WebSVN - Projects - Blame - Rev 2340 - /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;
2340	-	280	int _wpIndex = -1, _wpCount = 0;
		281
2287	-	282	DispatcherTimer timer = new DispatcherTimer();
		283
		284	/// <summary>
		285	/// stuff for enabeling touch zoom for the map
		286	/// </summary>
		287	Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0);
		288	int iFirstStylusID = -1;
		289	public string connectButtonText
		290	{
		291	get
		292	{
		293	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		294	}
		295	}
		296
		297	WinState winState = new WinState();
2304	-	298	#endregion declarations
2287	-	299	public MainWindow()
		300	{
		301	InitializeComponent();
		302	_initForm();
		303	_dataTablesInit();
		304	_setupMap();
		305	_init = false;
		306	timer.Tick += new EventHandler(timerEvent);
		307	timer.Interval = new TimeSpan(0, 0, 1);
		308	timer.Start();
		309	}
		310
		311	#region init
		312	void _initForm()
		313	{
		314	_readIni();
		315	if (_bSaveWinStateNormal)
		316	_setScaleSliders(false);
		317	cBoxTimingsDebug.ItemsSource =
		318	cBoxTimingsNav.ItemsSource =
		319	cBoxTimingsBl.ItemsSource =
		320	cBoxTimingsOSD.ItemsSource =
		321	iTimings;
		322	cBoxLiPoCells.ItemsSource = sLiPoCells;
		323	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		324	_LipoMinMax();
		325	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		326	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		327	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
2291	-	328	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		329	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		330	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		331	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		332	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
2287	-	333
2291	-	334	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		335
2287	-	336	cBoxMotors.ItemsSource = iMotors;
		337	cBoxMotors.SelectedItem = _iMotors;
		338
		339	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		340	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		341	serialPortCtrl.DataReceived += processMessage;
		342
		343	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		344	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		345	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		346	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		347
		348	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		349	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		350	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		351	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
2295	-	352	checkBoxAutoSetHP.IsChecked = _bAutoHome;
2287	-	353	checkBoxFollowCopter.IsChecked = _bFollowCopter;
2324	-	354	checkBoxGPXLog.IsChecked = _bGPXLog;
2328	-	355	checkBoxShowWPRoute.IsChecked = _bShowWPRoute;
2287	-	356
		357	}
		358	/// <summary>
		359	/// initialize the datatables
		360	/// with columnnames etc
		361	/// </summary>
		362	void _dataTablesInit()
		363	{
2315	-	364	dtMotors.Columns.Add("#");
2313	-	365	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
2315	-	366	dtMotors.Columns.Add("Strom");
2313	-	367	else
2315	-	368	dtMotors.Columns.Add("Current");
		369	dtMotors.Columns.Add("Temp");
		370	dgvMotors1.DataContext = dtMotors.DefaultView;
2287	-	371	_initDTMotors();
		372
		373	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0));
		374	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		375	style.Setters.Add(setter);
		376	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		377	style.Setters.Add(setter);
		378	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		379	style.Setters.Add(setter);
2313	-	380
		381	dtWaypoints.Columns.Add("Index",typeof(int));
2315	-	382	dtWaypoints.Columns.Add("Type", typeof(int));
2313	-	383	dtWaypoints.Columns.Add("Name",typeof(string));
2315	-	384	dtWaypoints.Columns.Add("Latitude",typeof(double));
		385	dtWaypoints.Columns.Add("Longitude",typeof(double));
2313	-	386	dtWaypoints.Columns.Add("Altitude",typeof(string));
		387	dtWaypoints.Columns.Add("Heading",typeof(string));
		388	dtWaypoints.Columns.Add("Speed",typeof(string));
		389	dtWaypoints.Columns.Add("ClimbRate",typeof(string));
		390	dtWaypoints.Columns.Add("Radius",typeof(string));
		391	dtWaypoints.Columns.Add("HoldTime",typeof(string));
		392	dtWaypoints.Columns.Add("AutoTrigger",typeof(string));
		393	dtWaypoints.Columns.Add("CamAngle",typeof(string));
		394	dtWaypoints.Columns.Add("Event",typeof(string));
		395	dtWaypoints.Columns.Add("Out1Timer",typeof(string));
		396	dtWaypoints.Columns.Add("Status",typeof(string));
		397	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		398	dgvWP.ItemsSource = dtWaypoints.DefaultView;
2287	-	399	dgvWP.ColumnHeaderStyle = new Style();
		400	dgvWP.ColumnHeaderStyle = style;
2313	-	401
2324	-	402	dtGPX.Columns.Add("Index",typeof(int));
		403	dtGPX.Columns.Add("Latitude",typeof(double));
		404	dtGPX.Columns.Add("Longitude",typeof(double));
		405	dtGPX.Columns.Add("Elevation",typeof(int));
		406	dtGPX.Columns.Add("Time",typeof(string));
		407	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		408	drGPX = dtGPX.NewRow();
2313	-	409
2287	-	410	}
		411	/// <summary>
2315	-	412	/// initialize the datatable dtMotors for motor values
2313	-	413	/// DataGridView dgvMotors1 is bound to dtMotors1
2287	-	414	/// </summary>
		415	void _initDTMotors()
		416	{
		417	for (int i = 0; i < 12; i++)
		418	{
2315	-	419	if (dtMotors.Rows.Count < 12)
		420	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
2287	-	421	else
		422	{
2315	-	423	dtMotors.Rows[i].SetField(1, "NA");
		424	dtMotors.Rows[i].SetField(2, "NA");
2287	-	425	}
		426	}
		427	}
		428
		429	#endregion init
		430
		431	#region events
		432	private void serialPortCtrl_PortOpened()
		433	{
		434	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		435	_getVersion();
		436	Thread.Sleep(100);
		437	//_OSDMenue(0);
		438	//Thread.Sleep(200);
		439	//_sendSerialData();
		440	_readCont(true);
		441	}
		442	private void serialPortCtrl_PortClosed()
		443	{
		444	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		445	_readCont(false);
		446	}
2324	-	447	bool _bToggle = false;
2287	-	448	void timerEvent(object sender, EventArgs e)
		449	{
		450	if (bReadContinously)
		451	{
		452	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		453
		454	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		455
		456	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		457	check_HWError = true;
		458	_getVersion();
		459	Thread.Sleep(10);
		460	if (_OSDAutorefresh)
		461	{
		462	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		463	_initOSDCB();
		464	_OSDMenueAutoRefresh();
		465	}
		466	if (_iLifeCounter > 0)
		467	{
		468	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		469	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		470	_iLifeCounter = 0;
		471	_bConnErr = false;
2327	-	472	if(_bAirborne && _bGPXLog)
2324	-	473	{
		474	drGPX[0] = dtGPX.Rows.Count;
		475	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		476	}
2327	-	477	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		478	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		479	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
2324	-	480	_bToggle = !_bToggle;
2287	-	481	}
		482	else
		483	{
		484	if (!_bConnErr)
		485	{
		486	Log(LogMsgType.Error, "No communication to NC/FC!");
		487	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		488	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		489	_bConnErr = true;
		490	}
		491	}
		492	}
		493	}
		494
		495	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		496	{
		497	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		498	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		499	}
		500	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		501	{
		502	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		503	if (GridMotors.IsVisible)
		504	_setMotorGridSize();
		505	}
		506	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		507	{
		508	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		509	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		510	}
		511	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		512	{
		513	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		514	}
		515	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		516	{
		517	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		518	}
		519	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		520	{
		521	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		522	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		523	}
		524
		525	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		526	{
		527	Thread t = new Thread(new ThreadStart(_getWP));
		528	t.Start();
		529	}
		530	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		531	{
2313	-	532	Thread t = new Thread(new ThreadStart(_sendWPList));
		533	t.Start();
2287	-	534	}
		535
		536	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		537	{
		538	if (!serialPortCtrl.Port.IsOpen)
		539	serialPortCtrl.Connect(true);
		540	else
		541	_readCont(!bReadContinously);
		542	}
		543	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		544	{
		545	setHomePos();
		546	}
		547	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		548	{
		549	clearHomePos();
		550	}
		551	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		552	{
		553	if (home != null && MainMap.Markers.Contains(home))
		554	MainMap.Position = home.Position;
		555	}
2295	-	556	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		557	{
		558	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		559	}
2287	-	560	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		561	{
		562	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		563	}
		564	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		565	{
		566	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		567	}
		568
2291	-	569	#region thresholds
2287	-	570	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		571	{
		572	if(!_init)
		573	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		574	}
		575	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		576	{
		577	if(!_init)
		578	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		579	}
		580	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		581	{
		582	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		583	}
2291	-	584
		585	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		586	{
		587	if(!_init)
		588	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		589	}
		590	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		591	{
		592	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		593	}
		594
		595	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		596	{
		597	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		598	}
		599	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		600	{
		601	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		602	}
		603	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		604	{
		605	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		606	}
		607	#endregion thresholds
		608
2287	-	609	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		610	{
		611	_switchToNC();
		612	}
		613
		614	private void Window_Loaded(object sender, RoutedEventArgs e)
		615	{
		616	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
2291	-	617	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		618	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		619	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		620	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
2287	-	621	_setMotorGridSize();
		622	}
2310	-	623	private void Window_Closing(object sender, CancelEventArgs e)
		624	{
		625	_writeIni();
2324	-	626	if(_bGPXLog && dtGPX.Rows.Count > 0)
		627	_saveGPXLog();
2310	-	628	}
2287	-	629	#endregion events
		630
		631	#region GMap
		632
		633	void _setupMap()
		634	{
		635	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		636	MainMap.MapProvider = GMapProviders.BingHybridMap;
		637	MainMap.SetPositionByKeywords("Landshut");
		638	MainMap.MinZoom = 0;
		639	MainMap.MaxZoom = 24;
		640	MainMap.Zoom = 16;
		641	MainMap.ShowCenter = true;
		642	MainMap.ShowTileGridLines = false;
		643	sliderMapZoom.Value = 16;
		644	comboBoxMapType.ItemsSource = providerList;
		645	comboBoxMapType.DisplayMemberPath = "Name";
		646	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		647
		648	// acccess mode
		649	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		650	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		651
		652	}
		653
		654	/// <summary>
		655	/// selection of relevant map providers --> if You need more, You can change the line:
		656	/// comboBoxMapType.ItemsSource = providerList;
		657	/// to:
		658	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		659	/// in _setupMap()
		660	/// or add items here:
		661	/// </summary>
		662	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		663	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		664	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		665	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		666	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		667
		668	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		669	{
		670	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		671	copter = new GMapMarker(MainMap.Position);
2318	-	672
		673	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"),"red");
		674	if (comboBoxCopterColor.SelectionBoxItem != null)
		675	{
		676	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		677	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		678	}
2287	-	679	copter.Offset = new System.Windows.Point(-18, -18);
		680	copter.ZIndex = int.MaxValue;
		681	MainMap.Markers.Add(copter);
		682	copter.Position = MainMap.Position;
		683	}
		684	void setHomePos()
		685	{
		686	pHome = MainMap.Position;
		687	if (!MainMap.Markers.Contains(home))
		688	{
		689	home = new GMapMarker(MainMap.Position);
		690	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		691	home.Offset = new System.Windows.Point(-18, -18);
		692	// home.ZIndex = int.MaxValue;
		693	MainMap.Markers.Add(home);
		694	}
		695	home.Position = MainMap.Position;
