WebSVN - Projects - Blame - Rev 2333 - /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;
2328	-	47	GMapRoute mRouteWP;
		48	List<PointLatLng> wpList = new List<PointLatLng>();
2324	-	49	#region NC-Errors
2287	-	50	String[] NC_Error = new string[44]
		51	{
		52	"No Error",
		53	"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		54	"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		55	"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		56	"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		57	"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		58	"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		59	"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		60	"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		61	"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		62	"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		63	"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		64	"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		65	"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		66	"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		67	"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		68	"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		69	"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		70	"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		71	"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		72	"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		73	"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		74	"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		75	"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		76	"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		77	"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		78	"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		79	"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		80	"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		81	"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		82	"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		83	"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		84	"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		85	"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		86	"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		87	"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		88	"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		89	"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		90	"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		91	"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		92	"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		93	"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		94	"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		95	"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		96	};
2324	-	97	#endregion NC-Errors
2287	-	98	[FlagsAttribute]
		99	enum NC_HWError0 : short
		100	{
		101	None = 0,
		102	SPI_RX = 1,
		103	COMPASS_RX = 2,
		104	FC_INCOMPATIBLE = 4,
		105	COMPASS_INCOMPATIBLE = 8,
		106	GPS_RX = 16,
		107	COMPASS_VALUE = 32
		108	};
		109	[FlagsAttribute]
		110	enum FC_HWError0 : short
		111	{
		112	None = 0,
		113	GYRO_NICK = 1,
		114	GYRO_ROLL = 2,
		115	GYRO_YAW = 4,
		116	ACC_NICK = 8,
		117	ACC_ROLL = 16,
		118	ACC_TOP = 32,
		119	PRESSURE = 64,
		120	CAREFREE = 128
		121	};
		122	[FlagsAttribute]
		123	enum FC_HWError1 : short
		124	{
		125	None = 0,
		126	I2C = 1,
		127	BL_MISSING = 2,
		128	SPI_RX = 4,
		129	PPM = 8,
		130	MIXER = 16,
		131	RC_VOLTAGE = 32,
		132	ACC_NOT_CAL = 64,
		133	RES3 = 128
		134	};
		135	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		136	// Various colors for logging info
		137	private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red };
		138
		139	bool _bCBInit = true;
		140	bool _init = true;
		141	bool check_HWError = false;
		142
		143	string filePath = Directory.GetCurrentDirectory();
		144	bool bReadContinously = false;
		145	bool _debugDataAutorefresh = true;
		146	bool _navCtrlDataAutorefresh = true;
		147	bool _blctrlDataAutorefresh = true;
		148	bool _OSDAutorefresh = true;
		149	bool _bErrorLog = false;
		150	bool _bConnErr = false;
		151	bool _bFollowCopter = false;
2324	-	152	bool _bGPXLog = false;
2287	-	153
		154	bool _bSaveWinStateNormal = true;
		155	bool _bSaveWinStateFull = true;
		156
		157	double scaleNormalAll = 1;
		158	double scaleNormalTopBar = 1;
		159	double scaleNormalMotors = 1;
		160	double scaleNormalOSD = 1;
		161	double scaleNormalLOG = 1;
		162	double scaleNormalHorizon = 1;
		163
		164	double scaleFullAll = 1;
		165	double scaleFullTopBar = 1;
		166	double scaleFullMotors = 1;
		167	double scaleFullOSD = 1;
		168	double scaleFullLOG = 1;
		169	double scaleFullHorizon = 1;
		170
		171	int _iCtrlAct = 0;
		172	int iOSDPage = 0;
		173	int iOSDMax = 0;
		174	int _iLifeCounter = 0;
		175	int crcError = 0;
		176
2291	-	177	bool _bSatFix = false;
		178	Storyboard stbSatFixLostAnim;
		179	bool _bAnimSatFixActive = false;
		180	bool _bVoiceSatFixActive = false;
		181	bool _bVoiceSatFixPlay = false;
		182	int _iSatsLast = 0;
		183	int _iSatsJitter = 0;
		184
		185	bool _bMagneticFieldOK = false;
		186	Storyboard stbMagneticFieldAnim;
		187	bool _bAnimMagneticFieldActive = false;
		188	bool _bVoiceMagneticFieldActive = false;
		189	bool _bVoiceMagneticFieldPlay = false;
		190	int _iMagneticFieldLast = 0;
		191	int _iMagneticFieldJitter = 0;
		192
		193	bool _bRCLevelOK = false;
		194	Storyboard stbRCLevelAnim;
		195	bool _bAnimRCLevelActive = false;
		196	bool _bVoiceRCLevelActive = false;
		197	bool _bVoiceRCLevelPlay = false;
		198	int _iRCLevelLast = 0;
		199	int _iRCLevelJitter = 0;
		200
2287	-	201	int _iMotors = 4;
		202	int _LipoCells = 4;
		203
		204	double _dLipoVMax = 16.88;
		205	double _dLipoVMin = 12;
		206	double _dThresholdVoltageWarn = 0;
		207	double _dThresholdVoltageCrit = 0;
		208	Storyboard stbVoltageCritAnim;
		209	bool _bCritAnimVoltActive = false;
		210	bool _bCritVoiceVoltActive = false;
2291	-	211	bool _bWarnVoiceVoltActive = false;
2287	-	212	bool _bVoiceVoltPlay = false;
		213	double _dVoltLast = 0;
		214	int _iVoltJitter = 0;
		215
2291	-	216	double _dThresholdDistanceWarn = 100;
		217	Storyboard stbDistanceWarnAnim;
		218	bool _bAnimDistanceActive = false;
		219	bool _bVoiceDistanceActive = false;
		220	bool _bVoiceDistancePlay = false;
		221	double _dDistanceLast = 0;
		222	int _iDistanceJitter = 0;
		223
		224	double _dThresholdDistanceMax = 1000;
		225	int _iThresholdRC = 160;
		226	int _iThresholdMagField = 15;
		227
2295	-	228	bool _bAutoHome = false;
		229	bool _bFirstSatFix = false;
		230	int _iFirstSatFix = 0;
2291	-	231
2287	-	232	double _dTopHeight = 36;
		233
		234	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		235	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		236	string[] serChanTitle = new string[12];
		237
		238	string[] sAnalogLabel = new string[32];
		239	string[] sAnalogData = new string[32];
2324	-	240	int[] iAnalogData = new int[32];
2287	-	241
		242	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 };
		243	int[] iMotors = new int[] {3,4,5,6,7,8,9,10,11,12 };
		244	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		245	/// <summary>
		246	/// interval for sending debugdata (multiplied by 10ms)
		247	/// </summary>
		248	byte debugInterval = 10; //(=> 100ms)
		249	/// <summary>
		250	/// interval for sending BL-CTRL status (multiplied by 10ms)
		251	/// </summary>
		252	byte blctrlInterval = 75;
		253	/// <summary>
		254	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		255	/// </summary>
		256	byte navctrlInterval = 80;
		257	/// <summary>
		258	/// interval for sending OSD page update (multiplied by 10ms)
		259	/// </summary>
		260	byte OSDInterval = 85;
		261	/// <summary>
		262	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		263	/// </summary>
		264	DataTable dtAnalog = new DataTable();
		265	/// <summary>
		266	/// datatable for motordata (current,temp)
		267	/// </summary>
2315	-	268	DataTable dtMotors = new DataTable();
2287	-	269
		270	DataTable dtWaypoints = new DataTable();
2313	-	271	static volatile int _iWPCount = -1;
		272	static volatile int _iWPIndex = -1;
		273	int _iWPTimeout = 1000;
2287	-	274	bool _bGetWP = false;
2328	-	275	bool _bShowWPRoute = false;
2287	-	276	static volatile bool _bGetWPCount = false;
2324	-	277	DataTable dtGPX = new DataTable();
		278	DataRow drGPX;
		279	bool _bAirborne = false;
2287	-	280	DispatcherTimer timer = new DispatcherTimer();
		281
		282	/// <summary>
		283	/// stuff for enabeling touch zoom for the map
		284	/// </summary>
		285	Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0);
		286	int iFirstStylusID = -1;
		287	public string connectButtonText
		288	{
		289	get
		290	{
		291	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		292	}
		293	}
		294
		295	WinState winState = new WinState();
2304	-	296	#endregion declarations
2287	-	297	public MainWindow()
		298	{
		299	InitializeComponent();
		300	_initForm();
		301	_dataTablesInit();
		302	_setupMap();
		303	_init = false;
		304	timer.Tick += new EventHandler(timerEvent);
		305	timer.Interval = new TimeSpan(0, 0, 1);
		306	timer.Start();
		307	}
		308
		309	#region init
		310	void _initForm()
		311	{
		312	_readIni();
		313	if (_bSaveWinStateNormal)
		314	_setScaleSliders(false);
		315	cBoxTimingsDebug.ItemsSource =
		316	cBoxTimingsNav.ItemsSource =
		317	cBoxTimingsBl.ItemsSource =
		318	cBoxTimingsOSD.ItemsSource =
		319	iTimings;
		320	cBoxLiPoCells.ItemsSource = sLiPoCells;
		321	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		322	_LipoMinMax();
		323	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		324	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		325	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
2291	-	326	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		327	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		328	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		329	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		330	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
2287	-	331
2291	-	332	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		333
2287	-	334	cBoxMotors.ItemsSource = iMotors;
		335	cBoxMotors.SelectedItem = _iMotors;
		336
		337	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		338	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		339	serialPortCtrl.DataReceived += processMessage;
		340
		341	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		342	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		343	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		344	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		345
		346	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		347	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		348	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		349	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
2295	-	350	checkBoxAutoSetHP.IsChecked = _bAutoHome;
2287	-	351	checkBoxFollowCopter.IsChecked = _bFollowCopter;
2324	-	352	checkBoxGPXLog.IsChecked = _bGPXLog;
2328	-	353	checkBoxShowWPRoute.IsChecked = _bShowWPRoute;
2287	-	354
		355	}
		356	/// <summary>
		357	/// initialize the datatables
		358	/// with columnnames etc
		359	/// </summary>
		360	void _dataTablesInit()
		361	{
2315	-	362	dtMotors.Columns.Add("#");
2313	-	363	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
2315	-	364	dtMotors.Columns.Add("Strom");
2313	-	365	else
2315	-	366	dtMotors.Columns.Add("Current");
		367	dtMotors.Columns.Add("Temp");
		368	dgvMotors1.DataContext = dtMotors.DefaultView;
2287	-	369	_initDTMotors();
		370
		371	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0));
		372	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		373	style.Setters.Add(setter);
		374	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		375	style.Setters.Add(setter);
		376	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		377	style.Setters.Add(setter);
2313	-	378
		379	dtWaypoints.Columns.Add("Index",typeof(int));
2315	-	380	dtWaypoints.Columns.Add("Type", typeof(int));
2313	-	381	dtWaypoints.Columns.Add("Name",typeof(string));
2315	-	382	dtWaypoints.Columns.Add("Latitude",typeof(double));
		383	dtWaypoints.Columns.Add("Longitude",typeof(double));
2313	-	384	dtWaypoints.Columns.Add("Altitude",typeof(string));
		385	dtWaypoints.Columns.Add("Heading",typeof(string));
		386	dtWaypoints.Columns.Add("Speed",typeof(string));
		387	dtWaypoints.Columns.Add("ClimbRate",typeof(string));
		388	dtWaypoints.Columns.Add("Radius",typeof(string));
		389	dtWaypoints.Columns.Add("HoldTime",typeof(string));
		390	dtWaypoints.Columns.Add("AutoTrigger",typeof(string));
		391	dtWaypoints.Columns.Add("CamAngle",typeof(string));
		392	dtWaypoints.Columns.Add("Event",typeof(string));
		393	dtWaypoints.Columns.Add("Out1Timer",typeof(string));
		394	dtWaypoints.Columns.Add("Status",typeof(string));
		395	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		396	dgvWP.ItemsSource = dtWaypoints.DefaultView;
2287	-	397	dgvWP.ColumnHeaderStyle = new Style();
		398	dgvWP.ColumnHeaderStyle = style;
2313	-	399
2324	-	400	dtGPX.Columns.Add("Index",typeof(int));
		401	dtGPX.Columns.Add("Latitude",typeof(double));
		402	dtGPX.Columns.Add("Longitude",typeof(double));
		403	dtGPX.Columns.Add("Elevation",typeof(int));
		404	dtGPX.Columns.Add("Time",typeof(string));
		405	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		406	drGPX = dtGPX.NewRow();
2313	-	407
2287	-	408	}
		409	/// <summary>
2315	-	410	/// initialize the datatable dtMotors for motor values
2313	-	411	/// DataGridView dgvMotors1 is bound to dtMotors1
2287	-	412	/// </summary>
		413	void _initDTMotors()
		414	{
		415	for (int i = 0; i < 12; i++)
		416	{
2315	-	417	if (dtMotors.Rows.Count < 12)
		418	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
2287	-	419	else
		420	{
2315	-	421	dtMotors.Rows[i].SetField(1, "NA");
		422	dtMotors.Rows[i].SetField(2, "NA");
2287	-	423	}
		424	}
		425	}
		426
		427	#endregion init
		428
