WebSVN - Projects - Blame - /MKLiveView/v1.0/Source/MKLiveView/MainWindow.xaml.cs

Rev	Author	Line No.	Line
2513	-	1	///============================================================================
		2	/// MKLiveView
		3	/// Copyright © 2016 Steph
		4	///
		5	///This file is part of MKLiveView.
		6	///
		7	///MKLiveView is free software: you can redistribute it and/or modify
		8	///it under the terms of the GNU General Public License as published by
		9	///the Free Software Foundation, either version 3 of the License, or
		10	///(at your option) any later version.
		11	///
		12	///MKLiveView is distributed in the hope that it will be useful,
		13	///but WITHOUT ANY WARRANTY; without even the implied warranty of
		14	///MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
		15	///GNU General Public License for more details.
		16	///
		17	///You should have received a copy of the GNU General Public License
		18	///along with cssRcon. If not, see <http://www.gnu.org/licenses/>.
		19	///
		20	///============================================================================
		21	///Credits:
		22	/// radioman (http://www.codeplex.com/site/users/view/radioman)
		23	/// for his really GreatMaps! (http://greatmaps.codeplex.com/)
		24	///
		25	/// I made some changes to the source, so You need all files from this project here in order to compile and run
		26	///
		27	/// JOHN C. MACDONALD at Ira A. Fulton College of Engineering and Technology
		28	/// for his MIKROKOPTER SERIAL CONTROL TUTORIAL (http://hdl.lib.byu.edu/1877/2747)
		29	/// and the sourcecode (http://hdl.lib.byu.edu/1877/2748)
		30	/// By his work I finally managed to get the communication with the Mikrokopter controllers to run
		31	/// Some of his code was used in this programm like the SimpelSerialPort class (with lots of changes)
		32	/// and the FilghtControllerMessage class
		33	///
		34	///============================================================================
		35	/// DISCLAIMER
		36	/// ===========
		37	///
		38	/// I created this software with my best knowledge and belief.
		39	///
		40	/// IN NO EVENT, UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING,
		41	/// SHALL I, OR ANY PERSON BE LIABLE FOR ANY LOSS, EXPENSE OR DAMAGE,
		42	/// OF ANY TYPE OR NATURE ARISING OUT OF THE USE OF,
		43	/// OR INABILITY TO USE THIS SOFTWARE OR PROGRAM,
		44	/// INCLUDING, BUT NOT LIMITED TO, CLAIMS, SUITS OR CAUSES OF ACTION
		45	/// INVOLVING ALLEGED INFRINGEMENT OF COPYRIGHTS,
		46	/// PATENTS, TRADEMARKS, TRADE SECRETS, OR UNFAIR COMPETITION.
		47	///
		48	/// This means: use it & have fun (but @ Your own risk...)
		49	/// ===========================================================================
		50	using GMap.NET;
		51	using GMap.NET.MapProviders;
		52	using GMap.NET.WindowsPresentation;
		53	using MKLiveView.GMapCustomMarkers;
		54	using System;
		55	using System.Collections.Generic;
		56	using System.ComponentModel;
		57	using System.Data;
		58	using System.Diagnostics;
		59	using System.IO;
		60	using System.Linq;
		61	using System.Linq.Expressions;
		62	using System.Runtime.InteropServices;
		63	using System.Text;
		64	using System.Threading;
		65	using System.Threading.Tasks;
		66	using System.Windows;
		67	using System.Windows.Controls;
		68	using System.Windows.Data;
		69	using System.Windows.Documents;
		70	using System.Windows.Input;
		71	using System.Windows.Interop;
		72	using System.Windows.Media;
		73	using System.Windows.Media.Animation;
		74	using System.Windows.Media.Imaging;
		75	using System.Windows.Navigation;
		76	using System.Windows.Shapes;
		77	using System.Windows.Threading;
		78	using System.Globalization;
		79	using System.Xml;
		80	using System.Xml.Linq;
		81	using Touchless.Vision.Camera;
		82
		83	namespace MKLiveView
		84	{
		85	/// <summary>
		86	/// Interaktionslogik für MainWindow.xaml
		87	/// </summary>
		88	public partial class MainWindow : Window
		89	{
		90	#region declarations
		91	object lockObj = new Object();
		92	MediaPlayer.MediaPlayer mediaPlayer = new MediaPlayer.MediaPlayer();
		93
		94	GMapMarker copter;
		95	GMapMarker home;
		96	PointLatLng start;
		97	PointLatLng end;
		98	PointLatLng pHome;
		99	GMapRoute mRouteWP;
		100	GMapMarker wpActiveMarker;
		101	List<PointLatLng> wpList = new List<PointLatLng>();
		102	List<int> wpOffset = new List<int>();
		103	Circle cWPBound = new Circle();
		104	double dWPMaxRange = 0;
		105
		106	#region NC-Errors
		107	String[] NC_Error = new string[44]
		108	{
		109	"No Error",
		110	"FC not compatible",
		111	"MK3Mag not compatible",
		112	"no FC communication",
		113	"no compass communication",
		114	"no GPS communication",
		115	"bad compass value",
		116	"RC Signal lost",
		117	"FC spi rx error",
		118	"ERR: no NC communication",
		119	"ERR: FC Nick Gyro",
		120	"ERR: FC Roll Gyro",
		121	"ERR: FC Yaw Gyro",
		122	"ERR: FC Nick ACC",
		123	"ERR: FC Roll ACC",
		124	"ERR: FC Z-ACC",
		125	"ERR: Pressure sensor",
		126	"ERR: FC I2C",
		127	"ERR: Bl Missing",
		128	"Mixer Error",
		129	"FC: Carefree Error",
		130	"ERR: GPS lost",
		131	"ERR: Magnet Error",
		132	"Motor restart",
		133	"BL Limitation",
		134	"Waypoint range",
		135	"ERR:No SD-Card",
		136	"ERR:SD Logging aborted",
		137	"ERR:Flying range!",
		138	"ERR:Max Altitude",
		139	"No GPS Fix",
		140	"compass not calibrated",
		141	"ERR:BL selftest",
		142	"no ext. compass",
		143	"compass sensor",
		144	"FAILSAFE pos.!",
		145	"ERR:Redundancy",
		146	"Redundancy test",
		147	"GPS Update rate",
		148	"ERR:Canbus",
		149	"ERR: 5V RC-Supply",
		150	"ERR:Power-Supply",
		151	"ACC not calibr.",
		152	"ERR:Parachute!"
