);
		2151	//Name
		2152	byte[] name = ASCIIEncoding.ASCII.GetBytes((string)dtWaypoints.Rows[i][2]);
		2153	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2154	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2155	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2156	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2157	//Autotrigger
		2158	bData[28] = Convert.ToByte(dtWaypoints.Rows[i][11]);
		2159
		2160	bytes = FlightControllerMessage.CreateMessage('w', 2, bData);
		2161	serialStream.Write(bytes, 0, bytes.Length);
		2162
		2163	_iWPCount = -1;
		2164	while (_iWPCount == -1)
		2165	Thread.Sleep(10);
		2166	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
		2167	}
		2168	}
		2169	else
		2170	Log(LogMsgType.Error, "NOT CONNECTED!");
		2171
		2172	}
		2173
2287	-	2174	#region OSD-Menue
		2175
		2176	/// <summary>
		2177	/// one time query of the OSD Menue with pagenumber
		2178	/// </summary>
		2179	/// <param name="iMenue">Menue page</param>
		2180	void _OSDMenue(int iMenue)
		2181	{
		2182	if (serialPortCtrl.Port.IsOpen)
		2183	{
		2184	if (iMenue > iOSDMax)
		2185	iMenue = 0;
		2186	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2187	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2188	serialStream.Write(bytes, 0, bytes.Length);
		2189	}
		2190	else
		2191	Log(LogMsgType.Error, "NOT CONNECTED!");
		2192
		2193	}
		2194	/// <summary>
		2195	/// call the OSDMenue and start autorefresh
		2196	/// usually by sending a menuekey
		2197	/// 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)
		2198	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2199	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2200	/// </summary>
		2201	void _OSDMenueAutoRefresh()
		2202	{
		2203	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2204	}
		2205	void _OSDMenueAutoRefresh(byte key)
		2206	{
		2207	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2208	}
		2209	/// <summary>
		2210	/// initialize the OSD menue combobox
		2211	/// combox is filled by numbers from 0 to max pagenumber
		2212	/// </summary>
		2213	void _initOSDCB()
		2214	{
		2215	_bCBInit = true;
		2216	if (iOSDMax == 0)
		2217	{
		2218	_OSDMenue(0);
		2219	Thread.Sleep(10);
		2220	}
		2221	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2222	for (int i = 0; i <= iOSDMax; i++)
		2223	{
		2224	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2225	}
		2226	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2227	_bCBInit = false;
		2228	}
		2229	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2230	{
		2231	iOSDPage++;
		2232	if (iOSDPage > iOSDMax)
		2233	iOSDPage = 0;
		2234
		2235	_OSDMenue(iOSDPage);
		2236	}
		2237	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2238	{
		2239	iOSDPage--;
		2240	if (iOSDPage < 0)
		2241	iOSDPage = iOSDMax;
		2242
		2243	_OSDMenue(iOSDPage);
		2244	}
		2245	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2246	{
		2247	_OSDMenueAutoRefresh(8);
		2248	}
		2249	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2250	{
		2251	_OSDMenueAutoRefresh(4);
		2252	}
		2253	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2254	{
		2255	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2256	_OSDMenue(cbOSD.SelectedIndex);
		2257	}
		2258	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2259	{
		2260	Dispatcher.Invoke(() =>
		2261	{
		2262	TextRange tr;
		2263	if (bNew)
		2264	{
		2265	rtfOSD.SelectAll();
		2266	rtfOSD.Selection.Text = string.Empty;
		2267	}
		2268	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2269	tr.Text = msg;
		2270	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2271	// rtfOSD.AppendText("\r");
		2272	rtfOSD.ScrollToEnd();
		2273
		2274	});
		2275	}
		2276
		2277	#endregion OSD-Menue
		2278
		2279	#endregion controller messages
		2280
2295	-	2281	void _mediaPlayer(string file)
		2282	{
		2283	if (File.Exists(file))
		2284	{
		2285	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		2286	mp.Open(file);
		2287	mp.Play();
		2288	}
		2289	}
2310	-	2290
		2291	/// <summary>
		2292	/// Switch between fullscreen and normal window mode
		2293	/// save & restore scaling settings
		2294	/// </summary>
		2295	/// <param name="sender"></param>
		2296	/// <param name="e"></param>
2287	-	2297	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2298	{
		2299	if (winState.isMaximized)
		2300	{
		2301	winState.Restore(this);
		2302	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2303	if(_bSaveWinStateFull)
		2304	_saveScaleSliders(true);
		2305	if(_bSaveWinStateNormal)
		2306	_setScaleSliders(false);
		2307	}
		2308	else
		2309	{
		2310	winState.Maximize(this);
		2311	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2312	if(_bSaveWinStateNormal)
		2313	_saveScaleSliders(false);
		2314	if(_bSaveWinStateFull)
		2315	_setScaleSliders(true);
		2316	}
		2317	}
		2318
		2319	/// <summary>
		2320	/// reset the scaling of all UI elements to default
		2321	/// </summary>
		2322	/// <param name="sender"></param>
		2323	/// <param name="e"></param>
		2324	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2325	{
		2326	UIScaleHorizonSlider.Value =