		429	#region events
		430	private void serialPortCtrl_PortOpened()
		431	{
		432	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		433	_getVersion();
		434	Thread.Sleep(100);
		435	//_OSDMenue(0);
		436	//Thread.Sleep(200);
		437	//_sendSerialData();
		438	_readCont(true);
		439	}
		440	private void serialPortCtrl_PortClosed()
		441	{
		442	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		443	_readCont(false);
		444	}
2324	-	445	bool _bToggle = false;
2287	-	446	void timerEvent(object sender, EventArgs e)
		447	{
		448	if (bReadContinously)
		449	{
		450	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		451
		452	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		453
		454	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		455	check_HWError = true;
		456	_getVersion();
		457	Thread.Sleep(10);
		458	if (_OSDAutorefresh)
		459	{
		460	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		461	_initOSDCB();
		462	_OSDMenueAutoRefresh();
		463	}
		464	if (_iLifeCounter > 0)
		465	{
		466	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		467	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		468	_iLifeCounter = 0;
		469	_bConnErr = false;
2327	-	470	if(_bAirborne && _bGPXLog)
2324	-	471	{
		472	drGPX[0] = dtGPX.Rows.Count;
		473	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		474	}
2327	-	475	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		476	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		477	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
2324	-	478	_bToggle = !_bToggle;
2287	-	479	}
		480	else
		481	{
		482	if (!_bConnErr)
		483	{
		484	Log(LogMsgType.Error, "No communication to NC/FC!");
		485	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		486	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		487	_bConnErr = true;
		488	}
		489	}
		490	}
		491	}
		492
		493	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		494	{
		495	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		496	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		497	}
		498	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		499	{
		500	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		501	if (GridMotors.IsVisible)
		502	_setMotorGridSize();
		503	}
		504	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		505	{
		506	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		507	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		508	}
		509	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		510	{
		511	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		512	}
		513	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		514	{
		515	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		516	}
		517	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		518	{
		519	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		520	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		521	}
		522
		523	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		524	{
		525	Thread t = new Thread(new ThreadStart(_getWP));
		526	t.Start();
		527	}
		528	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		529	{
2313	-	530	Thread t = new Thread(new ThreadStart(_sendWPList));
		531	t.Start();
2287	-	532	}
		533
		534	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		535	{
		536	if (!serialPortCtrl.Port.IsOpen)
		537	serialPortCtrl.Connect(true);
		538	else
		539	_readCont(!bReadContinously);
		540	}
		541	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		542	{
		543	setHomePos();
		544	}
		545	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		546	{
		547	clearHomePos();
		548	}
		549	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		550	{
		551	if (home != null && MainMap.Markers.Contains(home))
		552	MainMap.Position = home.Position;
		553	}
2295	-	554	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		555	{
		556	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		557	}
2287	-	558	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		559	{
		560	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		561	}
		562	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		563	{
		564	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		565	}
		566
2291	-	567	#region thresholds
2287	-	568	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		569	{
		570	if(!_init)
		571	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		572	}
		573	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		574	{
		575	if(!_init)
		576	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		577	}
		578	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		579	{
		580	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		581	}
2291	-	582
		583	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		584	{
		585	if(!_init)
		586	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		587	}
		588	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		589	{
		590	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		591	}
		592
		593	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		594	{
		595	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		596	}
		597	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		598	{
		599	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		600	}
		601	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		602	{
		603	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		604	}
		605	#endregion thresholds
		606
2287	-	607	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		608	{
		609	_switchToNC();
		610	}
		611
		612	private void Window_Loaded(object sender, RoutedEventArgs e)
		613	{
		614	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
2291	-	615	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		616	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		617	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		618	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
2287	-	619	_setMotorGridSize();
		620	}
2310	-	621	private void Window_Closing(object sender, CancelEventArgs e)
		622	{
		623	_writeIni();
2324	-	624	if(_bGPXLog && dtGPX.Rows.Count > 0)
		625	_saveGPXLog();
2310	-	626	}
2287	-	627	#endregion events
		628
		629	#region GMap
		630
		631	void _setupMap()
		632	{
		633	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		634	MainMap.MapProvider = GMapProviders.BingHybridMap;
		635	MainMap.SetPositionByKeywords("Landshut");
		636	MainMap.MinZoom = 0;
		637	MainMap.MaxZoom = 24;
		638	MainMap.Zoom = 16;
		639	MainMap.ShowCenter = true;
		640	MainMap.ShowTileGridLines = false;
		641	sliderMapZoom.Value = 16;
		642	comboBoxMapType.ItemsSource = providerList;
		643	comboBoxMapType.DisplayMemberPath = "Name";
		644	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		645
		646	// acccess mode
		647	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		648	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		649
		650	}
		651
		652	/// <summary>
		653	/// selection of relevant map providers --> if You need more, You can change the line:
		654	/// comboBoxMapType.ItemsSource = providerList;
		655	/// to:
		656	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		657	/// in _setupMap()
		658	/// or add items here:
		659	/// </summary>
		660	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		661	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		662	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		663	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		664	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		665
		666	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		667	{
		668	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		669	copter = new GMapMarker(MainMap.Position);
2318	-	670
		671	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"),"red");
		672	if (comboBoxCopterColor.SelectionBoxItem != null)
		673	{
		674	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		675	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		676	}
2287	-	677	copter.Offset = new System.Windows.Point(-18, -18);
		678	copter.ZIndex = int.MaxValue;
		679	MainMap.Markers.Add(copter);
		680	copter.Position = MainMap.Position;
		681	}
		682	void setHomePos()
		683	{
		684	pHome = MainMap.Position;
		685	if (!MainMap.Markers.Contains(home))
		686	{
		687	home = new GMapMarker(MainMap.Position);
		688	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		689	home.Offset = new System.Windows.Point(-18, -18);
		690	// home.ZIndex = int.MaxValue;
		691	MainMap.Markers.Add(home);
		692	}
		693	home.Position = MainMap.Position;
		694	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		695	}
		696	void clearHomePos()
		697	{
		698	MainMap.Markers.Remove(home);
		699	}
		700
		701	// access mode
		702	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		703	{
		704	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		705	MainMap.ReloadMap();
		706	}
		707	// zoom up
		708	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		709	{
		710	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		711	}
		712
		713	// zoom down
		714	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		715	{
		716	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		717	}
		718
		719	// prefetch
		720	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		721	{
		722	RectLatLng area = MainMap.SelectedArea;
		723	if (!area.IsEmpty)
		724	{
		725	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		726	{
		727	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		728
		729	if (res == MessageBoxResult.Yes)
		730	{
		731	TilePrefetcher obj = new TilePrefetcher();
		732	obj.Owner = this;
		733	obj.ShowCompleteMessage = true;
		734	obj.Start(area, i, MainMap.MapProvider, 100);
		735	}
		736	else if (res == MessageBoxResult.No)
		737	{
		738	continue;
		739	}
		740	else if (res == MessageBoxResult.Cancel)
		741	{
		742	break;
		743	}
		744	}
		745	}
		746	else
		747	{
		748	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		749	}
		750	}
		751
		752	// goto by geocoder
		753	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		754	{
		755	_goto_byGeoCoder();
		756	}
		757	// goto by geocoder
		758	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		759	{
		760	if (e.Key == System.Windows.Input.Key.Enter)
		761	_goto_byGeoCoder();
		762	}
		763	void _goto_byGeoCoder()
		764	{
		765	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		766	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		767	{
		768	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		769	}
		770	}
		771	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		772	{
		773	try
		774	{
		775	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		776	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		777
		778	MainMap.Position = new PointLatLng(lat, lng);
		779	}
		780	catch (Exception ex)
		781	{
		782	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		783	}
		784
		785	}
		786
		787	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		788	{
		789	MainMap.ReloadMap();
		790	}
		791
		792	private void MainMap_OnPositionChanged(PointLatLng point)
		793	{
		794	if (_bFollowCopter)
		795	_setCopterData(MainMap.Position);
		796	}
		797
		798	private void MainMap_OnMapZoomChanged()
		799	{
		800	if (_bFollowCopter)
		801	_setCopterData(MainMap.Position);
		802	if((int)sliderMapZoom.Value != MainMap.Zoom)
		803	sliderMapZoom.Value = MainMap.Zoom;
		804	}
		805
		806	void _setCopterData(PointLatLng p)
		807	{
		808	Dispatcher.Invoke(() =>
		809	{
		810	copter.Position = p;
		811	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		812	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		813	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		814	});
		815	if (home != null && MainMap.Markers.Contains(home))
		816	{
		817	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		818	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		819	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	820
		821	if(d*1000 < _dThresholdDistanceWarn)
		822	{
		823	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		824	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		825	{
		826	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		827	_bAnimDistanceActive = false;
		828	}
		829	}
		830	else
		831	{
		832	if (_iDistanceJitter < 20)
		833	{ _iDistanceJitter++; }
		834	if (_iDistanceJitter == 20)
		835	{
		836	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		837	{
		838	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		839	_bAnimDistanceActive = true;
		840	}
		841	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		842	{
2295	-	843	Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		844	t.Start();
2291	-	845	_bVoiceDistanceActive = true;
		846	}
		847	_iDistanceJitter++;
		848	}
		849	}
2287	-	850	}
		851	}
		852
		853	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		854	{
		855	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		856	}
		857
		858	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		859	{
		860	if (MainMap.Zoom != sliderMapZoom.Value)
		861	MainMap.Zoom = (int)sliderMapZoom.Value;
		862	}
		863	#region Touch zooming hackattack ;)
		864	/// <summary>
		865	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		866	/// </summary>
		867	bool bFirstAccess = true;
		868	double dDistance = 0;
		869	int iZoom;
		870	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		871	{
		872	var id = e.StylusDevice.Id;
		873	e.StylusDevice.Capture(MainMap);
		874	if (iFirstStylusID == -1)
		875	{
		876	iFirstStylusID = id;
		877	}
		878	else
		879	{
		880
		881	MainMap.CanDragMap = false;
		882	}
		883	}
		884	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		885	{
		886	MainMap.ReleaseStylusCapture();
		887	iFirstStylusID = -1;
		888	bFirstAccess = true;
		889	MainMap.CanDragMap = true;
		890	iZoom = 0;
		891	}
		892	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		893	{
		894	var id = e.StylusDevice.Id;
		895	var tp = e.GetPosition(MainMap);
		896
		897	// This is the first Stylus point; just record its position.