		153	};
		154	String[] NC_Error_Link = new string[44]
		155	{
		156	"",
		157	"http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		158	"http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		159	"http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		160	"http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		161	"http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		162	"http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		163	"http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		164	"http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		165	"http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		166	"http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		167	"http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		168	"http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		169	"http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		170	"http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		171	"http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		172	"http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		173	"http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		174	"http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		175	"http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		176	"http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		177	"http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		178	"http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		179	"http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		180	"http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		181	"http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		182	"http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		183	"http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		184	"http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		185	"http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		186	"http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		187	"http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		188	"http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		189	"http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		190	"http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		191	"http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		192	"http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		193	"http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		194	"http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		195	"http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		196	"http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		197	"http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		198	"http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		199	"http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		200	};
		201
		202	#endregion NC-Errors
		203	[FlagsAttribute]
		204	enum NC_HWError0 : short
		205	{
		206	None = 0,
		207	SPI_RX = 1,
		208	COMPASS_RX = 2,
		209	FC_INCOMPATIBLE = 4,
		210	COMPASS_INCOMPATIBLE = 8,
		211	GPS_RX = 16,
		212	COMPASS_VALUE = 32
		213	};
		214	[FlagsAttribute]
		215	enum FC_HWError0 : short
		216	{
		217	None = 0,
		218	GYRO_NICK = 1,
		219	GYRO_ROLL = 2,
		220	GYRO_YAW = 4,
		221	ACC_NICK = 8,
		222	ACC_ROLL = 16,
		223	ACC_TOP = 32,
		224	PRESSURE = 64,
		225	CAREFREE = 128
		226	};
		227	[FlagsAttribute]
		228	enum FC_HWError1 : short
		229	{
		230	None = 0,
		231	I2C = 1,
		232	BL_MISSING = 2,
		233	SPI_RX = 4,
		234	PPM = 8,
		235	MIXER = 16,
		236	RC_VOLTAGE = 32,
		237	ACC_NOT_CAL = 64,
		238	RES3 = 128
		239	};
		240	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		241	// Various colors for logging info
		242	private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red };
		243
		244	bool _bCBInit = true;
		245	bool _init = true;
		246	bool check_HWError = false;
		247
		248	string filePath = Directory.GetCurrentDirectory();
		249	bool bReadContinously = false;
		250	bool _debugDataAutorefresh = true;
		251	bool _navCtrlDataAutorefresh = true;
		252	bool _blctrlDataAutorefresh = true;
		253	bool _OSDAutorefresh = true;
		254	bool _bErrorLog = false;
		255	bool _bConnErr = false;
		256	bool _bFollowCopter = false;
		257	bool _bGPXLog = false;
		258	bool _Simulate = false;
		259
		260	bool _bSaveWinStateNormal = true;
		261	bool _bSaveWinStateFull = true;
		262
		263	double scaleNormalAll = 1;
		264	double scaleNormalTopBar = 1;
		265	double scaleNormalMotors = 1;
		266	double scaleNormalOSD = 1;
		267	double scaleNormalLOG = 1;
		268	double scaleNormalHorizon = 1;
		269
		270	double scaleFullAll = 1;
		271	double scaleFullTopBar = 1;
		272	double scaleFullMotors = 1;
		273	double scaleFullOSD = 1;
		274	double scaleFullLOG = 1;
		275	double scaleFullHorizon = 1;
		276
		277	int _iCtrlAct = 0;
		278	int iOSDPage = 0;
		279	int iOSDMax = 0;
		280	int _iLifeCounter = 0;
		281	int crcError = 0;
		282
		283	bool _bSatFix = false;
		284	Storyboard stbSatFixLostAnim;
		285	bool _bAnimSatFixActive = false;
		286	bool _bVoiceSatFixActive = false;
		287	bool _bVoiceSatFixPlay = false;
		288	int _iSatsLast = 0;
		289	int _iSatsJitter = 0;
		290
		291	bool _bMagneticFieldOK = false;
		292	Storyboard stbMagneticFieldAnim;
		293	bool _bAnimMagneticFieldActive = false;
		294	bool _bVoiceMagneticFieldActive = false;
		295	bool _bVoiceMagneticFieldPlay = false;
		296	int _iMagneticFieldLast = 0;
		297	int _iMagneticFieldJitter = 0;
		298
		299	bool _bRCLevelOK = false;
		300	Storyboard stbRCLevelAnim;
		301	bool _bAnimRCLevelActive = false;
		302	bool _bVoiceRCLevelActive = false;
		303	bool _bVoiceRCLevelPlay = false;
		304	int _iRCLevelLast = 0;
		305	int _iRCLevelJitter = 0;
		306
		307	int _iMotors = 4;
		308	int _LipoCells = 3;
		309	bool _bLiPoAutoDetect = false;
		310
		311	double _dLipoVMax = 16.88;
		312	double _dLipoVMin = 12;
		313	double _dThresholdVoltageWarn = 0;
		314	double _dThresholdVoltageCrit = 0;
		315	Storyboard stbVoltageCritAnim;
		316	bool _bCritAnimVoltActive = false;
		317	bool _bCritVoiceVoltActive = false;
		318	bool _bWarnVoiceVoltActive = false;
		319	bool _bVoiceVoltPlay = false;
		320	double _dVoltLast = 0;
		321	int _iVoltJitter = 0;
		322
		323	double _dThresholdDistanceWarn = 100;
		324	Storyboard stbDistanceWarnAnim;
		325	bool _bAnimDistanceActive = false;
		326	bool _bVoiceDistanceActive = false;
		327	bool _bVoiceDistancePlay = false;
		328	double _dDistanceLast = 0;
		329	int _iDistanceJitter = 0;
		330
		331	double _dThresholdDistanceMax = 1000;
		332	int _iThresholdRC = 160;
		333	int _iThresholdMagField = 15;
		334
		335	bool _bAutoHome = false;
		336	bool _bFirstSatFix = false;
		337	int _iFirstSatFix = 0;
		338
		339	double _dTopHeight = 36;
		340
		341	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		342	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		343	string[] serChanTitle = new string[12];
		344
		345	string[] sAnalogLabel = new string[32];
		346	string[] sAnalogData = new string[32];
		347	int[] iAnalogData = new int[32];
		348