		696	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		697	}
		698	void clearHomePos()
		699	{
		700	MainMap.Markers.Remove(home);
		701	}
2335	-	702	void _clearMapMarkers(Type markerType)
		703	{
		704	for (int k = 0; k < MainMap.Markers.Count;)
		705	{
		706	GMapMarker p = MainMap.Markers[k];
2340	-	707	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	708	MainMap.Markers.Remove(p);
		709	else
		710	k++;
		711	}
2287	-	712
2335	-	713	}
		714
2287	-	715	// access mode
		716	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		717	{
		718	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		719	MainMap.ReloadMap();
		720	}
		721	// zoom up
		722	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		723	{
		724	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		725	}
		726
		727	// zoom down
		728	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		729	{
		730	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		731	}
		732
		733	// prefetch
		734	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		735	{
		736	RectLatLng area = MainMap.SelectedArea;
		737	if (!area.IsEmpty)
		738	{
		739	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		740	{
		741	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		742
		743	if (res == MessageBoxResult.Yes)
		744	{
		745	TilePrefetcher obj = new TilePrefetcher();
		746	obj.Owner = this;
		747	obj.ShowCompleteMessage = true;
		748	obj.Start(area, i, MainMap.MapProvider, 100);
		749	}
		750	else if (res == MessageBoxResult.No)
		751	{
		752	continue;
		753	}
		754	else if (res == MessageBoxResult.Cancel)
		755	{
		756	break;
		757	}
		758	}
		759	}
		760	else
		761	{
		762	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		763	}
		764	}
		765
		766	// goto by geocoder
		767	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		768	{
		769	_goto_byGeoCoder();
		770	}
		771	// goto by geocoder
		772	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		773	{
		774	if (e.Key == System.Windows.Input.Key.Enter)
		775	_goto_byGeoCoder();
		776	}
		777	void _goto_byGeoCoder()
		778	{
		779	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		780	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		781	{
		782	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		783	}
		784	}
		785	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		786	{
		787	try
		788	{
		789	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		790	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		791
		792	MainMap.Position = new PointLatLng(lat, lng);
		793	}
		794	catch (Exception ex)
		795	{
		796	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		797	}
		798
		799	}
		800
		801	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		802	{
		803	MainMap.ReloadMap();
		804	}
		805
		806	private void MainMap_OnPositionChanged(PointLatLng point)
		807	{
		808	if (_bFollowCopter)
		809	_setCopterData(MainMap.Position);
		810	}
		811
		812	private void MainMap_OnMapZoomChanged()
		813	{
		814	if (_bFollowCopter)
		815	_setCopterData(MainMap.Position);
		816	if((int)sliderMapZoom.Value != MainMap.Zoom)
		817	sliderMapZoom.Value = MainMap.Zoom;
		818	}
		819
		820	void _setCopterData(PointLatLng p)
		821	{
		822	Dispatcher.Invoke(() =>
		823	{
		824	copter.Position = p;
		825	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		826	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		827	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		828	});
		829	if (home != null && MainMap.Markers.Contains(home))
		830	{
		831	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		832	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		833	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	834
		835	if(d*1000 < _dThresholdDistanceWarn)
		836	{
		837	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		838	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		839	{
		840	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		841	_bAnimDistanceActive = false;
		842	}
		843	}
		844	else
		845	{
		846	if (_iDistanceJitter < 20)
		847	{ _iDistanceJitter++; }
		848	if (_iDistanceJitter == 20)
		849	{
		850	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		851	{
		852	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		853	_bAnimDistanceActive = true;
		854	}
		855	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		856	{
2295	-	857	Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		858	t.Start();
2291	-	859	_bVoiceDistanceActive = true;
		860	}
		861	_iDistanceJitter++;
		862	}
		863	}
2287	-	864	}
		865	}
		866
		867	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		868	{
		869	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		870	}
		871
		872	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		873	{
		874	if (MainMap.Zoom != sliderMapZoom.Value)
		875	MainMap.Zoom = (int)sliderMapZoom.Value;
		876	}
		877	#region Touch zooming hackattack ;)
		878	/// <summary>
		879	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		880	/// </summary>
		881	bool bFirstAccess = true;
		882	double dDistance = 0;
		883	int iZoom;
		884	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		885	{
		886	var id = e.StylusDevice.Id;
		887	e.StylusDevice.Capture(MainMap);
		888	if (iFirstStylusID == -1)
		889	{
		890	iFirstStylusID = id;
		891	}
		892	else
		893	{
		894
		895	MainMap.CanDragMap = false;
		896	}
		897	}
		898	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		899	{
		900	MainMap.ReleaseStylusCapture();
		901	iFirstStylusID = -1;
		902	bFirstAccess = true;
		903	MainMap.CanDragMap = true;
		904	iZoom = 0;
		905	}
		906	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		907	{
		908	var id = e.StylusDevice.Id;
		909	var tp = e.GetPosition(MainMap);
		910
		911	// This is the first Stylus point; just record its position.
		912	if (id == iFirstStylusID)
		913	{
		914	pTouch1.X = tp.X;
		915	pTouch1.Y = tp.Y;
		916	}
		917	else
		918	if (iFirstStylusID > -1)
		919	{
		920	pTouch2.X = tp.X;
		921	pTouch2.Y = tp.Y;
		922	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		923	if (!bFirstAccess)
		924	{
		925	if (distance > dDistance)
		926	iZoom++;
		927	else
		928	if (distance < dDistance)
		929	iZoom--;
		930	}
		931	if (iZoom > 30)
		932	{
		933	iZoom = 0;
		934	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		935	}
		936	if (iZoom < -30)
		937	{
		938	iZoom = 0;
		939	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		940	}
		941	dDistance = distance;
		942	bFirstAccess = false;
		943	}
		944	}
		945	#endregion Touch zooming hackattack ;)
		946
		947	#endregion GMap
		948
		949	#region settings
		950	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		951	{
		952	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		953	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		954	}
		955	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		956	{
		957	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		958	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		959	}
		960	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		961	{
		962	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		963	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		964	}
		965	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		966	{
		967	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		968	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		969	}
		970	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		971	{
		972	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		973	}
		974	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		975	{
		976	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		977	}
		978	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		979	{
		980	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		981	}
		982	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		983	{
		984	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		985	}
		986
		987	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		988	{
		989	if (cBoxLiPoCells.SelectedIndex > -1)
		990	{
		991	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		992	_LipoMinMax();
		993	}
		994	}
		995	void _LipoMinMax()
		996	{
		997	_dLipoVMax = (double)(_LipoCells) * 4.22;
		998	_dLipoVMin = (double)_LipoCells * 3;
		999	pbTopVoltage.Maximum = _dLipoVMax;
		1000	pbTopVoltage.Minimum = _dLipoVMin;
		1001	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1002	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1003	}
		1004	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1005	{
		1006	if (cBoxMotors.SelectedIndex > -1)
		1007	{
		1008	_iMotors = cBoxMotors.SelectedIndex + 3;
		1009	Dispatcher.Invoke(() =>
		1010	{
		1011	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1012	GridMotors.Height = dgvMotors1.Height + 10;
		1013	});
		1014	}
		1015	}
		1016	void _setMotorGridSize()
		1017	{
		1018	if (dgvMotors1.Columns.Count > 2)
		1019	{
		1020	dgvMotors1.Columns[0].Width = 24;
		1021	dgvMotors1.Columns[1].Width = 50;
		1022	dgvMotors1.Columns[2].Width = 50;
		1023	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1024	GridMotors.Height = dgvMotors1.Height + 10;
		1025	}
		1026
		1027	}
		1028	#endregion settings
		1029
		1030	#region functions
		1031
		1032	#region logging
		1033	/// <summary> Log data to the terminal window. </summary>
		1034	/// <param name="msgtype"> The type of message to be written. </param>
		1035	/// <param name="msg"> The string containing the message to be shown. </param>
		1036	private void Log(LogMsgType msgtype, string msg)
		1037	{
		1038	Dispatcher.Invoke(() =>
		1039	{
		1040	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1041	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1042	// rtfTerminal.AppendText(msg + "\r");
		1043	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1044	tr.Text = msg;
		1045	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1046	rtfTerminal.AppendText("\r");
		1047	rtfTerminal.ScrollToEnd();
		1048	});
		1049	}
		1050	private void ErrorLog(LogMsgType msgtype, string msg)
		1051	{
		1052	Dispatcher.Invoke(() =>
		1053	{
		1054	TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1055	tr.Text = msg;
		1056	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1057	rtfError.AppendText("\r");
		1058	rtfError.ScrollToEnd();
		1059
		1060	_bErrorLog = true;
		1061	});
		1062	}
		1063	/// <summary>
		1064	/// Clear the line in the errorlog window
		1065	/// containing the error string when error has ceased
		1066	/// </summary>
		1067	/// <param name="s">substring of errrormessage</param>
		1068	void _clearErrorLog(string s)
		1069	{
		1070	Dispatcher.Invoke((Action)(() =>
		1071	{
		1072	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1073	TextRange foundRange = FindTextInRange(searchRange, s);
		1074
		1075	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1076
		1077
		1078	if (iStart > -1)
		1079	{
		1080	int iLength = 0;
		1081	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1082	if (iEnd > 0)
		1083	{
		1084	iLength = iEnd + 1;
		1085	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1086	if (iHttp == iLength)
		1087	{
		1088	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1089	if (iEnd2 > iLength)
		1090	{
		1091	iLength = iEnd2 + 1;
		1092	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1093
		1094	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1095	rtfError.Selection.Text = string.Empty;
		1096	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1097	}
		1098
		1099	}
		1100	else
		1101	{
		1102	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1103	rtfError.Selection.Text = string.Empty;
		1104	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1105	}
		1106	}
		1107	}
		1108	}));
		1109
		1110	}
		1111	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1112	{
		1113	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1114	if (offset < 0)
		1115	return null; // Not found
		1116
		1117	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1118	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1119
		1120	return result;
		1121	}
		1122	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1123	{
		1124	while (position != null)
		1125	{
		1126	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1127	{
		1128	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1129	if (characterCount <= count)
		1130	{
		1131	return position.GetPositionAtOffset(characterCount);
		1132	}
		1133
		1134	characterCount -= count;
		1135	}
		1136
		1137	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1138	if (nextContextPosition == null)
		1139	return position;
		1140
		1141	position = nextContextPosition;
		1142	}
		1143
		1144	return position;
		1145	}
		1146	#endregion logging
		1147
		1148	#region processing received data
		1149
		1150	private void processMessage(byte[] message)
		1151	{
		1152	if (message.Length > 0)
		1153	{
		1154	_iLifeCounter++;
		1155	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1156	//Log(LogMsgType.Incoming, message.Length.ToString());
		1157	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1158	char cmdID;
		1159	byte adr;
		1160	byte[] data;
		1161	byte[] tmp = null;
		1162	if (message[0] != '#')
		1163	{
		1164	int iFound = -1;
		1165	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1166	{ //so this is a workaround to not spam the log box
		1167	if (message[i] == 35)
		1168	{
		1169	iFound = i;
		1170	break;
		1171	}
		1172	}
		1173	if (iFound > 0)
		1174	{
		1175	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1176	tmp = new byte[message.Length - iFound];
		1177	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1178	}
		1179	s = s.Trim('\0', '\n', '\r');
		1180	if (s.Length > 0)
		1181	Log(LogMsgType.Normal, s);
		1182	if (tmp != null)
		1183	{
		1184	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1185	processMessage(tmp);
		1186	}
		1187	}
		1188	//Debug.Print(s);
		1189	else
		1190	{
		1191	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1192
		1193	if (adr == 255) { crcError++; }
		1194	else crcError = 0;
		1195	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1196	//display the active controller (FC / NC)
		1197	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...???