		898	if (id == iFirstStylusID)
		899	{
		900	pTouch1.X = tp.X;
		901	pTouch1.Y = tp.Y;
		902	}
		903	else
		904	if (iFirstStylusID > -1)
		905	{
		906	pTouch2.X = tp.X;
		907	pTouch2.Y = tp.Y;
		908	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		909	if (!bFirstAccess)
		910	{
		911	if (distance > dDistance)
		912	iZoom++;
		913	else
		914	if (distance < dDistance)
		915	iZoom--;
		916	}
		917	if (iZoom > 30)
		918	{
		919	iZoom = 0;
		920	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		921	}
		922	if (iZoom < -30)
		923	{
		924	iZoom = 0;
		925	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		926	}
		927	dDistance = distance;
		928	bFirstAccess = false;
		929	}
		930	}
		931	#endregion Touch zooming hackattack ;)
		932
		933	#endregion GMap
		934
		935	#region settings
		936	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		937	{
		938	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		939	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		940	}
		941	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		942	{
		943	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		944	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		945	}
		946	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		947	{
		948	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		949	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		950	}
		951	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		952	{
		953	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		954	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		955	}
		956	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		957	{
		958	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		959	}
		960	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		961	{
		962	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		963	}
		964	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		965	{
		966	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		967	}
		968	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		969	{
		970	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		971	}
		972
		973	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		974	{
		975	if (cBoxLiPoCells.SelectedIndex > -1)
		976	{
		977	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		978	_LipoMinMax();
		979	}
		980	}
		981	void _LipoMinMax()
		982	{
		983	_dLipoVMax = (double)(_LipoCells) * 4.22;
		984	_dLipoVMin = (double)_LipoCells * 3;
		985	pbTopVoltage.Maximum = _dLipoVMax;
		986	pbTopVoltage.Minimum = _dLipoVMin;
		987	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		988	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		989	}
		990	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		991	{
		992	if (cBoxMotors.SelectedIndex > -1)
		993	{
		994	_iMotors = cBoxMotors.SelectedIndex + 3;
		995	Dispatcher.Invoke(() =>
		996	{
		997	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		998	GridMotors.Height = dgvMotors1.Height + 10;
		999	});
		1000	}
		1001	}
		1002	void _setMotorGridSize()
		1003	{
		1004	if (dgvMotors1.Columns.Count > 2)
		1005	{
		1006	dgvMotors1.Columns[0].Width = 24;
		1007	dgvMotors1.Columns[1].Width = 50;
		1008	dgvMotors1.Columns[2].Width = 50;
		1009	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1010	GridMotors.Height = dgvMotors1.Height + 10;
		1011	}
		1012
		1013	}
		1014	#endregion settings
		1015
		1016	#region functions
		1017
		1018	#region logging
		1019	/// <summary> Log data to the terminal window. </summary>
		1020	/// <param name="msgtype"> The type of message to be written. </param>
		1021	/// <param name="msg"> The string containing the message to be shown. </param>
		1022	private void Log(LogMsgType msgtype, string msg)
		1023	{
		1024	Dispatcher.Invoke(() =>
		1025	{
		1026	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1027	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1028	// rtfTerminal.AppendText(msg + "\r");
		1029	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1030	tr.Text = msg;
		1031	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1032	rtfTerminal.AppendText("\r");
		1033	rtfTerminal.ScrollToEnd();
		1034	});
		1035	}
		1036	private void ErrorLog(LogMsgType msgtype, string msg)
		1037	{
		1038	Dispatcher.Invoke(() =>
		1039	{
		1040	TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1041	tr.Text = msg;
		1042	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1043	rtfError.AppendText("\r");
		1044	rtfError.ScrollToEnd();
		1045
		1046	_bErrorLog = true;
		1047	});
		1048	}
		1049	/// <summary>
		1050	/// Clear the line in the errorlog window
		1051	/// containing the error string when error has ceased
		1052	/// </summary>
		1053	/// <param name="s">substring of errrormessage</param>
		1054	void _clearErrorLog(string s)
		1055	{
		1056	Dispatcher.Invoke((Action)(() =>
		1057	{
		1058	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1059	TextRange foundRange = FindTextInRange(searchRange, s);
		1060
		1061	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1062
		1063
		1064	if (iStart > -1)
		1065	{
		1066	int iLength = 0;
		1067	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1068	if (iEnd > 0)
		1069	{
		1070	iLength = iEnd + 1;
		1071	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1072	if (iHttp == iLength)
		1073	{
		1074	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1075	if (iEnd2 > iLength)
		1076	{
		1077	iLength = iEnd2 + 1;
		1078	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1079
		1080	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1081	rtfError.Selection.Text = string.Empty;
		1082	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1083	}
		1084
		1085	}
		1086	else
		1087	{
		1088	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1089	rtfError.Selection.Text = string.Empty;
		1090	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1091	}
		1092	}
		1093	}
		1094	}));
		1095
		1096	}
		1097	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1098	{
		1099	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1100	if (offset < 0)
		1101	return null; // Not found
		1102
		1103	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1104	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1105
		1106	return result;
		1107	}
		1108	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1109	{
		1110	while (position != null)
		1111	{
		1112	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1113	{
		1114	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1115	if (characterCount <= count)
		1116	{
		1117	return position.GetPositionAtOffset(characterCount);
		1118	}
		1119
		1120	characterCount -= count;
		1121	}
		1122
		1123	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1124	if (nextContextPosition == null)
		1125	return position;
		1126
		1127	position = nextContextPosition;
		1128	}
		1129
		1130	return position;
		1131	}
		1132	#endregion logging
		1133
		1134	#region processing received data
		1135
		1136	private void processMessage(byte[] message)
		1137	{
		1138	if (message.Length > 0)
		1139	{
		1140	_iLifeCounter++;
		1141	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1142	//Log(LogMsgType.Incoming, message.Length.ToString());
		1143	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1144	char cmdID;
		1145	byte adr;
		1146	byte[] data;
		1147	byte[] tmp = null;
		1148	if (message[0] != '#')
		1149	{
		1150	int iFound = -1;
		1151	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1152	{ //so this is a workaround to not spam the log box
		1153	if (message[i] == 35)
		1154	{
		1155	iFound = i;
		1156	break;
		1157	}
		1158	}
		1159	if (iFound > 0)
		1160	{
		1161	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1162	tmp = new byte[message.Length - iFound];
		1163	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1164	}
		1165	s = s.Trim('\0', '\n', '\r');
		1166	if (s.Length > 0)
		1167	Log(LogMsgType.Normal, s);
		1168	if (tmp != null)
		1169	{
		1170	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1171	processMessage(tmp);
		1172	}
		1173	}
		1174	//Debug.Print(s);
		1175	else
		1176	{
		1177	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1178
		1179	if (adr == 255) { crcError++; }
		1180	else crcError = 0;
		1181	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1182	//display the active controller (FC / NC)
		1183	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...???
		1184	{
		1185	_iCtrlAct = adr;
		1186	switch (adr)
		1187	{
		1188	case 1:
		1189	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2298	-	1190	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
2287	-	1191	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1192	// _setFieldsNA(); //display fields NA for FC
		1193	break;
		1194	case 2:
		1195	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1196	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1197	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1198	break;
		1199	//case 3:
		1200	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1201	// break;
		1202	//case 4:
		1203	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1204	// break;
		1205	default:
		1206	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1207	break;
		1208	}
		1209	// _loadLabelNames();
		1210	}
		1211	// else
		1212	// Debug.Print("Address == 0?");
		1213
		1214	if (data != null && data.Length > 0)
		1215	{
		1216	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1217	s = s.Trim('\0', '\n');
		1218
		1219	switch (cmdID)
		1220	{
		1221	//case 'A': //Label names
		1222	// _processLabelNames(s);
		1223	// break;
		1224
		1225	case 'D': //Debug data
		1226	_processDebugVals(adr, data);
		1227	break;
		1228
		1229	case 'V': //Version
		1230	_processVersion(adr, data);
		1231	break;
		1232
		1233	case 'K'://BL-CTRL data
		1234	_processBLCtrl(data);
		1235	break;
		1236
		1237	case 'O': //NC Data
		1238	_processNCData(data);
		1239	break;
		1240
		1241	case 'E': //NC error-string
		1242	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1243	break;
		1244
		1245	case 'L': //OSD Menue (called by pagenumber)
		1246	_processOSDSingle(data);
		1247	break;
		1248
		1249	case 'H': //OSD Menue (with autoupdate - called by Key)
		1250	_processOSDAuto(data);
		1251	break;
		1252
		1253	case 'X': //Waypoint data
		1254	_processWPData(data);
		1255	break;
		1256
2313	-	1257	case 'W': //return new Waypoint items count after sending waypoint to copter
		1258	_iWPCount = data[0];
		1259	break;
2287	-	1260	//default:
		1261	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1262	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1263	// break;
		1264	}
		1265	}
		1266	//else
		1267	//{
		1268	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1269	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1270	//}
		1271	}
		1272	}
		1273	}
		1274	/// <summary>
		1275	/// Analog label names 'A'
		1276	/// each label name is returned as a single string
		1277	/// and added to string array sAnalogLabel[]
		1278	/// and the datatable dtAnalog
		1279	/// </summary>
		1280	/// <param name="s">the label name</param>
		1281	void _processLabelNames(string s)
		1282	{
		1283	//if (iLableIndex < 32)
		1284	//{
		1285	// sAnalogLabel[iLableIndex] = s;
		1286	// if (dtAnalog.Rows.Count < 32)
		1287	// dtAnalog.Rows.Add(s, "");
		1288	// else
		1289	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1290
		1291	// // _getAnalogLabels(iLableIndex + 1);
		1292	//}
		1293	//Debug.Print(s);
		1294	}
		1295	/// <summary>
		1296	/// Debug values 'D'
		1297	/// </summary>
		1298	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1299	/// <param name="data">the received byte array to process</param>
		1300	void _processDebugVals(byte adr, byte[] data)
		1301	{
		1302	if (data.Length == 66)
		1303	{
2324	-	1304
2287	-	1305	double v;
		1306	int index = 0;
		1307	Int16 i16 = 0;
		1308	double dTemp = 0;
		1309	for (int i = 2; i < 66; i += 2)
		1310	{
		1311	i16 = data[i + 1];
		1312	i16 = (Int16)(i16 << 8);
		1313	iAnalogData[index] = data[i] + i16;
		1314	sAnalogData[index] = (data[i] + i16).ToString();
		1315	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1316
		1317	if (adr == 2) //NC
		1318	{
		1319	switch (index)
		1320	{
		1321	case 0: //pitch (German: nick)
		1322	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1323	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1324	break;
		1325	case 1: //roll
		1326	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1327	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1328	break;
		1329	case 4: //altitude
		1330	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1331	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2324	-	1332	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1333	break;
		1334	case 7: //Voltage
		1335	v = (double)iAnalogData[index] / (double)10;
		1336	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1337	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1338	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1339	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1340	{
		1341	if (v == _dVoltLast)
		1342	if(_iVoltJitter < 20) _iVoltJitter++;
		1343	else
		1344	{
		1345	_iVoltJitter = 0;
		1346	_dVoltLast = v;
		1347	}
		1348	if (_iVoltJitter == 20)
		1349	{
		1350	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1351