		349	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 };
		350	int[] iMotors = new int[] { 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 };
		351	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		352	/// <summary>
		353	/// interval for sending debugdata (multiplied by 10ms)
		354	/// </summary>
		355	byte debugInterval = 10; //(=> 100ms)
		356	/// <summary>
		357	/// interval for sending BL-CTRL status (multiplied by 10ms)
		358	/// </summary>
		359	byte blctrlInterval = 75;
		360	/// <summary>
		361	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		362	/// </summary>
		363	byte navctrlInterval = 20;
		364	/// <summary>
		365	/// interval for sending OSD page update (multiplied by 10ms)
		366	/// </summary>
		367	byte OSDInterval = 85;
		368	/// <summary>
		369	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		370	/// </summary>
		371	DataTable dtAnalog = new DataTable();
		372	/// <summary>
		373	/// datatable for motordata (current,temp)
		374	/// </summary>
		375	DataTable dtMotors = new DataTable();
		376
		377	DataTable dtWaypoints = new DataTable();
		378	static volatile int _iWPCount = -1;
		379	static volatile int _iWPIndex = -1;
		380	int _iWPTimeout = 1000;
		381	bool _bGetWP = false;
		382	bool _bShowWPRoute = false;
		383	bool _bAutoWPEdit = true;
		384	static volatile bool _bGetWPCount = false;
		385	DataTable dtGPX = new DataTable();
		386	DataRow drGPX;
		387	bool _bAirborne = false;
		388	int _wpIndex = -1, _wpCount = 0, _wpEdit = -1;
		389
		390	string _wpDefPrefix = "P";
		391	int _wpDefAltitude = 20;
		392	int _wpDefHeading = 0;
		393	int _wpDefCBoxHeading = 0;
		394	int _wpDefSpeed = 10;
		395	int _wpDefCBoxSpeed = 0;
		396	int _wpDefClimb = 10;
		397	int _wpDefCBoxClimb = 0;
		398	int _wpDefRadius = 5;
		399	int _wpDefHoldtime = 5;
		400	int _wpDefAutotrig = 0;
		401	int _wpDefCamangle = 0;
		402	int _wpDefCBoxCamangle = 0;
		403	int _wpDefOut1 = 0;
		404
		405	bool _wpAddCopterHeight = true;
		406	bool _wpAddCopterHeading = true;
		407
		408	DispatcherTimer timer = new DispatcherTimer();
		409	DispatcherTimer camTimer = new DispatcherTimer();
		410	BitmapSource _camImageSource;
		411	Storyboard stbCamActiveAnim;
		412	bool _bCamAnim;
		413	/// <summary>
		414	/// stuff for enabeling touch zoom for the map
		415	/// </summary>
		416	Point pTouch1 = new Point(0, 0), pTouch2 = new Point(0, 0);
		417	int iFirstStylusID = -1;
		418
		419	public string connectButtonText
		420	{
		421	get
		422	{
		423	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		424	}
		425	}
		426
		427	WinState winState = new WinState();
		428
		429	#endregion declarations
		430	public MainWindow()
		431	{
		432	String path = Environment.ExpandEnvironmentVariables("%SystemRoot%") + "\\System32\\VCRUNTIME140.DLL";
		433	if (!File.Exists(path))
		434	{
		435	MessageBoxResult dr = MessageBox.Show("Visual C++ Redistributable for Visual Studio 2015 seems not to be installed..." +
		436	Environment.NewLine + "Please download the file for x86 (32bit) @ https://www.microsoft.com/de-de/download/details.aspx?id=48145" +
		437	Environment.NewLine + Environment.NewLine + "Do You want me to take You there?", "Visual C++ Redistributable for Visual Studio 2015 missing ...",
		438	MessageBoxButton.YesNo,
		439	MessageBoxImage.Stop,MessageBoxResult.No, MessageBoxOptions.DefaultDesktopOnly);
		440
		441	if (dr == MessageBoxResult.Yes)
		442	System.Diagnostics.Process.Start("https://www.microsoft.com/de-de/download/details.aspx?id=48145");
		443
		444	Application.Current.Shutdown();
		445	}
		446	InitializeComponent();
		447	_initForm();
		448	_dataTablesInit();
		449	_setupMap();
		450	_init = false;
		451	timer.Tick += new EventHandler(timerEvent);
		452	timer.Interval = new TimeSpan(0, 0, 1);
		453	timer.Start();
		454	camTimer.Tick += new EventHandler(camTimer_Tick);
		455	camTimer.Interval = new TimeSpan(0, 0, 0, 0, 5);
		456	// camTimer.Start();
		457	}
		458
		459	#region init
		460	void _initForm()
		461	{
		462	_readIni();
		463	if (_bSaveWinStateNormal)
		464	_setScaleSliders(false);
		465	cBoxTimingsDebug.ItemsSource =
		466	cBoxTimingsNav.ItemsSource =
		467	cBoxTimingsBl.ItemsSource =
		468	cBoxTimingsOSD.ItemsSource =
		469	iTimings;
		470	cBoxLiPoCells.ItemsSource = sLiPoCells;
		471	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		472	_LipoMinMax();
		473	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		474	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		475	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
		476	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		477	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		478	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		479	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		480	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
		481
		482	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		483
		484	cBoxMotors.ItemsSource = iMotors;
		485	cBoxMotors.SelectedItem = _iMotors;
		486
		487	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		488	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		489	serialPortCtrl.DataReceived += processMessage;
		490
		491	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		492	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		493	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		494	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		495	chkbAutoLiPoDetect.IsChecked = _bLiPoAutoDetect;
		496
		497	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		498	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		499	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		500	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
		501	checkBoxAutoSetHP.IsChecked = _bAutoHome;
		502	checkBoxFollowCopter.IsChecked = _bFollowCopter;
		503	checkBoxGPXLog.IsChecked = _bGPXLog;
		504	checkBoxShowWPRoute.IsChecked = _bShowWPRoute;
		505	checkBoxAutoShowWPEdit.IsChecked = _bAutoWPEdit;
		506	checkBoxWPAddUseCopterHeight.IsChecked = _wpAddCopterHeight;
		507	checkBoxWPAddUseCopterHeading.IsChecked = _wpAddCopterHeading;
		508	GridSettings.Visibility = Visibility.Visible;
		509	GridCam.Visibility = GridData.Visibility = GridWP.Visibility = GridWPEdit.Visibility = Visibility.Collapsed;
		510	_initSerialCtrl();
		511	}
		512	/// <summary>
		513	/// initialize the datatables
		514	/// with columnnames etc
		515	/// </summary>
		516	void _dataTablesInit()
		517	{
		518	dtMotors.Columns.Add("#");
		519	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
		520	dtMotors.Columns.Add("Strom");
		521	else
		522	dtMotors.Columns.Add("Current");
		523	dtMotors.Columns.Add("Temp");
		524	dgvMotors1.DataContext = dtMotors.DefaultView;
		525	_initDTMotors();
		526
		527	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5, 0, 5, 0));
		528	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		529	style.Setters.Add(setter);
		530	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		531	style.Setters.Add(setter);
		532	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		533	style.Setters.Add(setter);