		2327	UIScaleLOGSlider.Value =
		2328	UIScaleMotorsSlider.Value =
		2329	UIScaleOSDSlider.Value =
		2330	UIScaleSlider.Value =
		2331	UIScaleTopSlider.Value = 1;
		2332	}
		2333	/// <summary>
		2334	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2335	/// </summary>
		2336	/// <param name="sender"></param>
		2337	/// <param name="e"></param>
		2338	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2339	{
		2340	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2341	if (GridMotors != null)
		2342	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2343	if (GridSideBar != null)
		2344	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2345	if (GridOSD != null)
		2346	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2347	if (GridData != null)
		2348	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2349	if (GridWP != null)
		2350	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2351	}
2310	-	2352	/// <summary>
		2353	/// restore the saved scalings for the fullscreen/normal window mode
		2354	/// </summary>
		2355	/// <param name="bFull">the mode the window is set to</param>
2287	-	2356	void _setScaleSliders(bool bFull)
		2357	{
		2358	if(bFull)
		2359	{
		2360	UIScaleSlider.Value = scaleFullAll;
		2361	UIScaleTopSlider.Value = scaleFullTopBar;
		2362	UIScaleMotorsSlider.Value = scaleFullMotors;
		2363	UIScaleOSDSlider.Value = scaleFullOSD;
		2364	UIScaleLOGSlider.Value = scaleFullLOG;
		2365	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2366	}
		2367	else
		2368	{
		2369	UIScaleSlider.Value = scaleNormalAll;
		2370	UIScaleTopSlider.Value = scaleNormalTopBar;
		2371	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2372	UIScaleOSDSlider.Value = scaleNormalOSD;
		2373	UIScaleLOGSlider.Value = scaleNormalLOG;
		2374	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2375	}
		2376	}
		2377
2310	-	2378	/// <summary>
		2379	/// save the scalings for the actual window mode
		2380	/// </summary>
		2381	/// <param name="bFull">the actual window mode</param>
2287	-	2382	void _saveScaleSliders(bool bFull)
		2383	{
		2384
		2385	if (bFull)
		2386	{
		2387	scaleFullAll = UIScaleSlider.Value;
		2388	scaleFullTopBar = UIScaleTopSlider.Value;
		2389	scaleFullMotors = UIScaleMotorsSlider.Value;
		2390	scaleFullOSD = UIScaleOSDSlider.Value;
		2391	scaleFullLOG = UIScaleLOGSlider.Value;
		2392	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2393	}
		2394	else
		2395	{
		2396	scaleNormalAll = UIScaleSlider.Value;
		2397	scaleNormalTopBar = UIScaleTopSlider.Value;
		2398	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2399	scaleNormalOSD = UIScaleOSDSlider.Value;
		2400	scaleNormalLOG = UIScaleLOGSlider.Value;
		2401	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2402	}
		2403	}
		2404
		2405	/// <summary>
		2406	/// read settings from ini-file
		2407	/// </summary>
		2408	void _readIni()
		2409	{
		2410	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2411	_writeIni();
		2412	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2413	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2414	try
		2415	{
2287	-	2416
2312	-	2417	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2418	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2419	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2420	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2421	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2422	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2423	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2424	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2425
2312	-	2426	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2427	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2428	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2429	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2430	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2431	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2432	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2433	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2434
2312	-	2435	sVal = ini.IniReadValue("topBar", "voltage");
		2436	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2437	sVal = ini.IniReadValue("topBar", "capacity");
		2438	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2439	sVal = ini.IniReadValue("topBar", "current");
		2440	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2441	sVal = ini.IniReadValue("topBar", "flightTime");
		2442	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2443	sVal = ini.IniReadValue("topBar", "distanceHP");
		2444	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2445	sVal = ini.IniReadValue("topBar", "height");
		2446	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2447	sVal = ini.IniReadValue("topBar", "speed");
		2448	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2449	sVal = ini.IniReadValue("topBar", "magneticField");
		2450	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2451	sVal = ini.IniReadValue("topBar", "satellites");
		2452	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2453	sVal = ini.IniReadValue("topBar", "rc");