		1352	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1353	{
		1354	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1355	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1356	{
		1357	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1358	_bCritAnimVoltActive = true;
		1359	}
		1360	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1361	{
2295	-	1362	Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1363	t.Start();
2287	-	1364	_bCritVoiceVoltActive = true;
		1365	}
		1366	}
		1367	else
		1368	{
		1369	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1370	{
		1371	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1372	_bCritAnimVoltActive = false;
		1373	}
		1374	_bCritVoiceVoltActive = false;
		1375
2291	-	1376	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1377	{
2295	-	1378	Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1379	t.Start();
2291	-	1380	_bWarnVoiceVoltActive = true;
2287	-	1381	}
		1382	}
		1383	}
		1384	}
		1385	else
		1386	{
		1387	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1388	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1389	{
		1390	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1391	_bCritAnimVoltActive = false;
		1392	}
		1393	_bCritVoiceVoltActive = false;
2291	-	1394	_bWarnVoiceVoltActive = false;
2287	-	1395	_iVoltJitter = 0;
		1396	}
		1397	break;
		1398	case 8: // Current
		1399	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1400	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1401	break;
		1402	case 10: //heading
2291	-	1403	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2287	-	1404	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1405	break;
		1406	case 12: // SPI error
2291	-	1407	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1408	break;
		1409	case 14: //i2c error
2291	-	1410	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1411	break;
		1412	case 20: //Earthmagnet field
2291	-	1413	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1414	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1415
		1416	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1417	{
		1418	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1419	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1420	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1421	{
		1422	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1423	_bAnimMagneticFieldActive = false;
		1424	}
		1425	}
		1426	else
		1427	{
		1428	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1429	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1430	{
		1431	if (_iMagneticFieldJitter < 20)
		1432	_iMagneticFieldJitter++;
		1433	}
		1434	else
		1435	{
		1436	_iMagneticFieldJitter = 0;
		1437	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1438	}
		1439	if(_iMagneticFieldJitter == 20)
		1440	{
		1441	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1442	{
		1443	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1444	_bAnimMagneticFieldActive = true;
		1445	}
		1446	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1447	{
2295	-	1448	Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1449	t.Start();
2291	-	1450	_bVoiceMagneticFieldActive = true;
		1451	}
		1452	}
		1453	}
2287	-	1454	break;
		1455	case 21: //GroundSpeed
		1456	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1457	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1458	break;
2291	-	1459
		1460	///******** needs testing --> not sure what position this is *************
2287	-	1461	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1462	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1463	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1464	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1465	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1466	dTemp = Math.Sqrt(dTemp) / (double)10;
		1467	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1468	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1469	break;
2291	-	1470
2287	-	1471	case 31: //Sats used
		1472	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1473	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1474	break;
		1475	}
		1476	}
		1477	index++;
		1478	}
		1479	}
		1480	else
		1481	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1482	}
		1483	/// <summary>
		1484	/// Version string 'V'
		1485	/// </summary>
		1486	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1487	/// <param name="data">the received byte array to process</param>
		1488	void _processVersion(byte adr, byte[] data)
		1489	{
		1490	if (data.Length == 12)
		1491	{
		1492	if (!check_HWError)
		1493	{
		1494	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1495	string sVersion = "";
		1496	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1497	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1498	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1499	Log(LogMsgType.Incoming, sVersion);
		1500	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1501	Log(LogMsgType.Incoming, sVersion);
		1502	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1503	}
		1504	if (data[5] > 0) //error0
		1505	{
		1506	if (adr == 1)
		1507	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		1508	if (adr == 2)
		1509	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		1510	}
		1511	if (data[6] > 0) //error1
		1512	{
		1513	if (adr == 1)
		1514	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		1515	if (adr == 2)
		1516	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		1517	}
		1518	if ((data[5] + data[6] == 0) && _bErrorLog)
		1519	_clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		1520
		1521	}
		1522	check_HWError = false;
		1523	}
		1524	/// <summary>
		1525	/// BL-Ctrl data 'K'
		1526	/// for FC you have to use a customized firmware
		1527	/// </summary>
		1528	/// <param name="data">the received byte array to process</param>
		1529	void _processBLCtrl(byte[] data)
		1530	{
		1531	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1532	{
		1533	bool bAvailable = false;
		1534	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1535	{
		1536
		1537	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1538	bAvailable = true;
		1539	else
		1540	bAvailable = false;
		1541
		1542	if (data[i] < _iMotors)
		1543	{
		1544	if (bAvailable)
		1545	{
2315	-	1546	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1547	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1548	}
		1549	else
		1550	{
2315	-	1551	dtMotors.Rows[data[i]].SetField(1, "NA");
		1552	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1553	}
		1554	}
		1555	//if (data[i] > 3 && data[i] < 8)
		1556	//{
		1557	// if (bAvailable)
		1558	// {
		1559	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1560	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1561	// }
		1562	// else
		1563	// {
		1564	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1565	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1566	// }
		1567	//}
		1568	}
		1569	}
		1570	}
		1571	/// <summary>
		1572	/// Navi-Ctrl data 'O'
		1573	/// GPS-Position, capacatiy, flying time...
		1574	/// </summary>
		1575	/// <param name="data">the received byte array to process</param>
		1576	void _processNCData(byte[] data)
		1577	{
		1578	int i_32, i_16, iVal;
		1579	double d;
		1580	i_32 = data[4];
		1581	iVal = i_32 << 24;
		1582	i_32 = data[3];
		1583	iVal += i_32 << 16;
		1584	i_32 = data[2];
		1585	iVal += i_32 << 8;
		1586	iVal += data[1];
		1587	d = (double)iVal / Math.Pow(10, 7);
2324	-	1588	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1589
2287	-	1590	PointLatLng p = new PointLatLng();
		1591
		1592	p.Lng = d;
		1593	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1594	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1595
		1596	i_32 = data[8];
		1597	iVal = i_32 << 24;
		1598	i_32 = data[7];
		1599	iVal += i_32 << 16;
		1600	i_32 = data[6];
		1601	iVal += i_32 << 8;
		1602	iVal += data[5];
		1603	d = (double)iVal / Math.Pow(10, 7);
2324	-	1604	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1605	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1606	p.Lat = d;
2291	-	1607	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1608	{
		1609	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1610	if(_bAutoHome && !_bFirstSatFix)
		1611	{
		1612	if (_iFirstSatFix < 3)
		1613	_iFirstSatFix++;
		1614	else
		1615	{
		1616	_bFirstSatFix = true;
		1617	Dispatcher.Invoke(() => setHomePos());
		1618	}
		1619	}
2291	-	1620	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1621	{
		1622	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1623	_bAnimSatFixActive = false;
		1624	}
		1625	if (!_bFollowCopter)
		1626	{
		1627	_setCopterData(p);
		1628	if (!MainMap.ViewArea.Contains(p))
		1629	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1630
2291	-	1631	}
		1632	else
2287	-	1633	Dispatcher.Invoke(() => MainMap.Position = p);
		1634	}
		1635	else
2291	-	1636	{
		1637	if(_bSatFix)
		1638	{
		1639	if (data[50] == _iSatsLast)
		1640	{
		1641	if (_iSatsJitter < 20) _iSatsJitter++;
		1642	}
		1643	else
		1644	{
		1645	_iSatsJitter = 0;
		1646	_iSatsLast = data[50];
		1647	}
2287	-	1648
2291	-	1649	if (_iSatsJitter == 20)
		1650	{
		1651	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1652	{
		1653	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1654	_bAnimSatFixActive = true;
		1655	}
		1656	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1657	{
2295	-	1658	Thread th = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1659	th.Start();
2291	-	1660	_bVoiceSatFixActive = true;
		1661	}
		1662
		1663	_bSatFix = false;
		1664	}
		1665	}
		1666	}
		1667
2287	-	1668	// lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
		1669	//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
		1670
		1671	i_16 = data[28];
		1672	i_16 = (Int16)(i_16 << 8);
		1673	iVal = data[27] + i_16;
		1674	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1675
		1676	i_16 = data[45];
		1677	i_16 = (Int16)(i_16 << 8);
		1678	iVal = data[44] + i_16;
		1679	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1680	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1681
		1682	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
		1683	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
		1684
		1685	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1686
		1687
		1688	//--------------- Capacity used ------------------------
		1689	i_16 = data[81];
		1690	i_16 = (Int16)(i_16 << 8);
		1691	iVal = data[80] + i_16;
		1692	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1693	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1694
		1695	//--------------- Flying time ------------------------
		1696	i_16 = data[56];
		1697	i_16 = (Int16)(i_16 << 8);
		1698	iVal = data[55] + i_16;
		1699	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1700	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1701	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1702	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1703
		1704	//--------------- RC quality ------------------------
		1705	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1706	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1707
2291	-	1708	if(data[66] > _iThresholdRC)
		1709	{
		1710	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1711	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1712	{
		1713	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1714	_bAnimRCLevelActive = false;
		1715	}
		1716	}
		1717	else
		1718	{
		1719	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1720	if (_iRCLevelJitter == 20)
		1721	{
		1722	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1723	{
		1724	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1725	_bAnimRCLevelActive = true;
		1726	}
		1727	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1728	{
2295	-	1729	Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1730	th.Start();
2291	-	1731	_bVoiceRCLevelActive = true;
		1732	}
		1733	_iRCLevelJitter++;
		1734	}
		1735	}
		1736
2287	-	1737	//--------------- NC Error ------------------------
		1738	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1739	if (data[69] > 0)
		1740	_readNCError();
		1741	if (data[69] > 0 & data[69] < 44)
		1742	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
		1743	else
		1744	if (_bErrorLog) _clearErrorLog("NC Error");
		1745
2298	-	1746	//-------------FC / NC Status Flags
		1747	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1748	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1749	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1750	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1751	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1752	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1753
		1754	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1755	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1756	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1757	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1758	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1759	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
		1760	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		1761	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		1762