		534
		535	dtWaypoints.Columns.Add("Index", typeof(int));
		536	dtWaypoints.Columns.Add("Type", typeof(int));
		537	dtWaypoints.Columns.Add("Name", typeof(string));
		538	dtWaypoints.Columns.Add("Latitude", typeof(double));
		539	dtWaypoints.Columns.Add("Longitude", typeof(double));
		540	dtWaypoints.Columns.Add("Altitude", typeof(string));
		541	dtWaypoints.Columns.Add("Heading", typeof(string));
		542	dtWaypoints.Columns.Add("Speed", typeof(string));
		543	dtWaypoints.Columns.Add("ClimbRate", typeof(string));
		544	dtWaypoints.Columns.Add("Radius", typeof(string));
		545	dtWaypoints.Columns.Add("HoldTime", typeof(string));
		546	dtWaypoints.Columns.Add("AutoTrigger", typeof(string));
		547	dtWaypoints.Columns.Add("CamAngle", typeof(string));
		548	dtWaypoints.Columns.Add("Event", typeof(string));
		549	dtWaypoints.Columns.Add("Out1Timer", typeof(string));
		550	dtWaypoints.Columns.Add("Status", typeof(string));
		551	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		552	dgvWP.ItemsSource = dtWaypoints.DefaultView;
		553	dgvWP.ColumnHeaderStyle = new Style();
		554	dgvWP.ColumnHeaderStyle = style;
		555
		556	dtGPX.Columns.Add("Index", typeof(int));
		557	dtGPX.Columns.Add("Latitude", typeof(double));
		558	dtGPX.Columns.Add("Longitude", typeof(double));
		559	dtGPX.Columns.Add("Elevation", typeof(int));
		560	dtGPX.Columns.Add("Time", typeof(string));
		561	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		562	drGPX = dtGPX.NewRow();
		563
		564	}
		565	/// <summary>
		566	/// initialize the datatable dtMotors for motor values
		567	/// DataGridView dgvMotors1 is bound to dtMotors1
		568	/// </summary>
		569	void _initDTMotors()
		570	{
		571	for (int i = 0; i < 12; i++)
		572	{
		573	if (dtMotors.Rows.Count < 12)
		574	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
		575	else
		576	{
		577	dtMotors.Rows[i].SetField(1, "NA");
		578	dtMotors.Rows[i].SetField(2, "NA");
		579	}
		580	}
		581	}
		582
		583	#endregion init
		584
		585	#region events
		586	private void serialPortCtrl_PortOpened()
		587	{
		588	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		589	_getVersion();
		590	Thread.Sleep(100);
		591	_getLic();
		592	//_OSDMenue(0);
		593	//Thread.Sleep(200);
		594	//_sendSerialData();
		595	_readCont(true);
		596	}
		597	private void serialPortCtrl_PortClosed()
		598	{
		599	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		600	_readCont(false);
		601	}
		602	bool _bToggle = false;
		603	void timerEvent(object sender, EventArgs e)
		604	{
		605	if (bReadContinously)
		606	{
		607	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		608
		609	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		610
		611	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		612	check_HWError = true;
		613	_getVersion();
		614	Thread.Sleep(10);
		615	if (_OSDAutorefresh)
		616	{
		617	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		618	_initOSDCB();
		619	_OSDMenueAutoRefresh();
		620	}
		621	if (_iLifeCounter > 0)
		622	{
		623	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		624	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		625	_iLifeCounter = 0;
		626	_bConnErr = false;
		627	if (_bAirborne && _bGPXLog)
		628	{
		629	drGPX[0] = dtGPX.Rows.Count;
		630	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		631	}
		632	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		633	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		634	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		635	_bToggle = !_bToggle;
		636	}
		637	else
		638	{
		639	if (!_bConnErr)
		640	{
		641	Log(LogMsgType.Error, "No communication to NC/FC!");
		642	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		643	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		644	_bConnErr = true;
		645	}
		646	}
		647	}
		648	}
		649	private void camTimer_Tick(object sender, EventArgs e)
		650	{
		651	if (_camImageSource != null && _frameSource != null && _camImage.Visibility == Visibility.Visible)
		652	_camImage.Source = _camImageSource;
		653	camTimer.IsEnabled = false;
		654	}
		655
		656	#region menues
		657	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		658	{
		659	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		660	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		661	}
		662	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		663	{
		664	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		665	if (GridMotors.IsVisible)
		666	_setMotorGridSize();
		667	}
		668	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		669	{
		670	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		671	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		672	}
		673	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		674	{
		675	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		676	}
		677	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		678	{
		679	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		680	}
		681	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		682	{
		683	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		684	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		685	}
		686	private void labelWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		687	{
		688	GridWPEdit.Visibility = GridWPEdit.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		689	}
		690	private void labelCamera_MouseDown(object sender, MouseButtonEventArgs e)
		691	{
		692	GridCam.Visibility = GridCam.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		693	}
		694	#endregion menues
		695
		696	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		697	{
		698	Thread t = new Thread(new ThreadStart(_getWP));
		699	t.Start();
		700	}
		701	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		702	{
		703	Thread t = new Thread(new ThreadStart(_sendWPList));
		704	t.Start();
		705	}
		706	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		707	{
		708	if (!serialPortCtrl.Port.IsOpen)
		709	serialPortCtrl.Connect(true);
		710	else
		711	_readCont(!bReadContinously);
		712	}
		713	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		714	{
		715	_setHomePos();
		716	}
		717	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		718	{
		719	_clearHomePos();
		720	}
		721	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		722	{
		723	if (home != null && MainMap.Markers.Contains(home))
		724	MainMap.Position = home.Position;
		725	}
		726	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		727	{
		728	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		729	}
		730	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		731	{
		732	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		733	}
		734	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		735	{
		736	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		737	}
		738
		739	#region thresholds
		740	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		741	{
		742	if (!_init)
		743	{
		744	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		745	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		746	}