		2454	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2455
2312	-	2456	sVal = ini.IniReadValue("style", "saveFullScreen");
		2457	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2458	sVal = ini.IniReadValue("style", "saveNormalState");
		2459	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2460
2312	-	2461	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2462	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2463	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2464	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2465	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2466	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2467	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2468	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2469	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2470	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2471	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2472	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2473
2312	-	2474	sVal = ini.IniReadValue("style", "scaleFullAll");
		2475	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2476	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2477	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2478	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2479	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2480	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2481	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2482	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2483	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2484	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2485	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2486
2312	-	2487	sVal = ini.IniReadValue("general", "LiPoCells");
		2488	_LipoCells = Convert.ToInt16(sVal);
		2489	sVal = ini.IniReadValue("general", "Motors");
		2490	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2491
2312	-	2492	sVal = ini.IniReadValue("map", "followMe");
		2493	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2494	sVal = ini.IniReadValue("map", "AutoSetHome");
		2495	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2496	sVal = ini.IniReadValue("map", "GPXLog");
		2497	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2498
2312	-	2499	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2500	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2501	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2502	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2503	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2504	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2505	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2506	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2507	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2508	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2509	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2510	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2511	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2512	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2513	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2514	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2515	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2516	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2517	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2518	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2519	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2520	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2521
		2522	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2523	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2524	sVal = ini.IniReadValue("waypoints", "poicolor");
		2525	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2526	sVal = ini.IniReadValue("waypoints", "fscolor");
		2527	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2528	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2529	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2312	-	2530	}
		2531	catch (Exception e)
		2532	{
2287	-	2533
2312	-	2534	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2535	}
		2536
2287	-	2537	}
		2538
		2539	/// <summary>
		2540	/// save settings to ini-file
		2541	/// </summary>
		2542	void _writeIni()
		2543	{
		2544
		2545	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2546	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2547
2312	-	2548	try
		2549	{
2287	-	2550
2312	-	2551	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2552	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2553	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2554	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2555
2312	-	2556	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2557	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2558	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2559	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2560
2312	-	2561	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2562	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2563