		1763	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1764	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1765	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1766	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1767	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1768	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1769	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	1770
		1771	//Sidebar StatusSymbols
		1772	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1773	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
		1774	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
		1775
		1776	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1777	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
		1778	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
		1779
		1780	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	1781	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
		1782	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	-	1783
		1784	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1785	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
		1786	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
		1787
		1788	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	1789	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
		1790	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
		1791	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	-	1792
2324	-	1793	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	1794	}
		1795	/// <summary>
		1796	/// Navi-Ctrl WP data struct 'X'
		1797	/// called by index
		1798	/// </summary>
		1799	/// <param name="data">the received byte array to process</param>
		1800	void _processWPData(byte[] data)
		1801	{
2313	-	1802	_iWPCount = data[0];
2287	-	1803	_bGetWPCount = false;
		1804	if (data.Length >= 28)
		1805	{
		1806	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		1807	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		1808	if (_bGetWP)
		1809	{
		1810	if (data[1] == 1)
2315	-	1811	{
2333	-	1812	if(mRouteWP != null)
		1813	Dispatcher.Invoke(() => MainMap.Markers.Remove(mRouteWP));
2328	-	1814	wpList.Clear();
		1815
		1816	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
2287	-	1817	dtWaypoints.Rows.Clear();
2333	-	1818	Dispatcher.Invoke(() =>
		1819	{
2318	-	1820	for (int k = 0; k < MainMap.Markers.Count;)
		1821	{
		1822	GMapMarker p = MainMap.Markers[k];
		1823	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		1824	MainMap.Markers.Remove(p);
		1825	else
		1826	k++;
		1827	}
		1828	});
2315	-	1829	}
2287	-	1830	DataRow dr = dtWaypoints.NewRow();
		1831	dr = Waypoints.toDataRow(data, dr);
2313	-	1832	dtWaypoints.Rows.Add(dr);
2318	-	1833	Dispatcher.Invoke(() => {
		1834	GMapMarker wp = new GMapMarker(new PointLatLng((double)dr[3], (double)dr[4]));
		1835	wp.Shape = new CustomMarkerWP(this, wp, (string)dr[2],(int)dr[1]);
2333	-	1836	wp.Offset = new System.Windows.Point(-11.5, -11.5);
2318	-	1837	_setMarkerColor(wp, (int)dr[1]);
		1838	MainMap.Markers.Add(wp);
		1839	});
2313	-	1840	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1841	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2328	-	1842	wpList.Add(new PointLatLng((double)dr[3], (double)dr[4]));
2287	-	1843	if (data[1] == data[0])
		1844	{
		1845	_bGetWP = false;
		1846	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
2328	-	1847
		1848	Dispatcher.Invoke(() =>
		1849	{
		1850	if (comboBoxRouteColor.SelectionBoxItem != null)
		1851	{
		1852	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		1853	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		1854	}
		1855	else
		1856	mRouteWP = new GMapRoute(wpList, null);
		1857
		1858	if (_bShowWPRoute)
		1859	MainMap.Markers.Add(mRouteWP);
		1860	});
		1861	MapRoute mr = new MapRoute(wpList, "WPList");
2333	-	1862	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
2287	-	1863	}
		1864
		1865	}
		1866	}
		1867	else
		1868	{
		1869	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		1870	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		1871	}
		1872	}
		1873	/// <summary>
		1874	/// OSD Menue 'L'
		1875	/// single page called by pagenumber
		1876	/// no autoupdate
		1877	/// </summary>
		1878	/// <param name="data">the received byte array to process</param>
		1879	void _processOSDSingle(byte[] data)
		1880	{
		1881	if (data.Length == 84)
		1882	{
		1883	string sMessage = "";
		1884	iOSDPage = data[0];
		1885	iOSDMax = data[1];
		1886	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		1887	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		1888	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1889	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1890	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1891	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1892	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		1893	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		1894
		1895	}
		1896	//else
		1897	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		1898
		1899	}
		1900	/// <summary>
		1901	/// OSD Menue 'H'
		1902	/// called by keys (0x01,0x02,0x03,0x04)
		1903	/// autoupdate
		1904	/// </summary>
		1905	/// <param name="data">the received byte array to process</param>
		1906	void _processOSDAuto(byte[] data)
		1907	{
		1908	if (data.Length == 81)
		1909	{
		1910	string sMessage = "";
		1911	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		1912	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1913	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1914	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1915	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1916
		1917	}
		1918	//else
		1919	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		1920	}
		1921
		1922	#endregion processing received data
		1923
		1924	#region controller messages
		1925	/// <summary> send message to controller to request data
		1926	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1927	/// </summary>
		1928	/// <param name="CMDID"> the command ID </param>
		1929	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1930	private void _sendControllerMessage(char CMDID, byte address)
		1931	{
		1932	if (serialPortCtrl.Port.IsOpen)
		1933	{
		1934	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1935	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		1936	serialStream.Write(bytes, 0, bytes.Length);
		1937
		1938	}
		1939	else
		1940	Log(LogMsgType.Error, "NOT CONNECTED!");
		1941	}
		1942	/// <summary> send message to controller to request data
		1943	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1944	/// </summary>
		1945	/// <param name="CMDID"> the command ID </param>
		1946	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1947	/// <param name="data"> additional data for the request</param>
		1948	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		1949	{
		1950	if (serialPortCtrl.Port.IsOpen)
		1951	{
		1952	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1953	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		1954	serialStream.Write(bytes, 0, bytes.Length);
		1955
		1956	}
		1957	else
		1958	Log(LogMsgType.Error, "NOT CONNECTED!");
		1959	}
		1960
		1961	/// <summary>
		1962	/// start/stop continous polling of controller values
		1963	/// </summary>
		1964	/// <param name="b">start/stop switch</param>
		1965	void _readCont(bool b)
		1966	{
		1967	bReadContinously = b;
		1968	if (bReadContinously)
		1969	{
		1970	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		1971	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		1972	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		1973	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		1974	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		1975	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		1976	}
		1977	else
		1978	{
		1979	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		1980	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		1981	_bConnErr = false;
		1982	}
		1983	_iLifeCounter = 0;
		1984	}
		1985
		1986	private void _getVersion()
		1987	{
		1988	_sendControllerMessage('v', 0);
		1989	}
		1990	/// <summary>
		1991	/// get FC version struct via NC
		1992	/// by sending '1' as data (not documented in wiki...)
		1993	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		1994	/// </summary>
		1995	/// <param name="ctrl">controller number 1=FC</param>
		1996	private void _getVersion(byte ctrl)
		1997	{
		1998	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		1999	}
		2000	/// <summary>
		2001	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2002	/// </summary>
		2003	private void _switchToNC()
		2004	{
		2005	if (serialPortCtrl.Port.IsOpen)
		2006	{
		2007	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2008	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2009	serialStream.Write(bytes, 0, bytes.Length);
		2010
		2011	Thread.Sleep(100);
		2012	_getVersion();
		2013	Thread.Sleep(100);
		2014	// _OSDMenue(0);
		2015	}
		2016	else
		2017	Log(LogMsgType.Error, "NOT CONNECTED!");
		2018	}
		2019	/// <summary>
		2020	/// switch to FC
		2021	/// </summary>
		2022	private void _switchToFC()
		2023	{
		2024	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2025	Thread.Sleep(100);
		2026	_getVersion();
		2027	Thread.Sleep(100);
		2028	// _OSDMenue(0);
		2029	}
		2030	/// <summary>
		2031	/// send RESET signal to FC
		2032	/// </summary>
		2033	private void _resetCtrl()
		2034	{
		2035	_sendControllerMessage('R', 1);
		2036	}
		2037	/// <summary>
		2038	/// poll the debug data (4sec subscription)
		2039	/// </summary>
		2040	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2041	private void _readDebugData(bool auto)
		2042	{
		2043	byte interval = auto ? debugInterval : (byte)0;
		2044	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2045	}
		2046	/// <summary>
		2047	/// poll the BL-CTRL status via NC (4sec subscription)
		2048	/// </summary>
		2049	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2050	private void _readBLCtrl(bool auto)
		2051	{
		2052	byte interval = auto ? blctrlInterval : (byte)0;
		2053	_sendControllerMessage('k', 0, new byte[1] { interval });
		2054	}
		2055	/// <summary>
		2056	/// poll the NC data struct (4sec subscription)
		2057	/// </summary>
		2058	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2059	private void _readNavData(bool auto)
		2060	{
		2061	byte interval = auto ? navctrlInterval : (byte)0;
		2062	_sendControllerMessage('o', 2, new byte[1] { interval });
		2063	}
		2064	/// <summary>
		2065	/// get the errortext for pending NC error
		2066	/// </summary>
		2067	private void _readNCError()
		2068	{
		2069	_sendControllerMessage('e', 2);
		2070	}
		2071	/// <summary>
		2072	/// request the Waypoint at index
		2073	/// </summary>
		2074	/// <param name="index"></param>
		2075	void _getpWP(int index)
		2076	{
		2077	if (serialPortCtrl.Port.IsOpen)
		2078	{
		2079	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2080	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2081	serialStream.Write(bytes, 0, bytes.Length);
		2082	}
		2083	else
		2084	Log(LogMsgType.Error, "NOT CONNECTED!");
		2085
		2086	}
		2087	void _getWP()
		2088	{
		2089	_bGetWPCount = true;
2315	-	2090	_getpWP(1); //get the itemscount of wp
2287	-	2091	while (_bGetWPCount)
		2092	Thread.Sleep(100);
2313	-	2093	if (_iWPCount > 0)
2287	-	2094	_getWPList();
		2095	}
		2096	void _getWPList()
		2097	{
		2098	_bGetWP = true;
2313	-	2099	int iTimeout=0;
		2100	for (int j = 0; j < _iWPCount; j++)
2287	-	2101	{
		2102	_getpWP(j + 1);
2313	-	2103	iTimeout = 0;
		2104	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2105	{
		2106	Thread.Sleep(1);
		2107	iTimeout++;
		2108	}
2287	-	2109	}
		2110	}
2313	-	2111	void _sendWPList()
		2112	{
		2113	if (serialPortCtrl.Port.IsOpen)
		2114	{
		2115	byte[] bData = new byte[30];
		2116	for (int i = 0; i < 30; i++)
		2117	bData[i] = 0;
		2118	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2119	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2120	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2121
2313	-	2122	_iWPCount = -1;
		2123	while (_iWPCount == -1)
		2124	Thread.Sleep(10);
		2125	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2287	-	2126
2313	-	2127	int iVal;
		2128	double dVal;
		2129	NumberFormatInfo nfi = new NumberFormatInfo();
		2130	nfi.NumberDecimalSeparator = ",";
		2131	for (int i = 0; i < dtWaypoints.Rows.Count; i++)
		2132	{
		2133	//longitude
		2134	dVal = Convert.ToDouble(dtWaypoints.Rows[i][4], nfi);
		2135	iVal = (int)(dVal * Math.Pow(10, 7));
		2136	bData[0] = (byte)(iVal & 0xff);
		2137	bData[1] = (byte)((iVal >> 8) & 0xff);
		2138	bData[2] = (byte)((iVal >> 16) & 0xff);
		2139	bData[3] = (byte)(iVal >> 24);
		2140	//latitude
		2141	dVal = Convert.ToDouble(dtWaypoints.Rows[i][3], nfi);
		2142	iVal = (int)(dVal * Math.Pow(10, 7));
		2143	bData[4] = (byte)(iVal & 0xff);
		2144	bData[5] = (byte)((iVal >> 8) & 0xff);
		2145	bData[6] = (byte)((iVal >> 16) & 0xff);
		2146	bData[7] = (byte)(iVal >> 24);
		2147	//altitude
		2148	dVal = Convert.ToDouble(dtWaypoints.Rows[i][5], nfi);
		2149	iVal = (int)(dVal * 10);
		2150	bData[8] = (byte)(iVal & 0xff);
		2151	bData[9] = (byte)((iVal >> 8) & 0xff);
		2152	bData[10] = (byte)((iVal >> 16) & 0xff);
		2153	bData[11] = (byte)(iVal >> 24);