		747	}
		748	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		749	{
		750	if (!_init)
		751	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		752	}
		753	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		754	{
		755	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		756	}
		757
		758	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		759	{
		760	if (!_init)
		761	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		762	}
		763	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		764	{
		765	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		766	}
		767
		768	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		769	{
		770	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		771	}
		772	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		773	{
		774	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		775	}
		776	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		777	{
		778	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		779	}
		780	#endregion thresholds
		781
		782	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		783	{
		784	_switchToNC();
		785	}
		786
		787	private void Window_Loaded(object sender, RoutedEventArgs e)
		788	{
		789	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
		790	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		791	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		792	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		793	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
		794	stbCamActiveAnim = TryFindResource("CamActiveAnim") as Storyboard;
		795	_setMotorGridSize();
		796	// Refresh the list of available cameras
		797	comboBoxCameras.Items.Clear();
		798
		799	foreach (Camera cam in CameraService.AvailableCameras)
		800	comboBoxCameras.Items.Add(cam);
		801
		802	if (comboBoxCameras.Items.Count > 0)
		803	comboBoxCameras.SelectedIndex = 0;
		804	}
		805	private void Window_Closing(object sender, CancelEventArgs e)
		806	{
		807	_writeIni();
		808	if (_bGPXLog && dtGPX.Rows.Count > 0)
		809	_saveGPXLog();
		810	thrashOldCamera();
		811	}
		812	private void Window_Closed(object sender, EventArgs e)
		813	{
		814	Application.Current.Shutdown();
		815	}
		816
		817	#region contextmenue add point
		818	Point pWPAdd;
		819	private void GridGMapControl_PreviewMouseLeftButtonDown(object sender, MouseButtonEventArgs e)
		820	{
		821	if(e.ClickCount == 2)
		822	{
		823	double x = 0, y = 0;
		824	var titleHeight = SystemParameters.WindowCaptionHeight + SystemParameters.ResizeFrameHorizontalBorderHeight;
		825
		826	pWPAdd = new Point(e.GetPosition(this).X, e.GetPosition(this).Y);
		827	if (pWPAdd.X + canvasAddPoint.Width > Width)
		828	x = pWPAdd.X - canvasAddPoint.Width;
		829	else
		830	x = pWPAdd.X;
		831	if (pWPAdd.Y + canvasAddPoint.Height > Height - titleHeight)
		832	y = pWPAdd.Y - canvasAddPoint.Height;
		833	else
		834	y = pWPAdd.Y;
		835
		836	canvasAddPoint.Margin = new Thickness(x, y, canvasAddPoint.Margin.Left, canvasAddPoint.Margin.Bottom);
		837	canvasAddPoint.Visibility = Visibility.Visible;
		838	}
		839
		840	}
		841	private void canvasAddPoint_LostFocus(object sender, RoutedEventArgs e)
		842	{
		843	canvasAddPoint.Visibility = Visibility.Collapsed;
		844	}
		845	private void canvasAddPoint_MouseLeave(object sender, MouseEventArgs e)
		846	{
		847	canvasAddPoint.Visibility = Visibility.Collapsed;
		848	}
		849	private void btnCmAddWP_Click(object sender, RoutedEventArgs e)
		850	{
		851	if (pWPAdd != null)
		852	{
		853	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		854	_addWP(p,0);
		855	canvasAddPoint.Visibility = Visibility.Collapsed;
		856	}
		857	}
		858	private void btnCmAddPOI_Click(object sender, RoutedEventArgs e)
		859	{
		860	if (pWPAdd != null)
		861	{
		862	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		863	_addWP(p,1);
		864	canvasAddPoint.Visibility = Visibility.Collapsed;
		865	}
		866	}
		867	private void btnCmAddFailsave_Click(object sender, RoutedEventArgs e)
		868	{
		869	if (pWPAdd != null)
		870	{
		871	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		872	_addWP(p,2);
		873	canvasAddPoint.Visibility = Visibility.Collapsed;
		874	}
		875	}
		876	private void btnCmAddLanding_Click(object sender, RoutedEventArgs e)
		877	{
		878	if (pWPAdd != null)
		879	{
		880	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		881	_addWP(p,3);
		882	canvasAddPoint.Visibility = Visibility.Collapsed;
		883	}
		884	}
		885	#endregion contextmenue add point
		886
		887	#endregion events
		888
		889	#region cam
		890	private CameraFrameSource _frameSource;
		891
		892	private void btnCamStart_Click(object sender, RoutedEventArgs e)
		893	{
		894	if (_frameSource != null && _frameSource.Camera == comboBoxCameras.SelectedItem)
		895	return;
		896
		897	thrashOldCamera();
		898	startCapturing();
		899	}
		900	private void btnCamStop_Click(object sender, RoutedEventArgs e)
		901	{
		902	thrashOldCamera();
		903	_camImage.Visibility = Visibility.Collapsed;
		904	if (stbCamActiveAnim != null && _bCamAnim)
		905	{
		906	Dispatcher.Invoke(() => stbCamActiveAnim.Stop());
		907	_bCamAnim = false;
		908	rectCamStart.Visibility = Visibility.Collapsed;
		909	}
		910	}
		911	private void btnCamSettings_Click(object sender, RoutedEventArgs e)
		912	{
		913	if (_frameSource != null && _frameSource.Camera != null)
		914	{
		915	_frameSource.Camera.ShowPropertiesDialog();
		916	}
		917	}
		918	private void btnCamListRefresh_Click(object sender, RoutedEventArgs e)
		919	{
		920	comboBoxCameras.Items.Clear();
		921	CameraService.ClearCameraList();
		922	foreach (Camera cam in CameraService.AvailableCameras)
		923	comboBoxCameras.Items.Add(cam);
		924
		925	if (comboBoxCameras.Items.Count > 0)
		926	comboBoxCameras.SelectedIndex = 0;
		927	//if (_frameSource != null && comboBoxCameras.Items.Count > 0 && comboBoxCameras.Items.Contains(_frameSource.Camera.ToString()))
		928	// comboBoxCameras.SelectedItem = (Camera)_frameSource.Camera;
		929
		930	}
		931
		932	private void lblCam_Click(object sender, RoutedEventArgs e)
		933	{
		934	if (_frameSource != null && _frameSource.Camera != null)
		935	{
		936	_camImage.Visibility = _camImage.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		937	}
		938	}
		939
		940	void _setCamPicStretch(Stretch type)
		941	{
		942	if(_camImage.Stretch == Stretch.None)
		943	_camImageMargin = _camImage.Margin;
		944	if(type != Stretch.None)
		945	_camImage.Margin = new Thickness(0);
		946	_camImage.Stretch = type;
		947	}
		948	private void btnCamPicStretchNone_Click(object sender, RoutedEventArgs e)
		949	{
		950	_setCamPicStretch(Stretch.None);
		951	_camImage.Margin = _camImageMargin;
		952	}
		953	private void btnCamResetZoom_Click(object sender, RoutedEventArgs e)
		954	{
		955	_setCamPicStretch(Stretch.None);
		956	_camImage.Margin = _camImageMargin = new Thickness(0);
		957	SliderCamZoom.Value = 1;
		958	}
		959	private void btnCamPicStretchFill_Click(object sender, RoutedEventArgs e)
		960	{
		961	_setCamPicStretch(Stretch.Fill);