2312	-	2564	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2565	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	2566	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	2567
2312	-	2568	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2569	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2570	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2571	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2572	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2573	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2574	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2575	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2576	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2577	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2578
2312	-	2579	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2580	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2581
2312	-	2582	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2583	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2584	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2585	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2586	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2587	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	2588
2312	-	2589	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2590	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2591	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2592	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2593	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2594	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	2595
2312	-	2596	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2597
		2598	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2599	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2600	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2601	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2602	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2603	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2604	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2605	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2606	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2607	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2608	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	2609
		2610	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		2611	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		2612	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		2613	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2312	-	2614	}
		2615	catch (Exception e)
		2616	{
		2617
		2618	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);
		2619	}
2287	-	2620	}
2312	-	2621
2315	-	2622	#region WP
2312	-	2623	void _readWPLFile()
		2624	{
		2625	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		2626	fd.Filter = "Waypointlists \| *.wpl";
		2627	fd.Multiselect = false;
		2628	if (fd.ShowDialog().Value)
		2629	{
		2630	string file = fd.SafeFileName;
		2631	IniFile ini = new IniFile(fd.SafeFileName);
		2632	ini.path = fd.FileName;
		2633
		2634	try
		2635	{
		2636	string sVal = ini.IniReadValue("General", "FileVersion");
		2637	if (sVal == "")
		2638	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2639	else
		2640	{
		2641	if (Convert.ToInt16(sVal) < 3)
		2642	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2643	else
		2644	{
		2645	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		2646	if (sVal == "")
		2647	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2648	else
		2649	{
		2650	int wpnum = Convert.ToInt16(sVal);
		2651	string wp;
		2652	int i;
2313	-	2653	NumberFormatInfo nfi = new NumberFormatInfo();
		2654	nfi.NumberDecimalSeparator = ".";
2312	-	2655	dtWaypoints.Rows.Clear();
2315	-	2656	for(int k = 0; k < MainMap.Markers.Count;)
		2657	{
		2658	GMapMarker p = MainMap.Markers[k];
		2659	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2660	MainMap.Markers.Remove(p);
		2661	else
		2662	k++;
		2663	}
2312	-	2664	for (int k = 1; k <= wpnum; k++)
		2665	{
		2666	DataRow dr = dtWaypoints.NewRow();
		2667	dr.ItemArray = new object[16];
		2668	object[] o = new object[16];
		2669	i = 0;
		2670	wp = "Point" + k.ToString();
		2671	o[i] = k;
		2672	i++;
		2673	sVal = ini.IniReadValue(wp, "Type");
		2674	if (sVal != "")
2315	-	2675	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	2676	i++;
		2677	sVal = ini.IniReadValue(wp, "Prefix");
		2678	if (sVal != "")
		2679	o[i] = sVal == "0" ? "P" + k.ToString() : sVal + k.ToString();
		2680	i++;
2313	-	2681	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	2682	if (sVal != "")
2313	-	2683	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2684	i++;
2313	-	2685	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	2686	if (sVal != "")
2313	-	2687	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2688	i++;
		2689	sVal = ini.IniReadValue(wp, "Altitude");
		2690	if (sVal != "")
2313	-	2691	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2692	i++;
		2693	sVal = ini.IniReadValue(wp, "Heading");