		2154	//Status 'NEWDATA'
		2155	bData[12] = 1;
		2156	//heading
		2157	iVal = Convert.ToInt16(dtWaypoints.Rows[i][6]);
		2158	bData[13] = (byte)(iVal & 0xff);
		2159	bData[14] = (byte)((iVal >> 8) & 0xff);
		2160	//ToleranceRadius
		2161	bData[15] = Convert.ToByte(dtWaypoints.Rows[i][9]);
		2162	//HoldTime
		2163	bData[16] = Convert.ToByte(dtWaypoints.Rows[i][10]);
		2164	//Event_Flag
		2165	bData[17] = Convert.ToByte(dtWaypoints.Rows[i][13]);
		2166	//Index
		2167	bData[18] = Convert.ToByte((int)dtWaypoints.Rows[i][0]);
		2168	//Type
		2169	bData[19] = Convert.ToByte(dtWaypoints.Rows[i][1]);
		2170	//WP_EventChannelValue
		2171	bData[20] = Convert.ToByte(dtWaypoints.Rows[i][14]);
		2172	//AltitudeRate
		2173	bData[21] = Convert.ToByte(dtWaypoints.Rows[i][8]);
		2174	//Speed
		2175	bData[22] = Convert.ToByte(dtWaypoints.Rows[i][7]);
		2176	//CamAngle
		2177	bData[23] = (byte)Convert.ToInt16(dtWaypoints.Rows[i][12]);
		2178	//Name
		2179	byte[] name = ASCIIEncoding.ASCII.GetBytes((string)dtWaypoints.Rows[i][2]);
		2180	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2181	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2182	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2183	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2184	//Autotrigger
		2185	bData[28] = Convert.ToByte(dtWaypoints.Rows[i][11]);
		2186
		2187	bytes = FlightControllerMessage.CreateMessage('w', 2, bData);
		2188	serialStream.Write(bytes, 0, bytes.Length);
		2189
		2190	_iWPCount = -1;
		2191	while (_iWPCount == -1)
		2192	Thread.Sleep(10);
		2193	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
		2194	}
		2195	}
		2196	else
		2197	Log(LogMsgType.Error, "NOT CONNECTED!");
		2198
		2199	}
		2200
2287	-	2201	#region OSD-Menue
		2202
		2203	/// <summary>
		2204	/// one time query of the OSD Menue with pagenumber
		2205	/// </summary>
		2206	/// <param name="iMenue">Menue page</param>
		2207	void _OSDMenue(int iMenue)
		2208	{
		2209	if (serialPortCtrl.Port.IsOpen)
		2210	{
		2211	if (iMenue > iOSDMax)
		2212	iMenue = 0;
		2213	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2214	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2215	serialStream.Write(bytes, 0, bytes.Length);
		2216	}
		2217	else
		2218	Log(LogMsgType.Error, "NOT CONNECTED!");
		2219
		2220	}
		2221	/// <summary>
		2222	/// call the OSDMenue and start autorefresh
		2223	/// usually by sending a menuekey
		2224	/// 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)
		2225	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2226	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2227	/// </summary>
		2228	void _OSDMenueAutoRefresh()
		2229	{
		2230	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2231	}
		2232	void _OSDMenueAutoRefresh(byte key)
		2233	{
		2234	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2235	}
		2236	/// <summary>
		2237	/// initialize the OSD menue combobox
		2238	/// combox is filled by numbers from 0 to max pagenumber
		2239	/// </summary>
		2240	void _initOSDCB()
		2241	{
		2242	_bCBInit = true;
		2243	if (iOSDMax == 0)
		2244	{
		2245	_OSDMenue(0);
		2246	Thread.Sleep(10);
		2247	}
		2248	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2249	for (int i = 0; i <= iOSDMax; i++)
		2250	{
		2251	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2252	}
		2253	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2254	_bCBInit = false;
		2255	}
		2256	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2257	{
		2258	iOSDPage++;
		2259	if (iOSDPage > iOSDMax)
		2260	iOSDPage = 0;
		2261
		2262	_OSDMenue(iOSDPage);
		2263	}
		2264	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2265	{
		2266	iOSDPage--;
		2267	if (iOSDPage < 0)
		2268	iOSDPage = iOSDMax;
		2269
		2270	_OSDMenue(iOSDPage);
		2271	}
		2272	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2273	{
		2274	_OSDMenueAutoRefresh(8);
		2275	}
		2276	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2277	{
		2278	_OSDMenueAutoRefresh(4);
		2279	}
		2280	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2281	{
		2282	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2283	_OSDMenue(cbOSD.SelectedIndex);
		2284	}
		2285	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2286	{
		2287	Dispatcher.Invoke(() =>
		2288	{
		2289	TextRange tr;
		2290	if (bNew)
		2291	{
		2292	rtfOSD.SelectAll();
		2293	rtfOSD.Selection.Text = string.Empty;
		2294	}
		2295	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2296	tr.Text = msg;
		2297	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2298	// rtfOSD.AppendText("\r");
		2299	rtfOSD.ScrollToEnd();
		2300
		2301	});
		2302	}
		2303
		2304	#endregion OSD-Menue
		2305
		2306	#endregion controller messages
		2307
2295	-	2308	void _mediaPlayer(string file)
		2309	{
		2310	if (File.Exists(file))
		2311	{
		2312	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		2313	mp.Open(file);
		2314	mp.Play();
		2315	}
		2316	}
2310	-	2317
		2318	/// <summary>
		2319	/// Switch between fullscreen and normal window mode
		2320	/// save & restore scaling settings
		2321	/// </summary>
		2322	/// <param name="sender"></param>
		2323	/// <param name="e"></param>
2287	-	2324	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2325	{
		2326	if (winState.isMaximized)
		2327	{
		2328	winState.Restore(this);
		2329	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2330	if(_bSaveWinStateFull)
		2331	_saveScaleSliders(true);
		2332	if(_bSaveWinStateNormal)
		2333	_setScaleSliders(false);
		2334	}
		2335	else
		2336	{
		2337	winState.Maximize(this);
		2338	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2339	if(_bSaveWinStateNormal)
		2340	_saveScaleSliders(false);
		2341	if(_bSaveWinStateFull)
		2342	_setScaleSliders(true);
		2343	}
		2344	}
		2345
		2346	/// <summary>
		2347	/// reset the scaling of all UI elements to default
		2348	/// </summary>
		2349	/// <param name="sender"></param>
		2350	/// <param name="e"></param>
		2351	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2352	{
		2353	UIScaleHorizonSlider.Value =
		2354	UIScaleLOGSlider.Value =
		2355	UIScaleMotorsSlider.Value =
		2356	UIScaleOSDSlider.Value =
		2357	UIScaleSlider.Value =
		2358	UIScaleTopSlider.Value = 1;
		2359	}
		2360	/// <summary>
		2361	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2362	/// </summary>
		2363	/// <param name="sender"></param>
		2364	/// <param name="e"></param>
		2365	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2366	{
		2367	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2368	if (GridMotors != null)
		2369	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2370	if (GridSideBar != null)
		2371	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2372	if (GridOSD != null)
		2373	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2374	if (GridData != null)
		2375	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2376	if (GridWP != null)
		2377	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2378	}
2310	-	2379	/// <summary>
		2380	/// restore the saved scalings for the fullscreen/normal window mode
		2381	/// </summary>
		2382	/// <param name="bFull">the mode the window is set to</param>
2287	-	2383	void _setScaleSliders(bool bFull)
		2384	{
		2385	if(bFull)
		2386	{
		2387	UIScaleSlider.Value = scaleFullAll;
		2388	UIScaleTopSlider.Value = scaleFullTopBar;
		2389	UIScaleMotorsSlider.Value = scaleFullMotors;
		2390	UIScaleOSDSlider.Value = scaleFullOSD;
		2391	UIScaleLOGSlider.Value = scaleFullLOG;
		2392	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2393	}
		2394	else
		2395	{
		2396	UIScaleSlider.Value = scaleNormalAll;
		2397	UIScaleTopSlider.Value = scaleNormalTopBar;
		2398	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2399	UIScaleOSDSlider.Value = scaleNormalOSD;
		2400	UIScaleLOGSlider.Value = scaleNormalLOG;
		2401	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2402	}
		2403	}
		2404
2310	-	2405	/// <summary>
		2406	/// save the scalings for the actual window mode
		2407	/// </summary>
		2408	/// <param name="bFull">the actual window mode</param>
2287	-	2409	void _saveScaleSliders(bool bFull)
		2410	{
		2411
		2412	if (bFull)
		2413	{
		2414	scaleFullAll = UIScaleSlider.Value;
		2415	scaleFullTopBar = UIScaleTopSlider.Value;
		2416	scaleFullMotors = UIScaleMotorsSlider.Value;
		2417	scaleFullOSD = UIScaleOSDSlider.Value;
		2418	scaleFullLOG = UIScaleLOGSlider.Value;
		2419	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2420	}
		2421	else
		2422	{
		2423	scaleNormalAll = UIScaleSlider.Value;
		2424	scaleNormalTopBar = UIScaleTopSlider.Value;
		2425	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2426	scaleNormalOSD = UIScaleOSDSlider.Value;
		2427	scaleNormalLOG = UIScaleLOGSlider.Value;
		2428	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2429	}
		2430	}
		2431
		2432	/// <summary>
		2433	/// read settings from ini-file
		2434	/// </summary>
		2435	void _readIni()
		2436	{
		2437	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2438	_writeIni();
		2439	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2440	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2441	try
		2442	{
2287	-	2443
2312	-	2444	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2445	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2446	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2447	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2448	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2449	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2450	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2451	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2452
2312	-	2453	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2454	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2455	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2456	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2457	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2458	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2459	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2460	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2461
2312	-	2462	sVal = ini.IniReadValue("topBar", "voltage");
		2463	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2464	sVal = ini.IniReadValue("topBar", "capacity");
		2465	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2466	sVal = ini.IniReadValue("topBar", "current");
		2467	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2468	sVal = ini.IniReadValue("topBar", "flightTime");
		2469	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2470	sVal = ini.IniReadValue("topBar", "distanceHP");
		2471	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2472	sVal = ini.IniReadValue("topBar", "height");
		2473	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2474	sVal = ini.IniReadValue("topBar", "speed");
		2475	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2476	sVal = ini.IniReadValue("topBar", "magneticField");
		2477	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2478	sVal = ini.IniReadValue("topBar", "satellites");
		2479	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2480	sVal = ini.IniReadValue("topBar", "rc");
		2481	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2482
2312	-	2483	sVal = ini.IniReadValue("style", "saveFullScreen");
		2484	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2485	sVal = ini.IniReadValue("style", "saveNormalState");
		2486	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2487
2312	-	2488	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2489	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2490	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2491	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2492	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2493	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2494	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2495	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2496	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2497	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2498	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2499	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2500
2312	-	2501	sVal = ini.IniReadValue("style", "scaleFullAll");
		2502	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2503	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2504	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2505	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2506	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2507	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2508	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2509	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2510	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2511	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2512	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2513
2312	-	2514	sVal = ini.IniReadValue("general", "LiPoCells");
		2515	_LipoCells = Convert.ToInt16(sVal);
		2516	sVal = ini.IniReadValue("general", "Motors");
		2517	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2518
2312	-	2519	sVal = ini.IniReadValue("map", "followMe");
		2520	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2521	sVal = ini.IniReadValue("map", "AutoSetHome");