		962	}
		963	private void btnCamPicStretchUniform_Click(object sender, RoutedEventArgs e)
		964	{
		965	_setCamPicStretch(Stretch.Uniform);
		966	}
		967	private void btnCamPicStretchUFill_Click(object sender, RoutedEventArgs e)
		968	{
		969	_setCamPicStretch(Stretch.UniformToFill);
		970	}
		971	private Camera CurrentCamera
		972	{
		973	get
		974	{
		975	return comboBoxCameras.SelectedItem as Camera;
		976	}
		977	}
		978	private void startCapturing()
		979	{
		980	try
		981	{
		982	Camera c = (Camera)comboBoxCameras.SelectedItem;
		983	setFrameSource(new CameraFrameSource(c));
		984	_frameSource.Camera.CaptureWidth = 640;
		985	_frameSource.Camera.CaptureHeight = 480;
		986	_frameSource.Camera.Fps = 25;
		987	_frameSource.NewFrame += OnImageCaptured;
		988	_frameSource.StartFrameCapture();
		989	_camImage.Visibility = Visibility.Visible;
		990	_camImage.Margin = _camImageMargin;
		991	if (stbCamActiveAnim != null && !_bCamAnim)
		992	{
		993	Dispatcher.Invoke(() => stbCamActiveAnim.Begin());
		994	_bCamAnim = true;
		995	rectCamStart.Visibility = Visibility.Visible;
		996	}
		997	}
		998	catch (Exception ex)
		999	{
		1000	comboBoxCameras.Text = "Select A Camera";
		1001	MessageBox.Show(ex.Message);
		1002	}
		1003	}
		1004
		1005	public void OnImageCaptured(Touchless.Vision.Contracts.IFrameSource frameSource, Touchless.Vision.Contracts.Frame frame, double fps)
		1006	{
		1007	_camImageSource = BitmapConversion.ToWpfBitmap(frame.Image);
		1008	camTimer.IsEnabled = true;
		1009	}
		1010	private void setFrameSource(CameraFrameSource cameraFrameSource)
		1011	{
		1012	if (_frameSource == cameraFrameSource)
		1013	return;
		1014
		1015	_frameSource = cameraFrameSource;
		1016	}
		1017	private void thrashOldCamera()
		1018	{
		1019
		1020	// Trash the old camera
		1021	if (_frameSource != null)
		1022	{
		1023	_frameSource.NewFrame -= OnImageCaptured;
		1024	Dispatcher.Invoke(() => {
		1025	_camImage.Source = null;
		1026	_camImage.InvalidateVisual();
		1027	});
		1028	using (Dispatcher.DisableProcessing())
		1029	{
		1030	_frameSource.StopFrameCapture();
		1031	setFrameSource(null);
		1032	Thread.Sleep(10);
		1033	}
		1034	}
		1035	}
		1036
		1037	Point pOffset,mouse_pos;
		1038	Thickness _camImageMargin = new Thickness(0);
		1039	private void _CamImage_MouseMove(object sender, System.Windows.Input.MouseEventArgs e)
		1040	{
		1041	if (e.LeftButton == System.Windows.Input.MouseButtonState.Pressed && _camImage.Stretch == Stretch.None)
		1042	{
		1043	mouse_pos = Mouse.GetPosition(this);
		1044	mouse_pos.Offset(-pOffset.X, -pOffset.Y);
		1045	pOffset = Mouse.GetPosition(this);
		1046	_camImage.Margin =_camImageMargin= new Thickness(_camImage.Margin.Left+ mouse_pos.X + mouse_pos.X * (0.5/ SliderCamZoom.Value), _camImage.Margin.Top + mouse_pos.Y + mouse_pos.Y* (0.5 / SliderCamZoom.Value), _camImage.Margin.Right, _camImage.Margin.Bottom);
		1047	}
		1048	}
		1049	private void _CamImage_MouseDown(object sender, MouseButtonEventArgs e)
		1050	{
		1051	if (e.LeftButton == System.Windows.Input.MouseButtonState.Pressed && _camImage.Stretch == Stretch.None)
		1052	pOffset = Mouse.GetPosition(this);
		1053	}
		1054
		1055	#endregion cam
		1056
		1057	#region GMap
		1058	string _mapPosition = "Landshut";
		1059	void _setupMap()
		1060	{
		1061	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		1062	MainMap.MapProvider = GMapProviders.BingHybridMap;
		1063	textBoxGeo.Text = _mapPosition;
		1064	MainMap.SetPositionByKeywords(_mapPosition);
		1065	MainMap.MinZoom = 0;
		1066	MainMap.MaxZoom = 24;
		1067	MainMap.Zoom = 16;
		1068	MainMap.ShowCenter = true;
		1069	MainMap.ShowTileGridLines = false;
		1070	sliderMapZoom.Value = 16;
		1071	comboBoxMapType.ItemsSource = providerList;
		1072	comboBoxMapType.DisplayMemberPath = "Name";
		1073	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		1074
		1075	// acccess mode
		1076	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		1077	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		1078
		1079	}
		1080
		1081	/// <summary>
		1082	/// selection of relevant map providers --> if You need more, You can change the line:
		1083	/// comboBoxMapType.ItemsSource = providerList;
		1084	/// to:
		1085	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		1086	/// in _setupMap()
		1087	/// or add items here:
		1088	/// </summary>
		1089	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		1090	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		1091	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		1092	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		1093	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		1094
		1095	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		1096	{
		1097	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		1098	copter = new GMapMarker(MainMap.Position);
		1099
		1100	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"), "red");
		1101	if (comboBoxCopterColor.SelectionBoxItem != null)
		1102	{
		1103	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		1104	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
		1105	}
		1106	Dispatcher.Invoke(() => {
		1107	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		1108	{
		1109	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		1110	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		1111	}
		1112	});
		1113	copter.Offset = new System.Windows.Point(-26, -26);
		1114	copter.ZIndex = int.MaxValue;
		1115	MainMap.Markers.Add(copter);
		1116	copter.Position = MainMap.Position;
		1117	_setMapItemsSize("Copter", SliderCopterZoom.Value);
		1118	}
		1119	void _setHomePos()
		1120	{
		1121	pHome = MainMap.Position;
		1122	if (!MainMap.Markers.Contains(home))
		1123	{
		1124	home = new GMapMarker(MainMap.Position);
		1125	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		1126	home.Offset = new System.Windows.Point(-16.5, -16.5);
		1127	// home.ZIndex = int.MaxValue;
		1128	MainMap.Markers.Add(home);
		1129	}
		1130	home.Position = MainMap.Position;
		1131	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		1132	_setMapItemsSize("Home", SliderHPZoom.Value);
		1133	if (checkBoxShowWPMaxRange.IsChecked == true)
		1134	{
		1135	if (cWPBound != null && cWPBound.Tag != null)
		1136	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		1137
		1138	createCircle(home.Position, dWPMaxRange);
		1139	Dispatcher.Invoke(() =>
		1140	{
		1141	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		1142	{
		1143	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		1144	cWPBound.setColor(s);
		1145	}
		1146	});
		1147	}
		1148
		1149	}
		1150	void _setActiveWP(int iIndex)
		1151	{
		1152	if (iIndex < wpList.Count)
		1153	{
		1154	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
		1155	{
		1156	Dispatcher.Invoke(() =>
		1157	{
		1158	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		1159	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		1160	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		1161	MainMap.Markers.Add(wpActiveMarker);
		1162	});
		1163	}
		1164	else