		1198	{
		1199	_iCtrlAct = adr;
		1200	switch (adr)
		1201	{
		1202	case 1:
		1203	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2298	-	1204	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
2287	-	1205	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1206	// _setFieldsNA(); //display fields NA for FC
		1207	break;
		1208	case 2:
		1209	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1210	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1211	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1212	break;
		1213	//case 3:
		1214	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1215	// break;
		1216	//case 4:
		1217	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1218	// break;
		1219	default:
		1220	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1221	break;
		1222	}
		1223	// _loadLabelNames();
		1224	}
		1225	// else
		1226	// Debug.Print("Address == 0?");
		1227
		1228	if (data != null && data.Length > 0)
		1229	{
		1230	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1231	s = s.Trim('\0', '\n');
		1232
		1233	switch (cmdID)
		1234	{
		1235	//case 'A': //Label names
		1236	// _processLabelNames(s);
		1237	// break;
		1238
		1239	case 'D': //Debug data
		1240	_processDebugVals(adr, data);
		1241	break;
		1242
		1243	case 'V': //Version
		1244	_processVersion(adr, data);
		1245	break;
		1246
		1247	case 'K'://BL-CTRL data
		1248	_processBLCtrl(data);
		1249	break;
		1250
		1251	case 'O': //NC Data
		1252	_processNCData(data);
		1253	break;
		1254
		1255	case 'E': //NC error-string
		1256	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1257	break;
		1258
		1259	case 'L': //OSD Menue (called by pagenumber)
		1260	_processOSDSingle(data);
		1261	break;
		1262
		1263	case 'H': //OSD Menue (with autoupdate - called by Key)
		1264	_processOSDAuto(data);
		1265	break;
		1266
		1267	case 'X': //Waypoint data
		1268	_processWPData(data);
		1269	break;
		1270
2313	-	1271	case 'W': //return new Waypoint items count after sending waypoint to copter
		1272	_iWPCount = data[0];
		1273	break;
2287	-	1274	//default:
		1275	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1276	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1277	// break;
		1278	}
		1279	}
		1280	//else
		1281	//{
		1282	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1283	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1284	//}
		1285	}
		1286	}
		1287	}
		1288	/// <summary>
		1289	/// Analog label names 'A'
		1290	/// each label name is returned as a single string
		1291	/// and added to string array sAnalogLabel[]
		1292	/// and the datatable dtAnalog
		1293	/// </summary>
		1294	/// <param name="s">the label name</param>
		1295	void _processLabelNames(string s)
		1296	{
		1297	//if (iLableIndex < 32)
		1298	//{
		1299	// sAnalogLabel[iLableIndex] = s;
		1300	// if (dtAnalog.Rows.Count < 32)
		1301	// dtAnalog.Rows.Add(s, "");
		1302	// else
		1303	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1304
		1305	// // _getAnalogLabels(iLableIndex + 1);
		1306	//}
		1307	//Debug.Print(s);
		1308	}
		1309	/// <summary>
		1310	/// Debug values 'D'
		1311	/// </summary>
		1312	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1313	/// <param name="data">the received byte array to process</param>
		1314	void _processDebugVals(byte adr, byte[] data)
		1315	{
		1316	if (data.Length == 66)
		1317	{
2324	-	1318
2287	-	1319	double v;
		1320	int index = 0;
		1321	Int16 i16 = 0;
		1322	double dTemp = 0;
		1323	for (int i = 2; i < 66; i += 2)
		1324	{
		1325	i16 = data[i + 1];
		1326	i16 = (Int16)(i16 << 8);
		1327	iAnalogData[index] = data[i] + i16;
		1328	sAnalogData[index] = (data[i] + i16).ToString();
		1329	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1330
		1331	if (adr == 2) //NC
		1332	{
		1333	switch (index)
		1334	{
		1335	case 0: //pitch (German: nick)
		1336	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1337	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1338	break;
		1339	case 1: //roll
		1340	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1341	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1342	break;
		1343	case 4: //altitude
		1344	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1345	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2324	-	1346	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1347	break;
		1348	case 7: //Voltage
		1349	v = (double)iAnalogData[index] / (double)10;
		1350	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1351	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1352	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1353	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1354	{
		1355	if (v == _dVoltLast)
		1356	if(_iVoltJitter < 20) _iVoltJitter++;
		1357	else
		1358	{
		1359	_iVoltJitter = 0;
		1360	_dVoltLast = v;
		1361	}
		1362	if (_iVoltJitter == 20)
		1363	{
		1364	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1365
		1366	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1367	{
		1368	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1369	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1370	{
		1371	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1372	_bCritAnimVoltActive = true;
		1373	}
		1374	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1375	{
2295	-	1376	Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1377	t.Start();
2287	-	1378	_bCritVoiceVoltActive = true;
		1379	}
		1380	}
		1381	else
		1382	{
		1383	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1384	{
		1385	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1386	_bCritAnimVoltActive = false;
		1387	}
		1388	_bCritVoiceVoltActive = false;
		1389
2291	-	1390	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1391	{
2295	-	1392	Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1393	t.Start();
2291	-	1394	_bWarnVoiceVoltActive = true;
2287	-	1395	}
		1396	}
		1397	}
		1398	}
		1399	else
		1400	{
		1401	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1402	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1403	{
		1404	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1405	_bCritAnimVoltActive = false;
		1406	}
		1407	_bCritVoiceVoltActive = false;
2291	-	1408	_bWarnVoiceVoltActive = false;
2287	-	1409	_iVoltJitter = 0;
		1410	}
		1411	break;
		1412	case 8: // Current
		1413	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1414	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1415	break;
		1416	case 10: //heading
2291	-	1417	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2287	-	1418	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1419	break;
		1420	case 12: // SPI error
2291	-	1421	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1422	break;
		1423	case 14: //i2c error
2291	-	1424	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1425	break;
		1426	case 20: //Earthmagnet field
2291	-	1427	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1428	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1429
		1430	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1431	{
		1432	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1433	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1434	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1435	{
		1436	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1437	_bAnimMagneticFieldActive = false;
		1438	}
		1439	}
		1440	else
		1441	{
		1442	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1443	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1444	{
		1445	if (_iMagneticFieldJitter < 20)
		1446	_iMagneticFieldJitter++;
		1447	}
		1448	else
		1449	{
		1450	_iMagneticFieldJitter = 0;
		1451	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1452	}
		1453	if(_iMagneticFieldJitter == 20)
		1454	{
		1455	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1456	{
		1457	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1458	_bAnimMagneticFieldActive = true;
		1459	}
		1460	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1461	{
2295	-	1462	Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1463	t.Start();
2291	-	1464	_bVoiceMagneticFieldActive = true;
		1465	}
		1466	}
		1467	}
2287	-	1468	break;
		1469	case 21: //GroundSpeed
		1470	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1471	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1472	break;
2291	-	1473
		1474	///******** needs testing --> not sure what position this is *************
2287	-	1475	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1476	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1477	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1478	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1479	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1480	dTemp = Math.Sqrt(dTemp) / (double)10;
		1481	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1482	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1483	break;
2291	-	1484
2287	-	1485	case 31: //Sats used
		1486	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1487	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1488	break;
		1489	}
		1490	}
		1491	index++;
		1492	}
		1493	}
		1494	else
		1495	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1496	}
		1497	/// <summary>
		1498	/// Version string 'V'
		1499	/// </summary>
		1500	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1501	/// <param name="data">the received byte array to process</param>
		1502	void _processVersion(byte adr, byte[] data)
		1503	{
		1504	if (data.Length == 12)
		1505	{
		1506	if (!check_HWError)
		1507	{
		1508	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1509	string sVersion = "";
		1510	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1511	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1512	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1513	Log(LogMsgType.Incoming, sVersion);
		1514	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1515	Log(LogMsgType.Incoming, sVersion);
		1516	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1517	}
		1518	if (data[5] > 0) //error0
		1519	{
		1520	if (adr == 1)
		1521	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		1522	if (adr == 2)
		1523	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		1524	}
		1525	if (data[6] > 0) //error1
		1526	{
		1527	if (adr == 1)
		1528	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		1529	if (adr == 2)
		1530	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		1531	}
		1532	if ((data[5] + data[6] == 0) && _bErrorLog)
		1533	_clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		1534
		1535	}
		1536	check_HWError = false;
		1537	}
		1538	/// <summary>
		1539	/// BL-Ctrl data 'K'
		1540	/// for FC you have to use a customized firmware
		1541	/// </summary>
		1542	/// <param name="data">the received byte array to process</param>
		1543	void _processBLCtrl(byte[] data)
		1544	{
		1545	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1546	{
		1547	bool bAvailable = false;
		1548	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1549	{
		1550
		1551	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1552	bAvailable = true;
		1553	else
		1554	bAvailable = false;
		1555
		1556	if (data[i] < _iMotors)
		1557	{
		1558	if (bAvailable)
		1559	{
2315	-	1560	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1561	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1562	}
		1563	else
		1564	{
2315	-	1565	dtMotors.Rows[data[i]].SetField(1, "NA");
		1566	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1567	}
		1568	}
		1569	//if (data[i] > 3 && data[i] < 8)
		1570	//{
		1571	// if (bAvailable)
		1572	// {
		1573	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1574	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1575	// }
		1576	// else
		1577	// {
		1578	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1579	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1580	// }
		1581	//}
		1582	}
		1583	}
		1584	}
		1585	/// <summary>
		1586	/// Navi-Ctrl data 'O'
		1587	/// GPS-Position, capacatiy, flying time...