		2694	if (sVal != "")
		2695	o[i] = Convert.ToInt16(sVal);
		2696	i++;
		2697	sVal = ini.IniReadValue(wp, "Speed");
		2698	if (sVal != "")
2315	-	2699	o[i] = Convert.ToInt16(sVal);
2312	-	2700	i++;
		2701	sVal = ini.IniReadValue(wp, "ClimbRate");
		2702	if (sVal != "")
		2703	o[i] = Convert.ToInt16(sVal);
		2704	i++;
		2705	sVal = ini.IniReadValue(wp, "Radius");
		2706	if (sVal != "")
		2707	o[i] = Convert.ToInt16(sVal);
		2708	i++;
		2709	sVal = ini.IniReadValue(wp, "DelayTime");
		2710	if (sVal != "")
		2711	o[i] = Convert.ToInt16(sVal);
		2712	i++;
		2713	sVal = ini.IniReadValue(wp, "AutoTrigger");
		2714	if (sVal != "")
		2715	o[i] = Convert.ToInt16(sVal); ;
		2716	i++;
		2717	sVal = ini.IniReadValue(wp, "CAM-Nick");
		2718	if (sVal != "")
2313	-	2719	o[i] = Convert.ToInt16(sVal);
2312	-	2720	i++;
		2721	o[i] = 0;
		2722	i++;
		2723	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		2724	if (sVal != "")
		2725	o[i] = Convert.ToInt16(sVal);
		2726	i++;
		2727	o[i] = "New";
		2728
		2729	dr.ItemArray = o;
		2730	dtWaypoints.Rows.Add(dr);
2315	-	2731	GMapMarker wpMarker = new GMapMarker(new PointLatLng((double)o[3], (double)o[4]));
		2732	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, (string)dr[2], (int)o[1]);
		2733	_setMarkerColor(wpMarker, (int)o[1]);
		2734	MainMap.Markers.Add(wpMarker);
		2735
2312	-	2736	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		2737	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		2738	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2739	Thread.Sleep(10);
		2740	}
		2741	}
		2742	}
		2743	}
		2744
		2745	}
		2746	catch (Exception e)
		2747	{
		2748
		2749	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		2750	}
		2751
		2752	}
		2753	}
2315	-	2754	void _setMarkerColor(GMapMarker wpMarker,int iType)
		2755	{
		2756	Dispatcher.Invoke(() =>
		2757	{
		2758	switch (iType)
		2759	{
		2760	case 0:
		2761	if (comboBoxWPColor.SelectionBoxItem != null)
		2762	{
		2763	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		2764	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2765	}
		2766	else
		2767	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2768	break;
		2769	case 1:
		2770	if (comboBoxPOIColor.SelectionBoxItem != null)
		2771	{
		2772	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		2773	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2774	}
		2775	else
		2776	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2777	break;
		2778	case 2:
		2779	if (comboBoxFSColor.SelectionBoxItem != null)
		2780	{
		2781	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		2782	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2783	}
		2784	else
		2785	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2786	break;
		2787	default:
		2788	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2789	break;
		2790	}
		2791	});
2312	-	2792
2315	-	2793	}
		2794	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2312	-	2795	{
2315	-	2796	Dispatcher.Invoke(() =>
		2797	{
		2798	if (comboBoxWPColor.SelectionBoxItem != null)
		2799	{
		2800	for (int k = 0; k < MainMap.Markers.Count;k++)
		2801	{
		2802	GMapMarker p = MainMap.Markers[k];
		2803	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2804	{
		2805	if (((CustomMarkerWP)p.Shape).WPType == 0)
		2806	{
		2807	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		2808	((CustomMarkerWP)(p.Shape)).setColor(s);
		2809	}
		2810	}
		2811	}
		2812	}
		2813	});
2312	-	2814	}
2315	-	2815	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		2816	{
		2817	Dispatcher.Invoke(() =>
		2818	{
		2819	if (comboBoxPOIColor.SelectionBoxItem != null)
		2820	{
		2821	for (int k = 0; k < MainMap.Markers.Count; k++)
		2822	{
		2823	GMapMarker p = MainMap.Markers[k];
		2824	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2825	{
		2826	if (((CustomMarkerWP)p.Shape).WPType == 1)
		2827	{
		2828	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		2829	((CustomMarkerWP)(p.Shape)).setColor(s);
		2830	}
		2831	}
		2832	}
		2833	}
		2834	});
2287	-	2835
2315	-	2836	}
		2837	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
2287	-	2838	{
2315	-	2839	Dispatcher.Invoke(() =>
		2840	{
		2841	if (comboBoxFSColor.SelectionBoxItem != null)
		2842	{
		2843	for (int k = 0; k < MainMap.Markers.Count; k++)
		2844	{
		2845	GMapMarker p = MainMap.Markers[k];
		2846	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2847	{
		2848	if (((CustomMarkerWP)p.Shape).WPType == 2)
		2849	{
		2850	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		2851	((CustomMarkerWP)(p.Shape)).setColor(s);
		2852	}
		2853	}
		2854	}
		2855	}
		2856	});
2287	-	2857	}
2318	-	2858	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
		2859	{
		2860	Dispatcher.Invoke(() => {
		2861	if (comboBoxCopterColor.SelectionBoxItem != null)
		2862	{
		2863	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		2864	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		2865	}
		2866	else
		2867	((CustomMarkerCopter)(copter.Shape)).setColor("red");
		2868	});
		2869	}
2324	-	2870
2315	-	2871	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	2872	{