		1165	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
		1166	}
		1167
		1168	Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m");
		1169	}
		1170	void _clearHomePos()
		1171	{
		1172	MainMap.Markers.Remove(home);
		1173	if (cWPBound != null && cWPBound.Tag != null)
		1174	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		1175	}
		1176	void _clearMapMarkers(Type markerType)
		1177	{
		1178	for (int k = 0; k < MainMap.Markers.Count;)
		1179	{
		1180	GMapMarker p = MainMap.Markers[k];
		1181	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
		1182	MainMap.Markers.Remove(p);
		1183	else
		1184	k++;
		1185	}
		1186	_WPisMouseCaptured = false;
		1187	}
		1188
		1189	GMapMarker _findWPMarker(string name)
		1190	{
		1191	for (int k = 0; k < MainMap.Markers.Count;)
		1192	{
		1193	GMapMarker p = MainMap.Markers[k];
		1194	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
		1195	if (((CustomMarkerWP)p.Shape).WPText == name)
		1196	return p;
		1197	else
		1198	k++;
		1199	else
		1200	k++;
		1201	}
		1202	return null;
		1203	}
		1204	void _clearWPMarker(string name)
		1205	{
		1206	GMapMarker p = _findWPMarker(name);
		1207	if (p != null)
		1208	MainMap.Markers.Remove(p);
		1209	}
		1210	void _renameWPMarker(string s1, string s2)
		1211	{
		1212	GMapMarker p = _findWPMarker(s1);
		1213	if (p != null)
		1214	((CustomMarkerWP)p.Shape).WPText = s2;
		1215	}
		1216	void _WPMarkerSetType(string text, int type)
		1217	{
		1218	GMapMarker p = _findWPMarker(text);
		1219	if (p != null)
		1220	((CustomMarkerWP)p.Shape).WPType = type;
		1221	}
		1222	void _repositionWPMarker(PointLatLng point, string name)
		1223	{
		1224	GMapMarker p = _findWPMarker(name);
		1225	if (p != null)
		1226	p.Position = point;
		1227	}
		1228
		1229	void createCircle(PointLatLng center, double distance)
		1230	{
		1231
		1232	GMapMarker it = new GMapMarker(center);
		1233	it.ZIndex = -1;
		1234
		1235	cWPBound.Center = center;
		1236	cWPBound.Bound = GMap.NET.PureProjection.GetPointFromDistance(center, distance);
		1237	cWPBound.Tag = it;
		1238	cWPBound.IsHitTestVisible = false;
		1239	UpdateCircle(cWPBound);
		1240	it.Shape = cWPBound;
		1241	MainMap.Markers.Add(it);
		1242	}
		1243	// calculates circle radius
		1244	void UpdateCircle(Circle c)
		1245	{
		1246	var pxCenter = MainMap.FromLatLngToLocal(c.Center);
		1247	var pxBounds = MainMap.FromLatLngToLocal(c.Bound);
		1248
		1249	double a = (double)(pxBounds.X - pxCenter.X);
		1250	double b = (double)(pxBounds.Y - pxCenter.Y);
		1251	var pxCircleRadius = Math.Sqrt(a * a + b * b);
		1252
		1253	c.Width = c.Height = pxCircleRadius * 2;
		1254	//c.Width = 55 + pxCircleRadius * 2;
		1255	//c.Height = 55 + pxCircleRadius * 2;
		1256	(c.Tag as GMapMarker).Offset = new System.Windows.Point(-c.Width / 2, -c.Height / 2);
		1257	}
		1258
		1259	// access mode
		1260	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		1261	{
		1262	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		1263	MainMap.ReloadMap();
		1264	}
		1265	// zoom up
		1266	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		1267	{
		1268	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		1269	}
		1270
		1271	// zoom down
		1272	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		1273	{
		1274	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		1275	}
		1276
		1277	// prefetch
		1278	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		1279	{
		1280	RectLatLng area = MainMap.SelectedArea;
		1281	if (!area.IsEmpty)
		1282	{
		1283	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		1284	{
		1285	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		1286
		1287	if (res == MessageBoxResult.Yes)
		1288	{
		1289	TilePrefetcher obj = new TilePrefetcher();
		1290	obj.Owner = this;
		1291	obj.ShowCompleteMessage = true;
		1292	obj.Start(area, i, MainMap.MapProvider, 100);
		1293	}
		1294	else if (res == MessageBoxResult.No)
		1295	{
		1296	continue;
		1297	}
		1298	else if (res == MessageBoxResult.Cancel)
		1299	{
		1300	break;
		1301	}
		1302	}
		1303	}
		1304	else
		1305	{
		1306	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1307	}
		1308	}
		1309
		1310	// goto by geocoder
		1311	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		1312	{
		1313	_goto_byGeoCoder();
		1314	}
		1315	// goto by geocoder
		1316	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		1317	{
		1318	if (e.Key == System.Windows.Input.Key.Enter)
		1319	_goto_byGeoCoder();
		1320	}
		1321	void _goto_byGeoCoder()
		1322	{
		1323	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		1324	_mapPosition = textBoxGeo.Text;
		1325	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		1326	{
		1327	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1328	}
		1329	}
		1330	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		1331	{
		1332	try
		1333	{
		1334	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		1335	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		1336
		1337	MainMap.Position = new PointLatLng(lat, lng);
		1338	}
		1339	catch (Exception ex)
		1340	{
		1341	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		1342	}
		1343
		1344	}
		1345
		1346	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		1347	{
		1348	MainMap.ReloadMap();
		1349	}
		1350
		1351	private void MainMap_OnPositionChanged(PointLatLng point)
		1352	{
		1353	if (_bFollowCopter)
		1354	_setCopterData(MainMap.Position);
		1355	}
		1356
		1357	private void MainMap_OnMapZoomChanged()
		1358	{
		1359	if (_bFollowCopter)
		1360	_setCopterData(MainMap.Position);
		1361	if ((int)sliderMapZoom.Value != MainMap.Zoom)
		1362	sliderMapZoom.Value = MainMap.Zoom;
		1363	if (cWPBound != null && cWPBound.Tag != null)
		1364	UpdateCircle(cWPBound);
		1365	}
		1366
		1367	void _setCopterData(PointLatLng p)
		1368	{
		1369	Dispatcher.Invoke(() =>
		1370	{
		1371	copter.Position = p;
		1372	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		1373	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		1374	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		1375	});
		1376	if (home != null && MainMap.Markers.Contains(home))
		1377	{
		1378	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		1379	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		1380	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
		1381
		1382	if (d * 1000 < _dThresholdDistanceWarn)
		1383	{
		1384	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		1385	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		1386	{
		1387	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		1388	_bAnimDistanceActive = false;
		1389	}
		1390	}
		1391	else
		1392	{
		1393	if (_iDistanceJitter < 20)
		1394	{ _iDistanceJitter++; }
		1395	if (_iDistanceJitter == 20)
		1396	{
		1397	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		1398	{
		1399	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		1400	_bAnimDistanceActive = true;
		1401	}
		1402	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		1403	{
		1404	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\Distance.mp3");