		1588	/// </summary>
		1589	/// <param name="data">the received byte array to process</param>
		1590	void _processNCData(byte[] data)
		1591	{
		1592	int i_32, i_16, iVal;
		1593	double d;
		1594	i_32 = data[4];
		1595	iVal = i_32 << 24;
		1596	i_32 = data[3];
		1597	iVal += i_32 << 16;
		1598	i_32 = data[2];
		1599	iVal += i_32 << 8;
		1600	iVal += data[1];
		1601	d = (double)iVal / Math.Pow(10, 7);
2324	-	1602	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1603
2287	-	1604	PointLatLng p = new PointLatLng();
		1605
		1606	p.Lng = d;
		1607	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1608	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1609
		1610	i_32 = data[8];
		1611	iVal = i_32 << 24;
		1612	i_32 = data[7];
		1613	iVal += i_32 << 16;
		1614	i_32 = data[6];
		1615	iVal += i_32 << 8;
		1616	iVal += data[5];
		1617	d = (double)iVal / Math.Pow(10, 7);
2324	-	1618	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1619	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1620	p.Lat = d;
2291	-	1621	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1622	{
		1623	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1624	if(_bAutoHome && !_bFirstSatFix)
		1625	{
		1626	if (_iFirstSatFix < 3)
		1627	_iFirstSatFix++;
		1628	else
		1629	{
		1630	_bFirstSatFix = true;
		1631	Dispatcher.Invoke(() => setHomePos());
		1632	}
		1633	}
2291	-	1634	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1635	{
		1636	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1637	_bAnimSatFixActive = false;
		1638	}
		1639	if (!_bFollowCopter)
		1640	{
		1641	_setCopterData(p);
		1642	if (!MainMap.ViewArea.Contains(p))
		1643	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1644
2291	-	1645	}
		1646	else
2287	-	1647	Dispatcher.Invoke(() => MainMap.Position = p);
		1648	}
		1649	else
2291	-	1650	{
		1651	if(_bSatFix)
		1652	{
		1653	if (data[50] == _iSatsLast)
		1654	{
		1655	if (_iSatsJitter < 20) _iSatsJitter++;
		1656	}
		1657	else
		1658	{
		1659	_iSatsJitter = 0;
		1660	_iSatsLast = data[50];
		1661	}
2287	-	1662
2291	-	1663	if (_iSatsJitter == 20)
		1664	{
		1665	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1666	{
		1667	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1668	_bAnimSatFixActive = true;
		1669	}
		1670	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1671	{
2335	-	1672	Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
2295	-	1673	th.Start();
2291	-	1674	_bVoiceSatFixActive = true;
		1675	}
		1676
		1677	_bSatFix = false;
		1678	}
		1679	}
		1680	}
		1681
2287	-	1682	// lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
		1683	//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
		1684
		1685	i_16 = data[28];
		1686	i_16 = (Int16)(i_16 << 8);
		1687	iVal = data[27] + i_16;
		1688	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1689
		1690	i_16 = data[45];
		1691	i_16 = (Int16)(i_16 << 8);
		1692	iVal = data[44] + i_16;
		1693	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1694	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1695
		1696	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2340	-	1697	_wpIndex = data[48];
		1698	//if(wpList.Count > 0 && ((data[67] & 2) == 2))
		1699	//{
		1700	// Dispatcher.Invoke(() =>
		1701	// {
		1702	// if(data[48] < wpList.Count)
		1703	// {
		1704	// DataGridRow row;
		1705	// if (data[48] - 1 > -1)
		1706	// {
		1707	// row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(data[48] - 1);
		1708	// row.Background = new SolidColorBrush(Colors.Transparent);
		1709	// }
		1710	// row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(data[48]);
		1711	// row.Background = new SolidColorBrush(Color.FromArgb(50, 0, 100, 255));
		1712	// }
		1713	// });
		1714	//}
2287	-	1715	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2340	-	1716	_wpCount = data[49];
2287	-	1717	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1718
		1719	//--------------- Capacity used ------------------------
		1720	i_16 = data[81];
		1721	i_16 = (Int16)(i_16 << 8);
		1722	iVal = data[80] + i_16;
		1723	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1724	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1725
		1726	//--------------- Flying time ------------------------
		1727	i_16 = data[56];
		1728	i_16 = (Int16)(i_16 << 8);
		1729	iVal = data[55] + i_16;
		1730	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1731	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1732	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1733	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1734
		1735	//--------------- RC quality ------------------------
		1736	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1737	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1738
2291	-	1739	if(data[66] > _iThresholdRC)
		1740	{
		1741	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1742	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1743	{
		1744	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1745	_bAnimRCLevelActive = false;
		1746	}
		1747	}
		1748	else
		1749	{
		1750	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1751	if (_iRCLevelJitter == 20)
		1752	{
		1753	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1754	{
		1755	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1756	_bAnimRCLevelActive = true;
		1757	}
		1758	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1759	{
2295	-	1760	Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1761	th.Start();
2291	-	1762	_bVoiceRCLevelActive = true;
		1763	}
		1764	_iRCLevelJitter++;
		1765	}
		1766	}
		1767
2287	-	1768	//--------------- NC Error ------------------------
		1769	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1770	if (data[69] > 0)
		1771	_readNCError();
		1772	if (data[69] > 0 & data[69] < 44)
		1773	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
		1774	else
		1775	if (_bErrorLog) _clearErrorLog("NC Error");
		1776
2298	-	1777	//-------------FC / NC Status Flags
		1778	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1779	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1780	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1781	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1782	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1783	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1784
		1785	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1786	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1787	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1788	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1789	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1790	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
		1791	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		1792	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		1793
		1794	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1795	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1796	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1797	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1798	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1799	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1800	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	1801
		1802	//Sidebar StatusSymbols
		1803	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1804	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
		1805	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
		1806
		1807	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1808	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
		1809	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
		1810
		1811	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	1812	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
		1813	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	-	1814
		1815	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1816	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
		1817	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
		1818
		1819	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	1820	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
		1821	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
		1822	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	-	1823
2324	-	1824	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	1825	}
		1826	/// <summary>
		1827	/// Navi-Ctrl WP data struct 'X'
		1828	/// called by index
		1829	/// </summary>
		1830	/// <param name="data">the received byte array to process</param>
		1831	void _processWPData(byte[] data)
		1832	{
2313	-	1833	_iWPCount = data[0];
2287	-	1834	_bGetWPCount = false;
		1835	if (data.Length >= 28)
		1836	{
		1837	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		1838	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		1839	if (_bGetWP)
		1840	{
		1841	if (data[1] == 1)
2315	-	1842	{
2333	-	1843	if(mRouteWP != null)
		1844	Dispatcher.Invoke(() => MainMap.Markers.Remove(mRouteWP));
2328	-	1845	wpList.Clear();
		1846
		1847	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
2287	-	1848	dtWaypoints.Rows.Clear();
2333	-	1849	Dispatcher.Invoke(() =>
		1850	{
2318	-	1851	for (int k = 0; k < MainMap.Markers.Count;)
		1852	{
		1853	GMapMarker p = MainMap.Markers[k];
		1854	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		1855	MainMap.Markers.Remove(p);
		1856	else
		1857	k++;
		1858	}
		1859	});
2315	-	1860	}
2287	-	1861	DataRow dr = dtWaypoints.NewRow();
		1862	dr = Waypoints.toDataRow(data, dr);
2313	-	1863	dtWaypoints.Rows.Add(dr);
2318	-	1864	Dispatcher.Invoke(() => {
		1865	GMapMarker wp = new GMapMarker(new PointLatLng((double)dr[3], (double)dr[4]));
		1866	wp.Shape = new CustomMarkerWP(this, wp, (string)dr[2],(int)dr[1]);
2333	-	1867	wp.Offset = new System.Windows.Point(-11.5, -11.5);
2318	-	1868	_setMarkerColor(wp, (int)dr[1]);
		1869	MainMap.Markers.Add(wp);
		1870	});
2313	-	1871	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1872	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2335	-	1873	if ((int)dr[1] == 0)
		1874	wpList.Add(new PointLatLng((double)dr[3], (double)dr[4]));
2287	-	1875	if (data[1] == data[0])
		1876	{
		1877	_bGetWP = false;
		1878	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
2328	-	1879
		1880	Dispatcher.Invoke(() =>
		1881	{
		1882	if (comboBoxRouteColor.SelectionBoxItem != null)
		1883	{
		1884	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		1885	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		1886	}
		1887	else
		1888	mRouteWP = new GMapRoute(wpList, null);
		1889
		1890	if (_bShowWPRoute)
		1891	MainMap.Markers.Add(mRouteWP);
		1892	});
		1893	MapRoute mr = new MapRoute(wpList, "WPList");
2333	-	1894	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
2287	-	1895	}
		1896
		1897	}
		1898	}
		1899	else
		1900	{
		1901	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		1902	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		1903	}
		1904	}
		1905	/// <summary>
		1906	/// OSD Menue 'L'
		1907	/// single page called by pagenumber
		1908	/// no autoupdate
		1909	/// </summary>
		1910	/// <param name="data">the received byte array to process</param>
		1911	void _processOSDSingle(byte[] data)
		1912	{
		1913	if (data.Length == 84)
		1914	{
		1915	string sMessage = "";
		1916	iOSDPage = data[0];
		1917	iOSDMax = data[1];
		1918	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		1919	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		1920	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1921	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1922	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1923	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1924	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		1925	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		1926
		1927	}
		1928	//else
		1929	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		1930
		1931	}
		1932	/// <summary>
		1933	/// OSD Menue 'H'
		1934	/// called by keys (0x01,0x02,0x03,0x04)
		1935	/// autoupdate
		1936	/// </summary>
		1937	/// <param name="data">the received byte array to process</param>
		1938	void _processOSDAuto(byte[] data)
		1939	{
		1940	if (data.Length == 81)
		1941	{
		1942	string sMessage = "";
		1943	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		1944	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1945	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1946	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1947	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1948
		1949	}
		1950	//else
		1951	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		1952	}
		1953
		1954	#endregion processing received data
		1955
		1956	#region controller messages
		1957	/// <summary> send message to controller to request data
		1958	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1959	/// </summary>
		1960	/// <param name="CMDID"> the command ID </param>
		1961	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1962	private void _sendControllerMessage(char CMDID, byte address)
		1963	{
		1964	if (serialPortCtrl.Port.IsOpen)
		1965	{
		1966	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1967	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		1968	serialStream.Write(bytes, 0, bytes.Length);
		1969
		1970	}
		1971	else
		1972	Log(LogMsgType.Error, "NOT CONNECTED!");
		1973	}
		1974	/// <summary> send message to controller to request data
		1975	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1976	/// </summary>
		1977	/// <param name="CMDID"> the command ID </param>
		1978	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1979	/// <param name="data"> additional data for the request</param>
		1980	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		1981	{
		1982	if (serialPortCtrl.Port.IsOpen)
		1983	{
		1984	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1985	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		1986	serialStream.Write(bytes, 0, bytes.Length);
		1987
		1988	}
		1989	else
		1990	Log(LogMsgType.Error, "NOT CONNECTED!");
		1991	}
		1992
		1993	/// <summary>
		1994	/// start/stop continous polling of controller values
		1995	/// </summary>
		1996	/// <param name="b">start/stop switch</param>
		1997	void _readCont(bool b)
		1998	{
		1999	bReadContinously = b;
		2000	if (bReadContinously)
		2001	{
		2002	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2003	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2004	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2005	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2006	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2007	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2008	}
		2009	else
		2010	{
		2011	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2012	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2013	_bConnErr = false;
		2014	}
		2015	_iLifeCounter = 0;
		2016	}
		2017
		2018	private void _getVersion()
		2019	{
		2020	_sendControllerMessage('v', 0);
		2021	}
		2022	/// <summary>
		2023	/// get FC version struct via NC
		2024	/// by sending '1' as data (not documented in wiki...)