		2522	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2523	sVal = ini.IniReadValue("map", "GPXLog");
		2524	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2525
2312	-	2526	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2527	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2528	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2529	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2530	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2531	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2532	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2533	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2534	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2535	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2536	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2537	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2538	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2539	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2540	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2541	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2542	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2543	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2544	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2545	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2546	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2547	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2548
		2549	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2550	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2551	sVal = ini.IniReadValue("waypoints", "poicolor");
		2552	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2553	sVal = ini.IniReadValue("waypoints", "fscolor");
		2554	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2555	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2556	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	2557	sVal = ini.IniReadValue("waypoints", "routecolor");
		2558	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		2559	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		2560	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2312	-	2561	}
		2562	catch (Exception e)
		2563	{
2287	-	2564
2312	-	2565	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2566	}
		2567
2287	-	2568	}
		2569
		2570	/// <summary>
		2571	/// save settings to ini-file
		2572	/// </summary>
		2573	void _writeIni()
		2574	{
		2575
		2576	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2577	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2578
2312	-	2579	try
		2580	{
2287	-	2581
2312	-	2582	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2583	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2584	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2585	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2586
2312	-	2587	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2588	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2589	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2590	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2591
2312	-	2592	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2593	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2594
2312	-	2595	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2596	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	2597	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	2598
2312	-	2599	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2600	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2601	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2602	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2603	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2604	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2605	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2606	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2607	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2608	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2609
2312	-	2610	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2611	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2612
2312	-	2613	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2614	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2615	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2616	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2617	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2618	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	2619
2312	-	2620	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2621	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2622	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2623	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2624	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2625	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	2626
2312	-	2627	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2628
		2629	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2630	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2631	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2632	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2633	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2634	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2635	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2636	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2637	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2638	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2639	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	2640
		2641	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		2642	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		2643	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		2644	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2328	-	2645	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		2646	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2312	-	2647	}
		2648	catch (Exception e)
		2649	{
		2650
		2651	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);
		2652	}
2287	-	2653	}
2312	-	2654
2315	-	2655	#region WP
2312	-	2656	void _readWPLFile()
		2657	{
		2658	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		2659	fd.Filter = "Waypointlists \| *.wpl";
		2660	fd.Multiselect = false;
		2661	if (fd.ShowDialog().Value)
		2662	{
		2663	string file = fd.SafeFileName;
		2664	IniFile ini = new IniFile(fd.SafeFileName);
		2665	ini.path = fd.FileName;
		2666
		2667	try
		2668	{
		2669	string sVal = ini.IniReadValue("General", "FileVersion");
		2670	if (sVal == "")
		2671	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2672	else
		2673	{
		2674	if (Convert.ToInt16(sVal) < 3)
		2675	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2676	else
		2677	{
		2678	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		2679	if (sVal == "")
		2680	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2681	else
		2682	{
		2683	int wpnum = Convert.ToInt16(sVal);
		2684	string wp;
		2685	int i;
2313	-	2686	NumberFormatInfo nfi = new NumberFormatInfo();
		2687	nfi.NumberDecimalSeparator = ".";
2312	-	2688	dtWaypoints.Rows.Clear();
2327	-	2689	//for(int k = 0; k < MainMap.Markers.Count;)
		2690	//{
		2691	// GMapMarker p = MainMap.Markers[k];
		2692	// if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2693	// MainMap.Markers.Remove(p);
		2694	// else
		2695	// k++;
		2696	//}
		2697	_clearMapMarkers(typeof(CustomMarkerWP));
2328	-	2698	wpList.Clear();
		2699	if (mRouteWP != null)
		2700	MainMap.Markers.Remove(mRouteWP);
		2701	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		2702
2312	-	2703	for (int k = 1; k <= wpnum; k++)
		2704	{
		2705	DataRow dr = dtWaypoints.NewRow();
		2706	dr.ItemArray = new object[16];
		2707	object[] o = new object[16];
		2708	i = 0;
		2709	wp = "Point" + k.ToString();
		2710	o[i] = k;
		2711	i++;
		2712	sVal = ini.IniReadValue(wp, "Type");
		2713	if (sVal != "")
2315	-	2714	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	2715	i++;
		2716	sVal = ini.IniReadValue(wp, "Prefix");
		2717	if (sVal != "")
		2718	o[i] = sVal == "0" ? "P" + k.ToString() : sVal + k.ToString();
		2719	i++;
2313	-	2720	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	2721	if (sVal != "")
2313	-	2722	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2723	i++;
2313	-	2724	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	2725	if (sVal != "")
2313	-	2726	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2727	i++;
		2728	sVal = ini.IniReadValue(wp, "Altitude");
		2729	if (sVal != "")
2313	-	2730	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2731	i++;
		2732	sVal = ini.IniReadValue(wp, "Heading");
		2733	if (sVal != "")
		2734	o[i] = Convert.ToInt16(sVal);
		2735	i++;
		2736	sVal = ini.IniReadValue(wp, "Speed");
		2737	if (sVal != "")
2315	-	2738	o[i] = Convert.ToInt16(sVal);
2312	-	2739	i++;
		2740	sVal = ini.IniReadValue(wp, "ClimbRate");
		2741	if (sVal != "")
		2742	o[i] = Convert.ToInt16(sVal);
		2743	i++;
		2744	sVal = ini.IniReadValue(wp, "Radius");
		2745	if (sVal != "")
		2746	o[i] = Convert.ToInt16(sVal);
		2747	i++;
		2748	sVal = ini.IniReadValue(wp, "DelayTime");
		2749	if (sVal != "")
		2750	o[i] = Convert.ToInt16(sVal);
		2751	i++;
		2752	sVal = ini.IniReadValue(wp, "AutoTrigger");
		2753	if (sVal != "")
		2754	o[i] = Convert.ToInt16(sVal); ;
		2755	i++;
		2756	sVal = ini.IniReadValue(wp, "CAM-Nick");
		2757	if (sVal != "")
2313	-	2758	o[i] = Convert.ToInt16(sVal);
2312	-	2759	i++;
		2760	o[i] = 0;
		2761	i++;
		2762	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		2763	if (sVal != "")
		2764	o[i] = Convert.ToInt16(sVal);
		2765	i++;
		2766	o[i] = "New";
		2767
		2768	dr.ItemArray = o;
		2769	dtWaypoints.Rows.Add(dr);
2315	-	2770	GMapMarker wpMarker = new GMapMarker(new PointLatLng((double)o[3], (double)o[4]));
		2771	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, (string)dr[2], (int)o[1]);
2328	-	2772	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		2773	wpMarker.ZIndex = 100;
2315	-	2774	_setMarkerColor(wpMarker, (int)o[1]);
		2775	MainMap.Markers.Add(wpMarker);
2328	-	2776	if((int)o[1] == 0)
		2777	wpList.Add(new PointLatLng((double)o[3], (double)o[4]));
2315	-	2778
2312	-	2779	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		2780	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		2781	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2782	Thread.Sleep(10);
		2783	}
2328	-	2784	Dispatcher.Invoke(() =>
		2785	{
		2786	if (comboBoxRouteColor.SelectionBoxItem != null)
		2787	{
		2788	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		2789	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		2790	}
		2791	else
		2792	mRouteWP = new GMapRoute(wpList, null);
		2793
		2794	if (_bShowWPRoute)
		2795	MainMap.Markers.Add(mRouteWP);
		2796	});
		2797
		2798	MapRoute mr = new MapRoute(wpList, "WPList");
		2799	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		2800
2312	-	2801	}
		2802	}
		2803	}
		2804
		2805	}
		2806	catch (Exception e)
		2807	{
		2808
		2809	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		2810	}
		2811
		2812	}
		2813	}
2328	-	2814	Brush _getBrush(string color)
		2815	{
		2816	switch (color)
		2817	{
		2818	case "red":
		2819	return Brushes.Red;
		2820	case "green":
		2821	return Brushes.Lime;
		2822	case "blue":
		2823	return Brushes.Aqua;
		2824	case "pink":
		2825	return Brushes.Magenta;
		2826	case "yellow":
		2827	return Brushes.Yellow;
		2828	default:
		2829	return Brushes.Magenta;
		2830	}
		2831	}
2315	-	2832	void _setMarkerColor(GMapMarker wpMarker,int iType)
		2833	{
		2834	Dispatcher.Invoke(() =>
		2835	{
		2836	switch (iType)
		2837	{
		2838	case 0:
		2839	if (comboBoxWPColor.SelectionBoxItem != null)
		2840	{
		2841	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		2842	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2843	}
		2844	else
		2845	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2846	break;
		2847	case 1:
		2848	if (comboBoxPOIColor.SelectionBoxItem != null)
		2849	{
		2850	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		2851	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2852	}
		2853	else
		2854	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2855	break;
		2856	case 2:
		2857	if (comboBoxFSColor.SelectionBoxItem != null)
		2858	{
		2859	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		2860	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2861	}
		2862	else
		2863	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2864	break;
		2865	default:
		2866	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2867	break;
		2868	}
		2869	});
2312	-	2870
2315	-	2871	}
		2872	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2312	-	2873	{
2315	-	2874	Dispatcher.Invoke(() =>
		2875	{
		2876	if (comboBoxWPColor.SelectionBoxItem != null)
		2877	{
		2878	for (int k = 0; k < MainMap.Markers.Count;k++)
		2879	{
		2880	GMapMarker p = MainMap.Markers[k];
		2881	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2882	{
		2883	if (((CustomMarkerWP)p.Shape).WPType == 0)
		2884	{
		2885	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		2886	((CustomMarkerWP)(p.Shape)).setColor(s);
		2887	}
		2888	}
		2889	}
		2890	}
		2891	});
2312	-	2892	}
2315	-	2893	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		2894	{
		2895	Dispatcher.Invoke(() =>
		2896	{