2315	-	2873	_readWPLFile();
2287	-	2874	}
2315	-	2875	#endregion WP
2324	-	2876	#region GPX
		2877	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		2878	{
		2879	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		2880	}
		2881	void _gpxAdd(double lat,double lon, int elevation)
		2882	{
		2883	DataRow dr = dtGPX.NewRow();
		2884	dr[0] = dtGPX.Rows.Count - 1;
		2885	dr[1] = lat;
		2886	dr[2] = lon;
		2887	dr[3] = elevation;
		2888	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		2889	dtGPX.Rows.Add(dr);
		2890	}
		2891	void _saveGPXLog()
		2892	{
		2893	if (!Directory.Exists("GPXLog"))
		2894	Directory.CreateDirectory("GPXLog");
		2895	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		2896	XmlTextWriter myXmlTextWriter = null;
		2897	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		2898	NumberFormatInfo nfi = new NumberFormatInfo();
		2899	nfi.NumberDecimalSeparator = ".";
2315	-	2900
2324	-	2901	try
		2902	{
		2903	myXmlTextWriter.Formatting = Formatting.Indented;
		2904
		2905	myXmlTextWriter.WriteStartDocument();
		2906
		2907	myXmlTextWriter.WriteStartElement("gpx");
		2908
		2909	myXmlTextWriter.WriteAttributeString("version", "1.0");
		2910	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		2911	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		2912	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		2913	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		2914
		2915	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		2916
		2917	myXmlTextWriter.WriteStartElement("trk");
		2918	myXmlTextWriter.WriteStartElement("trkseg");
		2919	for(int i = 0; i< dtGPX.Rows.Count;i++)
		2920	{
		2921	myXmlTextWriter.WriteStartElement("trkpt");
		2922	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		2923	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		2924	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		2925	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		2926	myXmlTextWriter.WriteEndElement();
		2927	}
		2928	myXmlTextWriter.WriteEndElement();
		2929	myXmlTextWriter.WriteEndElement();
		2930	myXmlTextWriter.WriteEndElement();
		2931	}
		2932	catch (Exception e)
		2933	{
		2934	Console.WriteLine("Exception: {0}", e.ToString());
		2935	}
		2936	finally
		2937	{
		2938	if (myXmlTextWriter != null)
		2939	{
		2940	myXmlTextWriter.Close();
		2941	}
		2942	}
		2943	}
		2944
		2945	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		2946	{
		2947	_loadGPXLog();
		2948	}
		2949
		2950	void _loadGPXLog()
		2951	{
		2952
		2953	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		2954	fd.Filter = "GPX-Logfile \| *.gpx";
		2955	fd.Multiselect = false;
		2956	if (fd.ShowDialog().Value)
		2957	{
		2958	string file = fd.FileName;
		2959	try
		2960	{
		2961	XDocument gpxDoc = XDocument.Load(file);
		2962	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		2963
		2964	NumberFormatInfo nfi = new NumberFormatInfo();
		2965	nfi.NumberDecimalSeparator = ".";
		2966
		2967	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		2968	select new
		2969	{
		2970	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		2971	Segs = (
		2972	from trackpoint in track.Descendants(gpx + "trkpt")
		2973	select new
		2974	{
		2975	Latitude = trackpoint.Attribute("lat").Value,
		2976	Longitude = trackpoint.Attribute("lon").Value,
		2977	Elevation = trackpoint.Element(gpx + "ele") != null ?
		2978	trackpoint.Element(gpx + "ele").Value : null,
		2979	Time = trackpoint.Element(gpx + "time") != null ?
		2980	trackpoint.Element(gpx + "time").Value : null
		2981	}
		2982	)
		2983	};
		2984
		2985	List<PointLatLng> wpl = new List<PointLatLng>();
		2986	foreach(var trk in tracks)
		2987	{
		2988	foreach(var trkseg in trk.Segs)
		2989	{
		2990	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		2991	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		2992	}
		2993
		2994	}
		2995	if(wpl.Count() > 0)
		2996	{
		2997	for (int k = 0; k < MainMap.Markers.Count;)
		2998	{
		2999	GMapMarker p = MainMap.Markers[k];
		3000	if (p.Shape.GetType() == typeof(GMapRoute))
		3001	MainMap.Markers.Remove(p);
		3002	else
		3003	k++;
		3004	}
		3005	MapRoute mr = new MapRoute(wpl, "flying");
		3006
		3007	GMapRoute mRoute = new GMapRoute(mr.Points);
		3008	MainMap.Markers.Add(mRoute);
		3009	}
		3010
		3011	}
		3012	catch (Exception e)
		3013	{
		3014	Console.WriteLine("Exception: {0}", e.ToString());
		3015	}
		3016	}
		3017	}
		3018	#endregion GPX
2315	-	3019	#endregion functions
2287	-	3020	}
2315	-	3021	/// <summary>
		3022	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		3023	/// </summary>
2313	-	3024	public class waypointsConverter : IValueConverter
		3025	{
		3026	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		3027	{
		3028	if (value != null)
		3029	{
		3030	switch ((string)parameter)
		3031	{
		3032	case "Latitude":
		3033	return value.ToString() + " °";
		3034	case "Longitude":
		3035	return value.ToString() + " °";
		3036	case "Radius":
		3037	return value.ToString() + " m";
		3038	case "Altitude":
		3039	return value.ToString() + " m";
		3040	case "ClimbRate":