		2025	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2026	/// </summary>
		2027	/// <param name="ctrl">controller number 1=FC</param>
		2028	private void _getVersion(byte ctrl)
		2029	{
		2030	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2031	}
		2032	/// <summary>
		2033	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2034	/// </summary>
		2035	private void _switchToNC()
		2036	{
		2037	if (serialPortCtrl.Port.IsOpen)
		2038	{
		2039	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2040	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2041	serialStream.Write(bytes, 0, bytes.Length);
		2042
		2043	Thread.Sleep(100);
		2044	_getVersion();
		2045	Thread.Sleep(100);
		2046	// _OSDMenue(0);
		2047	}
		2048	else
		2049	Log(LogMsgType.Error, "NOT CONNECTED!");
		2050	}
		2051	/// <summary>
		2052	/// switch to FC
		2053	/// </summary>
		2054	private void _switchToFC()
		2055	{
		2056	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2057	Thread.Sleep(100);
		2058	_getVersion();
		2059	Thread.Sleep(100);
		2060	// _OSDMenue(0);
		2061	}
		2062	/// <summary>
		2063	/// send RESET signal to FC
		2064	/// </summary>
		2065	private void _resetCtrl()
		2066	{
		2067	_sendControllerMessage('R', 1);
		2068	}
		2069	/// <summary>
		2070	/// poll the debug data (4sec subscription)
		2071	/// </summary>
		2072	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2073	private void _readDebugData(bool auto)
		2074	{
		2075	byte interval = auto ? debugInterval : (byte)0;
		2076	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2077	}
		2078	/// <summary>
		2079	/// poll the BL-CTRL status via NC (4sec subscription)
		2080	/// </summary>
		2081	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2082	private void _readBLCtrl(bool auto)
		2083	{
		2084	byte interval = auto ? blctrlInterval : (byte)0;
		2085	_sendControllerMessage('k', 0, new byte[1] { interval });
		2086	}
		2087	/// <summary>
		2088	/// poll the NC data struct (4sec subscription)
		2089	/// </summary>
		2090	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2091	private void _readNavData(bool auto)
		2092	{
		2093	byte interval = auto ? navctrlInterval : (byte)0;
		2094	_sendControllerMessage('o', 2, new byte[1] { interval });
		2095	}
		2096	/// <summary>
		2097	/// get the errortext for pending NC error
		2098	/// </summary>
		2099	private void _readNCError()
		2100	{
		2101	_sendControllerMessage('e', 2);
		2102	}
		2103	/// <summary>
		2104	/// request the Waypoint at index
		2105	/// </summary>
		2106	/// <param name="index"></param>
		2107	void _getpWP(int index)
		2108	{
		2109	if (serialPortCtrl.Port.IsOpen)
		2110	{
		2111	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2112	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2113	serialStream.Write(bytes, 0, bytes.Length);
		2114	}
		2115	else
		2116	Log(LogMsgType.Error, "NOT CONNECTED!");
		2117
		2118	}
		2119	void _getWP()
		2120	{
2335	-	2121	int iTimeout = 0;
2287	-	2122	_bGetWPCount = true;
2315	-	2123	_getpWP(1); //get the itemscount of wp
2335	-	2124	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2125	{
		2126	Thread.Sleep(10);
		2127	iTimeout++;
		2128	}
		2129	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2130	_getWPList();
		2131	}
		2132	void _getWPList()
		2133	{
		2134	_bGetWP = true;
2313	-	2135	int iTimeout=0;
		2136	for (int j = 0; j < _iWPCount; j++)
2287	-	2137	{
		2138	_getpWP(j + 1);
2313	-	2139	iTimeout = 0;
		2140	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2141	{
		2142	Thread.Sleep(1);
		2143	iTimeout++;
		2144	}
2287	-	2145	}
		2146	}
2340	-	2147
		2148	void clearCopterWPList()
2313	-	2149	{
2340	-	2150	_clearCopterWPList();
		2151	}
		2152	bool _clearCopterWPList()
		2153	{
2335	-	2154	int iTimeout = 0;
2313	-	2155	if (serialPortCtrl.Port.IsOpen)
		2156	{
		2157	byte[] bData = new byte[30];
		2158	for (int i = 0; i < 30; i++)
		2159	bData[i] = 0;
		2160	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2161	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2162	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2163
2313	-	2164	_iWPCount = -1;
2340	-	2165	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2166	{
2313	-	2167	Thread.Sleep(10);
2335	-	2168	iTimeout++;
		2169	}
2313	-	2170	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2171	if (_iWPCount > -1)
2340	-	2172	return true;
		2173	else
		2174	Log(LogMsgType.Error, "Timeout while sending list!");
		2175	}
		2176	else
		2177	Log(LogMsgType.Error, "NOT CONNECTED!");
		2178
		2179	return false;
		2180	}
		2181	void _sendWPList()
		2182	{
		2183	int iTimeout = 0;
		2184	if (serialPortCtrl.Port.IsOpen)
		2185	{
		2186	if (_clearCopterWPList())
2313	-	2187	{
2335	-	2188	for (int i = 0; i < dtWaypoints.Rows.Count; i++)
		2189	{
2340	-	2190	_sendWayPoint(dtWaypoints.Rows[i],-1);
2313	-	2191
2335	-	2192	_iWPCount = -1;
		2193	iTimeout = 0;
		2194	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2195	{
		2196	Thread.Sleep(10);
		2197	iTimeout++;
		2198	}
		2199	if (_iWPCount == -1)
		2200	{
		2201	Log(LogMsgType.Error, "Timeout while sending list!");
		2202	break;
		2203	}
		2204	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
		2205	}
2313	-	2206	}
		2207	}
		2208	else
		2209	Log(LogMsgType.Error, "NOT CONNECTED!");
		2210
		2211	}
2340	-	2212	bool _sendWayPoint(DataRow dr, int index)
		2213	{
2313	-	2214
2340	-	2215	if (serialPortCtrl.Port.IsOpen)
		2216	{
		2217	byte[] bData = new byte[30];
		2218	for (int i = 0; i < 30; i++)
		2219	bData[i] = 0;
		2220	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2221	byte[] bytes;
		2222	int iVal;
		2223	double dVal;
		2224	NumberFormatInfo nfi = new NumberFormatInfo();
		2225	nfi.NumberDecimalSeparator = ",";
		2226
		2227	//longitude
		2228	dVal = Convert.ToDouble(dr[4], nfi);
		2229	iVal = (int)(dVal * Math.Pow(10, 7));
		2230	bData[0] = (byte)(iVal & 0xff);
		2231	bData[1] = (byte)((iVal >> 8) & 0xff);
		2232	bData[2] = (byte)((iVal >> 16) & 0xff);
		2233	bData[3] = (byte)(iVal >> 24);
		2234	//latitude
		2235	dVal = Convert.ToDouble(dr[3], nfi);
		2236	iVal = (int)(dVal * Math.Pow(10, 7));
		2237	bData[4] = (byte)(iVal & 0xff);
		2238	bData[5] = (byte)((iVal >> 8) & 0xff);
		2239	bData[6] = (byte)((iVal >> 16) & 0xff);
		2240	bData[7] = (byte)(iVal >> 24);
		2241	//altitude
		2242	dVal = Convert.ToDouble(dr[5], nfi);
		2243	iVal = (int)(dVal * 10);
		2244	bData[8] = (byte)(iVal & 0xff);
		2245	bData[9] = (byte)((iVal >> 8) & 0xff);
		2246	bData[10] = (byte)((iVal >> 16) & 0xff);
		2247	bData[11] = (byte)(iVal >> 24);
		2248	//Status 'NEWDATA'
		2249	bData[12] = 1;
		2250	//heading
		2251	iVal = Convert.ToInt16(dr[6]);
		2252	bData[13] = (byte)(iVal & 0xff);
		2253	bData[14] = (byte)((iVal >> 8) & 0xff);
		2254	//ToleranceRadius
		2255	bData[15] = Convert.ToByte(dr[9]);
		2256	//HoldTime
		2257	bData[16] = Convert.ToByte(dr[10]);
		2258	//Event_Flag
		2259	bData[17] = Convert.ToByte(dr[13]);
		2260	//Index
		2261	bData[18] = index > 0 ? (byte)index : Convert.ToByte((int)dr[0]);
		2262	//Type
		2263	bData[19] = Convert.ToByte(dr[1]);
		2264	//WP_EventChannelValue
		2265	bData[20] = Convert.ToByte(dr[14]);
		2266	//AltitudeRate
		2267	bData[21] = Convert.ToByte(dr[8]);
		2268	//Speed
		2269	bData[22] = Convert.ToByte(dr[7]);
		2270	//CamAngle
		2271	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2272	//Name
		2273	byte[] name = ASCIIEncoding.ASCII.GetBytes((string)dr[2]);
		2274	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2275	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2276	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2277	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2278	//Autotrigger
		2279	bData[28] = Convert.ToByte(dr[11]);
		2280
		2281	bytes = FlightControllerMessage.CreateMessage('w', 2, bData);
		2282	serialStream.Write(bytes, 0, bytes.Length);
		2283
		2284	return true;
		2285	}
		2286
		2287	return false;
		2288	}
2287	-	2289	#region OSD-Menue
		2290
		2291	/// <summary>
		2292	/// one time query of the OSD Menue with pagenumber
		2293	/// </summary>
		2294	/// <param name="iMenue">Menue page</param>
		2295	void _OSDMenue(int iMenue)
		2296	{
		2297	if (serialPortCtrl.Port.IsOpen)
		2298	{
		2299	if (iMenue > iOSDMax)
		2300	iMenue = 0;
		2301	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2302	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2303	serialStream.Write(bytes, 0, bytes.Length);
		2304	}
		2305	else
		2306	Log(LogMsgType.Error, "NOT CONNECTED!");
		2307
		2308	}
		2309	/// <summary>
		2310	/// call the OSDMenue and start autorefresh
		2311	/// usually by sending a menuekey
		2312	/// 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)
		2313	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2314	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2315	/// </summary>
		2316	void _OSDMenueAutoRefresh()
		2317	{
		2318	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2319	}
		2320	void _OSDMenueAutoRefresh(byte key)
		2321	{
		2322	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2323	}
		2324	/// <summary>
		2325	/// initialize the OSD menue combobox
		2326	/// combox is filled by numbers from 0 to max pagenumber
		2327	/// </summary>
		2328	void _initOSDCB()
		2329	{
		2330	_bCBInit = true;
		2331	if (iOSDMax == 0)
		2332	{
		2333	_OSDMenue(0);
		2334	Thread.Sleep(10);
		2335	}
		2336	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2337	for (int i = 0; i <= iOSDMax; i++)
		2338	{
		2339	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2340	}
		2341	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2342	_bCBInit = false;
		2343	}
		2344	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2345	{
		2346	iOSDPage++;
		2347	if (iOSDPage > iOSDMax)
		2348	iOSDPage = 0;
		2349
		2350	_OSDMenue(iOSDPage);
		2351	}
		2352	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2353	{
		2354	iOSDPage--;
		2355	if (iOSDPage < 0)
		2356	iOSDPage = iOSDMax;
		2357
		2358	_OSDMenue(iOSDPage);
		2359	}
		2360	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2361	{
		2362	_OSDMenueAutoRefresh(8);
		2363	}
		2364	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2365	{
		2366	_OSDMenueAutoRefresh(4);
		2367	}
		2368	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2369	{
		2370	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2371	_OSDMenue(cbOSD.SelectedIndex);
		2372	}
		2373	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2374	{
		2375	Dispatcher.Invoke(() =>
		2376	{
		2377	TextRange tr;
		2378	if (bNew)
		2379	{
		2380	rtfOSD.SelectAll();
		2381	rtfOSD.Selection.Text = string.Empty;
		2382	}
		2383	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2384	tr.Text = msg;
		2385	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2386	// rtfOSD.AppendText("\r");
		2387	rtfOSD.ScrollToEnd();
		2388
		2389	});
		2390	}
		2391
		2392	#endregion OSD-Menue
		2393
		2394	#endregion controller messages
		2395
2295	-	2396	void _mediaPlayer(string file)
		2397	{
		2398	if (File.Exists(file))
		2399	{
		2400	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		2401	mp.Open(file);
		2402	mp.Play();
		2403	}
		2404	}
2310	-	2405
		2406	/// <summary>
		2407	/// Switch between fullscreen and normal window mode
		2408	/// save & restore scaling settings
		2409	/// </summary>
		2410	/// <param name="sender"></param>
		2411	/// <param name="e"></param>
2287	-	2412	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2413	{
		2414	if (winState.isMaximized)
		2415	{
		2416	winState.Restore(this);
		2417	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2418	if(_bSaveWinStateFull)
		2419	_saveScaleSliders(true);
		2420	if(_bSaveWinStateNormal)
		2421	_setScaleSliders(false);