		2897	if (comboBoxPOIColor.SelectionBoxItem != null)
		2898	{
		2899	for (int k = 0; k < MainMap.Markers.Count; k++)
		2900	{
		2901	GMapMarker p = MainMap.Markers[k];
		2902	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2903	{
		2904	if (((CustomMarkerWP)p.Shape).WPType == 1)
		2905	{
		2906	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		2907	((CustomMarkerWP)(p.Shape)).setColor(s);
		2908	}
		2909	}
		2910	}
		2911	}
		2912	});
2287	-	2913
2315	-	2914	}
		2915	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
2287	-	2916	{
2315	-	2917	Dispatcher.Invoke(() =>
		2918	{
		2919	if (comboBoxFSColor.SelectionBoxItem != null)
		2920	{
		2921	for (int k = 0; k < MainMap.Markers.Count; k++)
		2922	{
		2923	GMapMarker p = MainMap.Markers[k];
		2924	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2925	{
		2926	if (((CustomMarkerWP)p.Shape).WPType == 2)
		2927	{
		2928	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		2929	((CustomMarkerWP)(p.Shape)).setColor(s);
		2930	}
		2931	}
		2932	}
		2933	}
		2934	});
2287	-	2935	}
2318	-	2936	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
		2937	{
		2938	Dispatcher.Invoke(() => {
		2939	if (comboBoxCopterColor.SelectionBoxItem != null)
		2940	{
		2941	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		2942	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		2943	}
		2944	else
		2945	((CustomMarkerCopter)(copter.Shape)).setColor("red");
		2946	});
		2947	}
2328	-	2948	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		2949	{
		2950	Dispatcher.Invoke(() =>
		2951	{
		2952	if (comboBoxRouteColor.SelectionBoxItem != null)
		2953	{
		2954	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		2955	MainMap.Markers.Remove(mRouteWP);
		2956	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		2957	if (_bShowWPRoute)
		2958	MainMap.Markers.Add(mRouteWP);
		2959	}
		2960	});
		2961	}
		2962	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		2963	{
		2964	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		2965	if (_bShowWPRoute)
		2966	{
		2967	if (mRouteWP != null)
		2968	MainMap.Markers.Add(mRouteWP);
		2969	}
		2970	else
		2971	{
		2972	if (mRouteWP != null)
		2973	MainMap.Markers.Remove(mRouteWP);
		2974	}
		2975	}
2315	-	2976	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	2977	{
2315	-	2978	_readWPLFile();
2287	-	2979	}
2315	-	2980	#endregion WP
2324	-	2981	#region GPX
		2982	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		2983	{
		2984	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		2985	}
		2986	void _gpxAdd(double lat,double lon, int elevation)
		2987	{
		2988	DataRow dr = dtGPX.NewRow();
		2989	dr[0] = dtGPX.Rows.Count - 1;
		2990	dr[1] = lat;
		2991	dr[2] = lon;
		2992	dr[3] = elevation;
		2993	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		2994	dtGPX.Rows.Add(dr);
		2995	}
		2996	void _saveGPXLog()
		2997	{
		2998	if (!Directory.Exists("GPXLog"))
		2999	Directory.CreateDirectory("GPXLog");
		3000	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		3001	XmlTextWriter myXmlTextWriter = null;
		3002	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		3003	NumberFormatInfo nfi = new NumberFormatInfo();
		3004	nfi.NumberDecimalSeparator = ".";
2315	-	3005
2324	-	3006	try
		3007	{
		3008	myXmlTextWriter.Formatting = Formatting.Indented;
		3009
		3010	myXmlTextWriter.WriteStartDocument();
		3011
		3012	myXmlTextWriter.WriteStartElement("gpx");
		3013
		3014	myXmlTextWriter.WriteAttributeString("version", "1.0");
		3015	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		3016	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		3017	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		3018	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		3019
		3020	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		3021
		3022	myXmlTextWriter.WriteStartElement("trk");
		3023	myXmlTextWriter.WriteStartElement("trkseg");
		3024	for(int i = 0; i< dtGPX.Rows.Count;i++)
		3025	{
		3026	myXmlTextWriter.WriteStartElement("trkpt");
		3027	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		3028	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		3029	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		3030	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		3031	myXmlTextWriter.WriteEndElement();
		3032	}
		3033	myXmlTextWriter.WriteEndElement();
		3034	myXmlTextWriter.WriteEndElement();
		3035	myXmlTextWriter.WriteEndElement();
		3036	}
		3037	catch (Exception e)
		3038	{
		3039	Console.WriteLine("Exception: {0}", e.ToString());
		3040	}
		3041	finally
		3042	{
		3043	if (myXmlTextWriter != null)
		3044	{
		3045	myXmlTextWriter.Close();
		3046	}
		3047	}
		3048	}
		3049
		3050	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		3051	{
		3052	_loadGPXLog();
		3053	}
		3054
2327	-	3055	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		3056	{
		3057	_clearMapMarkers(typeof(GMapRoute));
		3058	}
		3059	void _clearMapMarkers(Type markerType)
		3060	{
		3061	for (int k = 0; k < MainMap.Markers.Count;)
		3062	{
		3063	GMapMarker p = MainMap.Markers[k];
		3064	if (p.GetType() == markerType \| p.Shape.GetType() == markerType)
		3065	MainMap.Markers.Remove(p);
		3066	else
		3067	k++;
		3068	}
		3069
		3070	}
2324	-	3071	void _loadGPXLog()
		3072	{
		3073
		3074	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3075	fd.Filter = "GPX-Logfile \| *.gpx";
		3076	fd.Multiselect = false;
		3077	if (fd.ShowDialog().Value)
		3078	{
		3079	string file = fd.FileName;
		3080	try
		3081	{
		3082	XDocument gpxDoc = XDocument.Load(file);
		3083	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		3084
		3085	NumberFormatInfo nfi = new NumberFormatInfo();
		3086	nfi.NumberDecimalSeparator = ".";
		3087
		3088	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		3089	select new
		3090	{
		3091	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		3092	Segs = (
		3093	from trackpoint in track.Descendants(gpx + "trkpt")
		3094	select new
		3095	{
		3096	Latitude = trackpoint.Attribute("lat").Value,
		3097	Longitude = trackpoint.Attribute("lon").Value,
		3098	Elevation = trackpoint.Element(gpx + "ele") != null ?
		3099	trackpoint.Element(gpx + "ele").Value : null,
		3100	Time = trackpoint.Element(gpx + "time") != null ?
		3101	trackpoint.Element(gpx + "time").Value : null
		3102	}
		3103	)
		3104	};
		3105
		3106	List<PointLatLng> wpl = new List<PointLatLng>();
		3107	foreach(var trk in tracks)
		3108	{
		3109	foreach(var trkseg in trk.Segs)
		3110	{
		3111	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		3112	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		3113	}
		3114
		3115	}
		3116	if(wpl.Count() > 0)
		3117	{
2327	-	3118	_clearMapMarkers(typeof(GMapRoute));
		3119	//for (int k = 0; k < MainMap.Markers.Count;)
		3120	//{
		3121	// GMapMarker p = MainMap.Markers[k];
		3122	// if (p.Shape.GetType() == typeof(GMapRoute))
		3123	// MainMap.Markers.Remove(p);
		3124	// else
		3125	// k++;
		3126	//}
2324	-	3127	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	3128	Dispatcher.Invoke(() =>
		3129	{
		3130	GMapRoute mRoute;
		3131	if (comboBoxRouteColor.SelectionBoxItem != null)
		3132	{
		3133	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3134	mRoute = new GMapRoute(wpList, _getBrush(s));
		3135	}
		3136	else
		3137	mRoute = new GMapRoute(wpList, null);
2324	-	3138
2328	-	3139	MainMap.Markers.Add(mRoute);
		3140	});
2324	-	3141	}
		3142
		3143	}
		3144	catch (Exception e)
		3145	{
		3146	Console.WriteLine("Exception: {0}", e.ToString());
		3147	}
		3148	}
		3149	}
		3150	#endregion GPX
2315	-	3151	#endregion functions
2287	-	3152	}
2315	-	3153	/// <summary>
		3154	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		3155	/// </summary>
2313	-	3156	public class waypointsConverter : IValueConverter
		3157	{
		3158	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		3159	{
		3160	if (value != null)
		3161	{
		3162	switch ((string)parameter)
		3163	{
		3164	case "Latitude":
		3165	return value.ToString() + " °";
		3166	case "Longitude":
		3167	return value.ToString() + " °";
		3168	case "Radius":
		3169	return value.ToString() + " m";
		3170	case "Altitude":
		3171	return value.ToString() + " m";
		3172	case "ClimbRate":
		3173	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		3174	case "DelayTime":
		3175	return value.ToString() + " s";
		3176	case "Heading":
		3177	return Waypoints.Heading(System.Convert.ToInt32(value));
		3178	case "Speed":
		3179	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		3180	case "CamAngle":
		3181	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		3182	case "Type":
		3183	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		3184	case "AutoTrigger":
		3185	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		3186	case "Status":
		3187	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		3188	}
		3189
		3190	return value.ToString();
		3191	}
		3192	else return value;
		3193	}
		3194
		3195	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		3196	{
		3197	throw new NotImplementedException();
		3198	}
		3199	}
		3200
2287	-	3201	public class IniFile
		3202	{
		3203	public string path;
		3204
		3205	[DllImport("kernel32")]
		3206	private static extern long WritePrivateProfileString(string section,
		3207	string key, string val, string filePath);
		3208
		3209	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		3210	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		3211	uint nSize, string lpFileName);
		3212
		3213	[DllImport("kernel32")]
		3214	private static extern int GetPrivateProfileString(string section,
		3215	string key, string def, StringBuilder retVal,
		3216	int size, string filePath);
		3217
		3218	public IniFile(string INIPath)
		3219	{
		3220	path = INIPath;
		3221	}
		3222
		3223	public void IniWriteValue(string Section, string Key, string Value)
		3224	{
		3225	WritePrivateProfileString(Section, Key, Value, this.path);
		3226	}
		3227
		3228	public string IniReadValue(string Section, string Key)
		3229	{
		3230	StringBuilder temp = new StringBuilder(255);
		3231	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		3232	return temp.ToString();
		3233	}
		3234	//Ini_sections auslesen in String-Array
		3235	public string[] IniSectionNames()
		3236	{
		3237
		3238	// uint MAX_BUFFER = 32767;
		3239	uint MAX_BUFFER = 8388608;
		3240	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		3241	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		3242	if (bytesReturned == 0)
		3243	{
		3244	Marshal.FreeCoTaskMem(pReturnedString);
		3245	return null;
		3246	}
		3247	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		3248	Marshal.FreeCoTaskMem(pReturnedString);
		3249	//use of Substring below removes terminating null for split
		3250	return local.Substring(0, local.Length - 1).Split('\0');
		3251
		3252
		3253	}
		3254	}
		3255
		3256	/// <summary>
		3257	/// Selected Win AI Function Calls
		3258	/// </summary>
		3259	public class WinApi
		3260	{
		3261	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		3262	public static extern int GetSystemMetrics(int which);
		3263	[DllImport("user32.dll")]
		3264	public static extern void
		3265	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		3266	int X, int Y, int width, int height, uint flags);
		3267
		3268	private const int SM_CXSCREEN = 0;
		3269	private const int SM_CYSCREEN = 1;
		3270	private static IntPtr HWND_TOP = IntPtr.Zero;
		3271	private const int SWP_SHOWWINDOW = 64; // 0x0040
		3272
		3273	public static int ScreenX
		3274	{
		3275	get { return GetSystemMetrics(SM_CXSCREEN); }
		3276	}
		3277
		3278	public static int ScreenY
		3279	{
		3280	get { return GetSystemMetrics(SM_CYSCREEN); }
		3281	}
		3282
		3283	public static void SetWinFullScreen(IntPtr hwnd)
		3284	{
		3285	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		3286	}
		3287	}
		3288	/// <summary>
		3289	/// Class used to preserve / restore state of the window
		3290	/// </summary>
		3291	public class WinState
		3292	{
		3293	private WindowState winState;
		3294	private WindowStyle brdStyle;
		3295	private bool topMost;
		3296	private Rect restore;
		3297	private bool IsMaximized = false;
		3298
		3299	public bool isMaximized
		3300	{
		3301	get { return IsMaximized; }
		3302	}
		3303	public void Maximize(Window targetForm)
		3304	{
		3305	if (!IsMaximized)
		3306	{
		3307	IsMaximized = true;
		3308	Save(targetForm);
		3309	targetForm.WindowState = WindowState.Maximized;
		3310	targetForm.WindowStyle = WindowStyle.None;
		3311	targetForm.Topmost = true;
		3312	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		3313	}
		3314	}
		3315
		3316	public void Save(Window targetForm)
		3317	{
		3318	winState = targetForm.WindowState;
		3319	brdStyle = targetForm.WindowStyle;
		3320	topMost = targetForm.Topmost;
		3321	restore = targetForm.RestoreBounds;
		3322	}
		3323	public void Restore(Window targetForm)
		3324	{
		3325	targetForm.WindowState = winState;
		3326	targetForm.WindowStyle = brdStyle;
		3327	targetForm.Topmost = topMost;
		3328
		3329	targetForm.Left = restore.Left;
		3330	targetForm.Top = restore.Top;
		3331	targetForm.Height = restore.Height;
		3332	targetForm.Width = restore.Width;
		3333	IsMaximized = false;
		3334	}
		3335	}
		3336
		3337	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2340 - Rev 2333