		3041	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		3042	case "DelayTime":
		3043	return value.ToString() + " s";
		3044	case "Heading":
		3045	return Waypoints.Heading(System.Convert.ToInt32(value));
		3046	case "Speed":
		3047	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		3048	case "CamAngle":
		3049	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		3050	case "Type":
		3051	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		3052	case "AutoTrigger":
		3053	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		3054	case "Status":
		3055	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		3056	}
		3057
		3058	return value.ToString();
		3059	}
		3060	else return value;
		3061	}
		3062
		3063	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		3064	{
		3065	throw new NotImplementedException();
		3066	}
		3067	}
		3068
2287	-	3069	public class IniFile
		3070	{
		3071	public string path;
		3072
		3073	[DllImport("kernel32")]
		3074	private static extern long WritePrivateProfileString(string section,
		3075	string key, string val, string filePath);
		3076
		3077	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		3078	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		3079	uint nSize, string lpFileName);
		3080
		3081	[DllImport("kernel32")]
		3082	private static extern int GetPrivateProfileString(string section,
		3083	string key, string def, StringBuilder retVal,
		3084	int size, string filePath);
		3085
		3086	public IniFile(string INIPath)
		3087	{
		3088	path = INIPath;
		3089	}
		3090
		3091	public void IniWriteValue(string Section, string Key, string Value)
		3092	{
		3093	WritePrivateProfileString(Section, Key, Value, this.path);
		3094	}
		3095
		3096	public string IniReadValue(string Section, string Key)
		3097	{
		3098	StringBuilder temp = new StringBuilder(255);
		3099	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		3100	return temp.ToString();
		3101	}
		3102	//Ini_sections auslesen in String-Array
		3103	public string[] IniSectionNames()
		3104	{
		3105
		3106	// uint MAX_BUFFER = 32767;
		3107	uint MAX_BUFFER = 8388608;
		3108	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		3109	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		3110	if (bytesReturned == 0)
		3111	{
		3112	Marshal.FreeCoTaskMem(pReturnedString);
		3113	return null;
		3114	}
		3115	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		3116	Marshal.FreeCoTaskMem(pReturnedString);
		3117	//use of Substring below removes terminating null for split
		3118	return local.Substring(0, local.Length - 1).Split('\0');
		3119
		3120
		3121	}
		3122	}
		3123
		3124	/// <summary>
		3125	/// Selected Win AI Function Calls
		3126	/// </summary>
		3127	public class WinApi
		3128	{
		3129	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		3130	public static extern int GetSystemMetrics(int which);
		3131	[DllImport("user32.dll")]
		3132	public static extern void
		3133	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		3134	int X, int Y, int width, int height, uint flags);
		3135
		3136	private const int SM_CXSCREEN = 0;
		3137	private const int SM_CYSCREEN = 1;
		3138	private static IntPtr HWND_TOP = IntPtr.Zero;
		3139	private const int SWP_SHOWWINDOW = 64; // 0x0040
		3140
		3141	public static int ScreenX
		3142	{
		3143	get { return GetSystemMetrics(SM_CXSCREEN); }
		3144	}
		3145
		3146	public static int ScreenY
		3147	{
		3148	get { return GetSystemMetrics(SM_CYSCREEN); }
		3149	}
		3150
		3151	public static void SetWinFullScreen(IntPtr hwnd)
		3152	{
		3153	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		3154	}
		3155	}
		3156	/// <summary>
		3157	/// Class used to preserve / restore state of the window
		3158	/// </summary>
		3159	public class WinState
		3160	{
		3161	private WindowState winState;
		3162	private WindowStyle brdStyle;
		3163	private bool topMost;
		3164	private Rect restore;
		3165	private bool IsMaximized = false;
		3166
		3167	public bool isMaximized
		3168	{
		3169	get { return IsMaximized; }
		3170	}
		3171	public void Maximize(Window targetForm)
		3172	{
		3173	if (!IsMaximized)
		3174	{
		3175	IsMaximized = true;
		3176	Save(targetForm);
		3177	targetForm.WindowState = WindowState.Maximized;
		3178	targetForm.WindowStyle = WindowStyle.None;
		3179	targetForm.Topmost = true;
		3180	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		3181	}
		3182	}
		3183
		3184	public void Save(Window targetForm)
		3185	{
		3186	winState = targetForm.WindowState;
		3187	brdStyle = targetForm.WindowStyle;
		3188	topMost = targetForm.Topmost;
		3189	restore = targetForm.RestoreBounds;
		3190	}
		3191	public void Restore(Window targetForm)
		3192	{
		3193	targetForm.WindowState = winState;
		3194	targetForm.WindowStyle = brdStyle;
		3195	targetForm.Topmost = topMost;
		3196
		3197	targetForm.Left = restore.Left;
		3198	targetForm.Top = restore.Top;
		3199	targetForm.Height = restore.Height;
		3200	targetForm.Width = restore.Width;
		3201	IsMaximized = false;
		3202	}
		3203	}
		3204
		3205	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs - Rev 2324