		2422	}
		2423	else
		2424	{
		2425	winState.Maximize(this);
		2426	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2427	if(_bSaveWinStateNormal)
		2428	_saveScaleSliders(false);
		2429	if(_bSaveWinStateFull)
		2430	_setScaleSliders(true);
		2431	}
		2432	}
		2433
		2434	/// <summary>
		2435	/// reset the scaling of all UI elements to default
		2436	/// </summary>
		2437	/// <param name="sender"></param>
		2438	/// <param name="e"></param>
		2439	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2440	{
		2441	UIScaleHorizonSlider.Value =
		2442	UIScaleLOGSlider.Value =
		2443	UIScaleMotorsSlider.Value =
		2444	UIScaleOSDSlider.Value =
		2445	UIScaleSlider.Value =
		2446	UIScaleTopSlider.Value = 1;
		2447	}
		2448	/// <summary>
		2449	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2450	/// </summary>
		2451	/// <param name="sender"></param>
		2452	/// <param name="e"></param>
		2453	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2454	{
		2455	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2456	if (GridMotors != null)
		2457	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2458	if (GridSideBar != null)
		2459	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2460	if (GridOSD != null)
		2461	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2462	if (GridData != null)
		2463	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2464	if (GridWP != null)
		2465	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2466	}
2310	-	2467	/// <summary>
		2468	/// restore the saved scalings for the fullscreen/normal window mode
		2469	/// </summary>
		2470	/// <param name="bFull">the mode the window is set to</param>
2287	-	2471	void _setScaleSliders(bool bFull)
		2472	{
		2473	if(bFull)
		2474	{
		2475	UIScaleSlider.Value = scaleFullAll;
		2476	UIScaleTopSlider.Value = scaleFullTopBar;
		2477	UIScaleMotorsSlider.Value = scaleFullMotors;
		2478	UIScaleOSDSlider.Value = scaleFullOSD;
		2479	UIScaleLOGSlider.Value = scaleFullLOG;
		2480	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2481	}
		2482	else
		2483	{
		2484	UIScaleSlider.Value = scaleNormalAll;
		2485	UIScaleTopSlider.Value = scaleNormalTopBar;
		2486	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2487	UIScaleOSDSlider.Value = scaleNormalOSD;
		2488	UIScaleLOGSlider.Value = scaleNormalLOG;
		2489	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2490	}
		2491	}
		2492
2310	-	2493	/// <summary>
		2494	/// save the scalings for the actual window mode
		2495	/// </summary>
		2496	/// <param name="bFull">the actual window mode</param>
2287	-	2497	void _saveScaleSliders(bool bFull)
		2498	{
		2499
		2500	if (bFull)
		2501	{
		2502	scaleFullAll = UIScaleSlider.Value;
		2503	scaleFullTopBar = UIScaleTopSlider.Value;
		2504	scaleFullMotors = UIScaleMotorsSlider.Value;
		2505	scaleFullOSD = UIScaleOSDSlider.Value;
		2506	scaleFullLOG = UIScaleLOGSlider.Value;
		2507	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2508	}
		2509	else
		2510	{
		2511	scaleNormalAll = UIScaleSlider.Value;
		2512	scaleNormalTopBar = UIScaleTopSlider.Value;
		2513	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2514	scaleNormalOSD = UIScaleOSDSlider.Value;
		2515	scaleNormalLOG = UIScaleLOGSlider.Value;
		2516	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2517	}
		2518	}
		2519
		2520	/// <summary>
		2521	/// read settings from ini-file
		2522	/// </summary>
		2523	void _readIni()
		2524	{
		2525	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2526	_writeIni();
		2527	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2528	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2529	try
		2530	{
2287	-	2531
2312	-	2532	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2533	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2534	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2535	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2536	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2537	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2538	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2539	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2540
2312	-	2541	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2542	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2543	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2544	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2545	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2546	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2547	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2548	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2549
2312	-	2550	sVal = ini.IniReadValue("topBar", "voltage");
		2551	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2552	sVal = ini.IniReadValue("topBar", "capacity");
		2553	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2554	sVal = ini.IniReadValue("topBar", "current");
		2555	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2556	sVal = ini.IniReadValue("topBar", "flightTime");
		2557	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2558	sVal = ini.IniReadValue("topBar", "distanceHP");
		2559	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2560	sVal = ini.IniReadValue("topBar", "height");
		2561	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2562	sVal = ini.IniReadValue("topBar", "speed");
		2563	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2564	sVal = ini.IniReadValue("topBar", "magneticField");
		2565	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2566	sVal = ini.IniReadValue("topBar", "satellites");
		2567	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2568	sVal = ini.IniReadValue("topBar", "rc");
		2569	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2570
2312	-	2571	sVal = ini.IniReadValue("style", "saveFullScreen");
		2572	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2573	sVal = ini.IniReadValue("style", "saveNormalState");
		2574	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2575
2312	-	2576	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2577	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2578	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2579	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2580	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2581	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2582	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2583	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2584	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2585	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2586	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2587	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2588
2312	-	2589	sVal = ini.IniReadValue("style", "scaleFullAll");
		2590	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2591	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2592	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2593	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2594	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2595	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2596	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2597	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2598	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2599	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2600	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2601
2312	-	2602	sVal = ini.IniReadValue("general", "LiPoCells");
		2603	_LipoCells = Convert.ToInt16(sVal);
		2604	sVal = ini.IniReadValue("general", "Motors");
		2605	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2606
2312	-	2607	sVal = ini.IniReadValue("map", "followMe");
		2608	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2609	sVal = ini.IniReadValue("map", "AutoSetHome");
		2610	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2611	sVal = ini.IniReadValue("map", "GPXLog");
		2612	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2613
2312	-	2614	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2615	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2616	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2617	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2618	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2619	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2620	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2621	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2622	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2623	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2624	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2625	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2626	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2627	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2628	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2629	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2630	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2631	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2632	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2633	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2634	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2635	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2636
		2637	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2638	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2639	sVal = ini.IniReadValue("waypoints", "poicolor");
		2640	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2641	sVal = ini.IniReadValue("waypoints", "fscolor");
		2642	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2643	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2644	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	2645	sVal = ini.IniReadValue("waypoints", "routecolor");
		2646	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		2647	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		2648	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2312	-	2649	}
		2650	catch (Exception e)
		2651	{
2287	-	2652
2312	-	2653	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2654	}
		2655
2287	-	2656	}
		2657
		2658	/// <summary>
		2659	/// save settings to ini-file
		2660	/// </summary>
		2661	void _writeIni()
		2662	{
		2663
		2664	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2665	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2666
2312	-	2667	try
		2668	{
2287	-	2669
2312	-	2670	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2671	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2672	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2673	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2674
2312	-	2675	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2676	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2677	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2678	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2679
2312	-	2680	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2681	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2682
2312	-	2683	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2684	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	2685	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	2686
2312	-	2687	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2688	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2689	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2690	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2691	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2692	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2693	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2694	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2695	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2696	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2697
2312	-	2698	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2699	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2700
2312	-	2701	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2702	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2703	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2704	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2705	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2706	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	2707
2312	-	2708	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2709	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2710	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2711	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2712	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2713	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	2714
2312	-	2715	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2716
		2717	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2718	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2719	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2720	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2721	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2722	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2723	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2724	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2725	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2726	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2727	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	2728
		2729	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		2730	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		2731	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		2732	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2328	-	2733	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		2734	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2312	-	2735	}
		2736	catch (Exception e)
		2737	{
		2738
		2739	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);
		2740	}
2287	-	2741	}
2312	-	2742
2315	-	2743	#region WP
2312	-	2744	void _readWPLFile()
		2745	{
		2746	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		2747	fd.Filter = "Waypointlists \| *.wpl";
		2748	fd.Multiselect = false;
		2749	if (fd.ShowDialog().Value)
		2750	{
		2751	string file = fd.SafeFileName;
		2752	IniFile ini = new IniFile(fd.SafeFileName);
		2753	ini.path = fd.FileName;
		2754
		2755	try
		2756	{
		2757	string sVal = ini.IniReadValue("General", "FileVersion");
		2758	if (sVal == "")
		2759	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2760	else
		2761	{
		2762	if (Convert.ToInt16(sVal) < 3)
		2763	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2764	else
		2765	{
		2766	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		2767	if (sVal == "")
		2768	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2769	else
		2770	{
		2771	int wpnum = Convert.ToInt16(sVal);
		2772	string wp;
		2773	int i;
2313	-	2774	NumberFormatInfo nfi = new NumberFormatInfo();
		2775	nfi.NumberDecimalSeparator = ".";
2312	-	2776	dtWaypoints.Rows.Clear();
2327	-	2777	//for(int k = 0; k < MainMap.Markers.Count;)
		2778	//{
		2779	// GMapMarker p = MainMap.Markers[k];
		2780	// if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2781	// MainMap.Markers.Remove(p);
		2782	// else
		2783	// k++;
		2784	//}
		2785	_clearMapMarkers(typeof(CustomMarkerWP));
2328	-	2786	wpList.Clear();
		2787	if (mRouteWP != null)
		2788	MainMap.Markers.Remove(mRouteWP);
		2789	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		2790
2312	-	2791	for (int k = 1; k <= wpnum; k++)
		2792	{
		2793	DataRow dr = dtWaypoints.NewRow();
		2794	dr.ItemArray = new object[16];
		2795	object[] o = new object[16];
		2796	i = 0;
		2797	wp = "Point" + k.ToString();
		2798	o[i] = k;
		2799	i++;
		2800	sVal = ini.IniReadValue(wp, "Type");
		2801	if (sVal != "")
2315	-	2802	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	2803	i++;
		2804	sVal = ini.IniReadValue(wp, "Prefix");
		2805	if (sVal != "")
		2806	o[i] = sVal == "0" ? "P" + k.ToString() : sVal + k.ToString();
		2807	i++;
2313	-	2808	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	2809	if (sVal != "")
2313	-	2810	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2811	i++;
2313	-	2812	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	2813	if (sVal != "")
2313	-	2814	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2815	i++;
		2816	sVal = ini.IniReadValue(wp, "Altitude");
		2817	if (sVal != "")
2313	-	2818	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2819	i++;
		2820	sVal = ini.IniReadValue(wp, "Heading");
		2821	if (sVal != "")
		2822	o[i] = Convert.ToInt16(sVal);
		2823	i++;
		2824	sVal = ini.IniReadValue(wp, "Speed");
		2825	if (sVal != "")
2315	-	2826	o[i] = Convert.ToInt16(sVal);
2312	-	2827	i++;
		2828	sVal = ini.IniReadValue(wp, "ClimbRate");
		2829	if (sVal != "")
		2830	o[i] = Convert.ToInt16(sVal);
		2831	i++;
		2832	sVal = ini.IniReadValue(wp, "Radius");
		2833	if (sVal != "")
		2834	o[i] = Convert.ToInt16(sVal);
		2835	i++;
		2836	sVal = ini.IniReadValue(wp, "DelayTime");
		2837	if (sVal != "")
		2838	o[i] = Convert.ToInt16(sVal);
		2839	i++;
		2840	sVal = ini.IniReadValue(wp, "AutoTrigger");
		2841	if (sVal != "")
		2842	o[i] = Convert.ToInt16(sVal); ;
		2843	i++;
		2844	sVal = ini.IniReadValue(wp, "CAM-Nick");
		2845	if (sVal != "")
2313	-	2846	o[i] = Convert.ToInt16(sVal);
2312	-	2847	i++;
		2848	o[i] = 0;
		2849	i++;
		2850	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		2851	if (sVal != "")
		2852	o[i] = Convert.ToInt16(sVal);
		2853	i++;
		2854	o[i] = "New";
		2855
		2856	dr.ItemArray = o;
		2857	dtWaypoints.Rows.Add(dr);
2315	-	2858	GMapMarker wpMarker = new GMapMarker(new PointLatLng((double)o[3], (double)o[4]));
		2859	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, (string)dr[2], (int)o[1]);
2328	-	2860	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		2861	wpMarker.ZIndex = 100;
2315	-	2862	_setMarkerColor(wpMarker, (int)o[1]);
		2863	MainMap.Markers.Add(wpMarker);
2328	-	2864	if((int)o[1] == 0)
		2865	wpList.Add(new PointLatLng((double)o[3], (double)o[4]));
2315	-	2866
2312	-	2867	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		2868	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		2869	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2870	Thread.Sleep(10);
		2871	}
2328	-	2872	Dispatcher.Invoke(() =>
		2873	{
		2874	if (comboBoxRouteColor.SelectionBoxItem != null)
		2875	{
		2876	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		2877	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		2878	}
		2879	else
		2880	mRouteWP = new GMapRoute(wpList, null);
		2881
		2882	if (_bShowWPRoute)
		2883	MainMap.Markers.Add(mRouteWP);
		2884	});
		2885
		2886	MapRoute mr = new MapRoute(wpList, "WPList");
		2887	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		2888
2312	-	2889	}
		2890	}
		2891	}
		2892
		2893	}
		2894	catch (Exception e)
		2895	{
		2896
		2897	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		2898	}
		2899
		2900	}
		2901	}
2328	-	2902	Brush _getBrush(string color)
		2903	{
		2904	switch (color)
		2905	{
		2906	case "red":
		2907	return Brushes.Red;
		2908	case "green":
		2909	return Brushes.Lime;
		2910	case "blue":
		2911	return Brushes.Aqua;
		2912	case "pink":
		2913	return Brushes.Magenta;
		2914	case "yellow":
		2915	return Brushes.Yellow;
		2916	default:
		2917	return Brushes.Magenta;
		2918	}
		2919	}
2315	-	2920	void _setMarkerColor(GMapMarker wpMarker,int iType)
		2921	{
		2922	Dispatcher.Invoke(() =>
		2923	{
		2924	switch (iType)
		2925	{
		2926	case 0:
		2927	if (comboBoxWPColor.SelectionBoxItem != null)
		2928	{
		2929	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		2930	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2931	}
		2932	else
		2933	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2934	break;
		2935	case 1:
		2936	if (comboBoxPOIColor.SelectionBoxItem != null)
		2937	{
		2938	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		2939	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2940	}
		2941	else
		2942	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2943	break;
		2944	case 2:
		2945	if (comboBoxFSColor.SelectionBoxItem != null)
		2946	{
		2947	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		2948	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2949	}
		2950	else
		2951	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2952	break;
		2953	default:
		2954	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2955	break;
		2956	}
		2957	});
2312	-	2958
2315	-	2959	}
		2960	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2312	-	2961	{
2315	-	2962	Dispatcher.Invoke(() =>
		2963	{
		2964	if (comboBoxWPColor.SelectionBoxItem != null)
		2965	{
		2966	for (int k = 0; k < MainMap.Markers.Count;k++)
		2967	{
		2968	GMapMarker p = MainMap.Markers[k];
		2969	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2970	{
		2971	if (((CustomMarkerWP)p.Shape).WPType == 0)
		2972	{
		2973	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		2974	((CustomMarkerWP)(p.Shape)).setColor(s);
		2975	}
		2976	}
		2977	}
		2978	}
		2979	});
2312	-	2980	}
2315	-	2981	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		2982	{
		2983	Dispatcher.Invoke(() =>
		2984	{
		2985	if (comboBoxPOIColor.SelectionBoxItem != null)
		2986	{
		2987	for (int k = 0; k < MainMap.Markers.Count; k++)
		2988	{
		2989	GMapMarker p = MainMap.Markers[k];
		2990	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2991	{
		2992	if (((CustomMarkerWP)p.Shape).WPType == 1)
		2993	{
		2994	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		2995	((CustomMarkerWP)(p.Shape)).setColor(s);
		2996	}
		2997	}
		2998	}
		2999	}
		3000	});
2287	-	3001
2315	-	3002	}
		3003	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
2287	-	3004	{
2315	-	3005	Dispatcher.Invoke(() =>
		3006	{
		3007	if (comboBoxFSColor.SelectionBoxItem != null)
		3008	{
		3009	for (int k = 0; k < MainMap.Markers.Count; k++)
		3010	{
		3011	GMapMarker p = MainMap.Markers[k];
		3012	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		3013	{
		3014	if (((CustomMarkerWP)p.Shape).WPType == 2)
		3015	{
		3016	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3017	((CustomMarkerWP)(p.Shape)).setColor(s);
		3018	}
		3019	}
		3020	}
		3021	}
		3022	});
2287	-	3023	}
2318	-	3024	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
		3025	{
		3026	Dispatcher.Invoke(() => {
		3027	if (comboBoxCopterColor.SelectionBoxItem != null)
		3028	{
		3029	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		3030	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		3031	}
		3032	else
		3033	((CustomMarkerCopter)(copter.Shape)).setColor("red");
		3034	});
		3035	}
2328	-	3036	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3037	{
		3038	Dispatcher.Invoke(() =>
		3039	{
		3040	if (comboBoxRouteColor.SelectionBoxItem != null)
		3041	{
		3042	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3043	MainMap.Markers.Remove(mRouteWP);
		3044	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3045	if (_bShowWPRoute)
		3046	MainMap.Markers.Add(mRouteWP);
		3047	}
		3048	});
		3049	}
		3050	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3051	{
		3052	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3053	if (_bShowWPRoute)
		3054	{
		3055	if (mRouteWP != null)
		3056	MainMap.Markers.Add(mRouteWP);
		3057	}
		3058	else
		3059	{
		3060	if (mRouteWP != null)
		3061	MainMap.Markers.Remove(mRouteWP);
		3062	}
		3063	}
2315	-	3064	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3065	{
2315	-	3066	_readWPLFile();
2287	-	3067	}
2335	-	3068	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3069	{
		3070	_clearMapMarkers(typeof(CustomMarkerWP));
		3071	wpList.Clear();
		3072	if (mRouteWP != null)
		3073	MainMap.Markers.Remove(mRouteWP);
		3074	dtWaypoints.Rows.Clear();
		3075	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3076	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3077	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3078	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3079	}
2340	-	3080	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3081	{
		3082	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3083	t.Start();
		3084	}
		3085	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		3086	{
		3087	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3088	{
		3089	if(_wpCount > 0)
		3090	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex],-1);
		3091	else
		3092	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex],1);
		3093	}
		3094	}
		3095
2315	-	3096	#endregion WP
2335	-	3097
2324	-	3098	#region GPX
		3099	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		3100	{
		3101	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		3102	}
		3103	void _gpxAdd(double lat,double lon, int elevation)
		3104	{
		3105	DataRow dr = dtGPX.NewRow();
		3106	dr[0] = dtGPX.Rows.Count - 1;
		3107	dr[1] = lat;
		3108	dr[2] = lon;
		3109	dr[3] = elevation;
		3110	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		3111	dtGPX.Rows.Add(dr);
		3112	}
		3113	void _saveGPXLog()
		3114	{
		3115	if (!Directory.Exists("GPXLog"))
		3116	Directory.CreateDirectory("GPXLog");
		3117	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		3118	XmlTextWriter myXmlTextWriter = null;
		3119	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		3120	NumberFormatInfo nfi = new NumberFormatInfo();
		3121	nfi.NumberDecimalSeparator = ".";
2315	-	3122
2324	-	3123	try
		3124	{
		3125	myXmlTextWriter.Formatting = Formatting.Indented;
		3126
		3127	myXmlTextWriter.WriteStartDocument();
		3128
		3129	myXmlTextWriter.WriteStartElement("gpx");
		3130
		3131	myXmlTextWriter.WriteAttributeString("version", "1.0");
		3132	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		3133	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		3134	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		3135	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		3136
		3137	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		3138
		3139	myXmlTextWriter.WriteStartElement("trk");
		3140	myXmlTextWriter.WriteStartElement("trkseg");
		3141	for(int i = 0; i< dtGPX.Rows.Count;i++)
		3142	{
		3143	myXmlTextWriter.WriteStartElement("trkpt");
		3144	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		3145	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		3146	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		3147	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		3148	myXmlTextWriter.WriteEndElement();
		3149	}
		3150	myXmlTextWriter.WriteEndElement();
		3151	myXmlTextWriter.WriteEndElement();
		3152	myXmlTextWriter.WriteEndElement();
		3153	}
		3154	catch (Exception e)
		3155	{
		3156	Console.WriteLine("Exception: {0}", e.ToString());
		3157	}
		3158	finally
		3159	{
		3160	if (myXmlTextWriter != null)
		3161	{
		3162	myXmlTextWriter.Close();
		3163	}
		3164	}
		3165	}
		3166
		3167	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		3168	{
		3169	_loadGPXLog();
		3170	}
		3171
2327	-	3172	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		3173	{
		3174	_clearMapMarkers(typeof(GMapRoute));
		3175	}
		3176
2340	-	3177
2324	-	3178	void _loadGPXLog()
		3179	{
		3180
		3181	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3182	fd.Filter = "GPX-Logfile \| *.gpx";
		3183	fd.Multiselect = false;
		3184	if (fd.ShowDialog().Value)
		3185	{
		3186	string file = fd.FileName;
		3187	try
		3188	{
		3189	XDocument gpxDoc = XDocument.Load(file);
		3190	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		3191
		3192	NumberFormatInfo nfi = new NumberFormatInfo();
		3193	nfi.NumberDecimalSeparator = ".";
		3194
		3195	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		3196	select new
		3197	{
		3198	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		3199	Segs = (
		3200	from trackpoint in track.Descendants(gpx + "trkpt")
		3201	select new
		3202	{
		3203	Latitude = trackpoint.Attribute("lat").Value,
		3204	Longitude = trackpoint.Attribute("lon").Value,
		3205	Elevation = trackpoint.Element(gpx + "ele") != null ?
		3206	trackpoint.Element(gpx + "ele").Value : null,
		3207	Time = trackpoint.Element(gpx + "time") != null ?
		3208	trackpoint.Element(gpx + "time").Value : null
		3209	}
		3210	)
		3211	};
		3212
		3213	List<PointLatLng> wpl = new List<PointLatLng>();
		3214	foreach(var trk in tracks)
		3215	{
		3216	foreach(var trkseg in trk.Segs)
		3217	{
		3218	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		3219	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		3220	}
		3221
		3222	}
		3223	if(wpl.Count() > 0)
		3224	{
2327	-	3225	_clearMapMarkers(typeof(GMapRoute));
		3226	//for (int k = 0; k < MainMap.Markers.Count;)
		3227	//{
		3228	// GMapMarker p = MainMap.Markers[k];
		3229	// if (p.Shape.GetType() == typeof(GMapRoute))
		3230	// MainMap.Markers.Remove(p);
		3231	// else
		3232	// k++;
		3233	//}
2324	-	3234	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	3235	Dispatcher.Invoke(() =>
		3236	{
		3237	GMapRoute mRoute;
		3238	if (comboBoxRouteColor.SelectionBoxItem != null)
		3239	{
		3240	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3241	mRoute = new GMapRoute(wpList, _getBrush(s));
		3242	}
		3243	else
		3244	mRoute = new GMapRoute(wpList, null);
2324	-	3245
2328	-	3246	MainMap.Markers.Add(mRoute);
		3247	});
2324	-	3248	}
		3249
		3250	}
		3251	catch (Exception e)
		3252	{
		3253	Console.WriteLine("Exception: {0}", e.ToString());
		3254	}
		3255	}
		3256	}
		3257	#endregion GPX
2315	-	3258	#endregion functions
2287	-	3259	}
2315	-	3260	/// <summary>
		3261	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		3262	/// </summary>
2313	-	3263	public class waypointsConverter : IValueConverter
		3264	{
		3265	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		3266	{
		3267	if (value != null)
		3268	{
		3269	switch ((string)parameter)
		3270	{
		3271	case "Latitude":
		3272	return value.ToString() + " °";
		3273	case "Longitude":
		3274	return value.ToString() + " °";
		3275	case "Radius":
		3276	return value.ToString() + " m";
		3277	case "Altitude":
		3278	return value.ToString() + " m";
		3279	case "ClimbRate":
		3280	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		3281	case "DelayTime":
		3282	return value.ToString() + " s";
		3283	case "Heading":
		3284	return Waypoints.Heading(System.Convert.ToInt32(value));
		3285	case "Speed":
		3286	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		3287	case "CamAngle":
		3288	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		3289	case "Type":
		3290	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		3291	case "AutoTrigger":
		3292	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		3293	case "Status":
		3294	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		3295	}
		3296
		3297	return value.ToString();
		3298	}
		3299	else return value;
		3300	}
		3301
		3302	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		3303	{
		3304	throw new NotImplementedException();
		3305	}
		3306	}
		3307
2287	-	3308	public class IniFile
		3309	{
		3310	public string path;
		3311
		3312	[DllImport("kernel32")]
		3313	private static extern long WritePrivateProfileString(string section,
		3314	string key, string val, string filePath);
		3315
		3316	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		3317	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		3318	uint nSize, string lpFileName);
		3319
		3320	[DllImport("kernel32")]
		3321	private static extern int GetPrivateProfileString(string section,
		3322	string key, string def, StringBuilder retVal,
		3323	int size, string filePath);
		3324
		3325	public IniFile(string INIPath)
		3326	{
		3327	path = INIPath;
		3328	}
		3329
		3330	public void IniWriteValue(string Section, string Key, string Value)
		3331	{
		3332	WritePrivateProfileString(Section, Key, Value, this.path);
		3333	}
		3334
		3335	public string IniReadValue(string Section, string Key)
		3336	{
		3337	StringBuilder temp = new StringBuilder(255);
		3338	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		3339	return temp.ToString();
		3340	}
		3341	//Ini_sections auslesen in String-Array
		3342	public string[] IniSectionNames()
		3343	{
		3344
		3345	// uint MAX_BUFFER = 32767;
		3346	uint MAX_BUFFER = 8388608;
		3347	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		3348	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		3349	if (bytesReturned == 0)
		3350	{
		3351	Marshal.FreeCoTaskMem(pReturnedString);
		3352	return null;
		3353	}
		3354	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		3355	Marshal.FreeCoTaskMem(pReturnedString);
		3356	//use of Substring below removes terminating null for split
		3357	return local.Substring(0, local.Length - 1).Split('\0');
		3358
		3359
		3360	}
		3361	}
		3362
		3363	/// <summary>
		3364	/// Selected Win AI Function Calls
		3365	/// </summary>
		3366	public class WinApi
		3367	{
		3368	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		3369	public static extern int GetSystemMetrics(int which);
		3370	[DllImport("user32.dll")]
		3371	public static extern void
		3372	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		3373	int X, int Y, int width, int height, uint flags);
		3374
		3375	private const int SM_CXSCREEN = 0;
		3376	private const int SM_CYSCREEN = 1;
		3377	private static IntPtr HWND_TOP = IntPtr.Zero;
		3378	private const int SWP_SHOWWINDOW = 64; // 0x0040
		3379
		3380	public static int ScreenX
		3381	{
		3382	get { return GetSystemMetrics(SM_CXSCREEN); }
		3383	}
		3384
		3385	public static int ScreenY
		3386	{
		3387	get { return GetSystemMetrics(SM_CYSCREEN); }
		3388	}
		3389
		3390	public static void SetWinFullScreen(IntPtr hwnd)
		3391	{
		3392	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		3393	}
		3394	}
		3395	/// <summary>
		3396	/// Class used to preserve / restore state of the window
		3397	/// </summary>
		3398	public class WinState
		3399	{
		3400	private WindowState winState;
		3401	private WindowStyle brdStyle;
		3402	private bool topMost;
		3403	private Rect restore;
		3404	private bool IsMaximized = false;
		3405
		3406	public bool isMaximized
		3407	{
		3408	get { return IsMaximized; }
		3409	}
		3410	public void Maximize(Window targetForm)
		3411	{
		3412	if (!IsMaximized)
		3413	{
		3414	IsMaximized = true;
		3415	Save(targetForm);
		3416	targetForm.WindowState = WindowState.Maximized;
		3417	targetForm.WindowStyle = WindowStyle.None;
		3418	targetForm.Topmost = true;
		3419	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		3420	}
		3421	}
		3422
		3423	public void Save(Window targetForm)
		3424	{
		3425	winState = targetForm.WindowState;
		3426	brdStyle = targetForm.WindowStyle;
		3427	topMost = targetForm.Topmost;
		3428	restore = targetForm.RestoreBounds;
		3429	}
		3430	public void Restore(Window targetForm)
		3431	{
		3432	targetForm.WindowState = winState;
		3433	targetForm.WindowStyle = brdStyle;
		3434	targetForm.Topmost = topMost;
		3435
		3436	targetForm.Left = restore.Left;
		3437	targetForm.Top = restore.Top;
		3438	targetForm.Height = restore.Height;
		3439	targetForm.Width = restore.Width;
		3440	IsMaximized = false;
		3441	}
		3442	}
		3443
		3444	}

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