		1405	//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		1406	//t.Start();
		1407	_bVoiceDistanceActive = true;
		1408	}
		1409	_iDistanceJitter++;
		1410	}
		1411	}
		1412	}
		1413	}
		1414
		1415	void _setMapItemsSize(string item, double value)
		1416	{
		1417	ScaleTransform scaleTransform = new ScaleTransform();
		1418	scaleTransform.ScaleY = value;
		1419	scaleTransform.ScaleX = value;
		1420	TransformGroup transformGroup = new TransformGroup();
		1421	transformGroup.Children.Add(scaleTransform);
		1422
		1423	switch (item)
		1424	{
		1425	case "Copter":
		1426	if (copter != null && copter.Shape != null)
		1427	{
		1428	((ScaleTransform)transformGroup.Children[0]).CenterX = 26;
		1429	((ScaleTransform)transformGroup.Children[0]).CenterY = 26;
		1430	copter.Shape.RenderTransform = transformGroup;
		1431	}
		1432	break;
		1433	case "Home":
		1434	if (home != null && MainMap.Markers.Contains(home))
		1435	{
		1436	((ScaleTransform)transformGroup.Children[0]).CenterX = 16.5;
		1437	((ScaleTransform)transformGroup.Children[0]).CenterY = 16.5;
		1438	home.Shape.RenderTransform = transformGroup;
		1439	home.Shape.InvalidateVisual();
		1440	}
		1441	break;
		1442	case "WP":
		1443	Dispatcher.Invoke(() =>
		1444	{
		1445	((ScaleTransform)transformGroup.Children[0]).CenterX = 11.5;
		1446	((ScaleTransform)transformGroup.Children[0]).CenterY = 11.5;
		1447	for (int k = 0; k < MainMap.Markers.Count;)
		1448	{
		1449	GMapMarker p = MainMap.Markers[k];
		1450	if (p.Shape != null && (p.Shape.GetType() == typeof(CustomMarkerWP) \|\| p.Shape.GetType() == typeof(CustomMarkerWPActive)))
		1451	{
		1452	((CustomMarkerWP)(p.Shape)).RenderTransform = transformGroup;
		1453	}
		1454	k++;
		1455	}
		1456	});
		1457	break;
		1458	}
		1459
		1460	}
		1461
		1462	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		1463	{
		1464	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		1465	}
		1466
		1467	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1468	{
		1469	if (MainMap.Zoom != sliderMapZoom.Value)
		1470	MainMap.Zoom = (int)sliderMapZoom.Value;
		1471	}
		1472
		1473	private void SliderCopterZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1474	{
		1475	if (copter != null && copter.Shape != null)
		1476	_setMapItemsSize("Copter",SliderCopterZoom.Value);
		1477	}
		1478	private void SliderWPZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1479	{
		1480	if (MainMap.Markers.Count > 2)
		1481	_setMapItemsSize("WP",SliderWPZoom.Value);
		1482	}
		1483	private void SliderHomeZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1484	{
		1485	if (home != null && MainMap.Markers.Contains(home))
		1486	_setMapItemsSize("Home",SliderHPZoom.Value);
		1487	}
		1488
		1489
		1490
		1491	#region Touch zooming hackattack ;)
		1492	/// <summary>
		1493	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		1494	/// </summary>
		1495	bool bFirstAccess = true;
		1496	double dDistance = 0;
		1497	int iZoom;
		1498	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1499	{
		1500	if (!_WPisMouseCaptured)
		1501	{
		1502	var id = e.StylusDevice.Id;
		1503	e.StylusDevice.Capture(MainMap);
		1504	if (iFirstStylusID == -1)
		1505	{
		1506	iFirstStylusID = id;
		1507	}
		1508	else
		1509	{
		1510
		1511	MainMap.CanDragMap = false;
		1512	}
		1513	}
		1514	}
		1515	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1516	{
		1517	MainMap.ReleaseStylusCapture();
		1518	iFirstStylusID = -1;
		1519	bFirstAccess = true;
		1520	MainMap.CanDragMap = true;
		1521	iZoom = 0;
		1522	}
		1523	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1524	{
		1525	var id = e.StylusDevice.Id;
		1526	var tp = e.GetPosition(MainMap);
		1527
		1528	// This is the first Stylus point; just record its position.
		1529	if (id == iFirstStylusID)
		1530	{
		1531	pTouch1.X = tp.X;
		1532	pTouch1.Y = tp.Y;
		1533	}
		1534	else
		1535	if (iFirstStylusID > -1)
		1536	{
		1537	pTouch2.X = tp.X;
		1538	pTouch2.Y = tp.Y;
		1539	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1540	if (!bFirstAccess)
		1541	{
		1542	if (distance > dDistance)
		1543	iZoom++;
		1544	else
		1545	if (distance < dDistance)
		1546	iZoom--;
		1547	}
		1548	if (iZoom > 30)
		1549	{
		1550	iZoom = 0;
		1551	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1552	}
		1553	if (iZoom < -30)
		1554	{
		1555	iZoom = 0;
		1556	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1557	}
		1558	dDistance = distance;
		1559	bFirstAccess = false;
		1560	}
		1561	}
		1562	#endregion Touch zooming hackattack ;)
		1563
		1564	#endregion GMap
		1565
		1566	#region settings
		1567	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1568	{
		1569	if (!_bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		1570	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1571	}
		1572	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1573	{
		1574	if (!_bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		1575	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1576	}
		1577	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1578	{
		1579	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1580	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1581	}
		1582	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1583	{
		1584	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1585	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1586	}
		1587	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1588	{
		1589	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1590	}
		1591	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1592	{
		1593	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1594	}
		1595	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1596	{
		1597	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1598	}
		1599	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1600	{
		1601	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1602	}
		1603
		1604	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1605	{
		1606	if (cBoxLiPoCells.SelectedIndex > -1)
		1607	{
		1608	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1609	_LipoMinMax();
		1610	}
		1611	}
		1612	private void chkbAutoLiPo_Click(object sender, RoutedEventArgs e)
		1613	{
		1614	_bLiPoAutoDetect = (bool)chkbAutoLiPoDetect.IsChecked;
		1615	}
		1616
		1617	void _LipoMinMax()
		1618	{
		1619	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1620	_dLipoVMin = (double)_LipoCells * 3;
		1621	pbTopVoltage.Maximum = _dLipoVMax;
		1622	pbTopVoltage.Minimum = _dLipoVMin;
		1623	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1624	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1625	}
		1626	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1627	{
		1628	if (cBoxMotors.SelectedIndex > -1)
		1629	{
		1630	_iMotors = cBoxMotors.SelectedIndex + 3;
		1631	Dispatcher.Invoke(() =>
		1632	{
		1633	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1634	GridMotors.Height = dgvMotors1.Height + 10;
		1635	});
		1636	}
		1637	}
		1638	void _setMotorGridSize()
		1639	{
		1640	if (dgvMotors1.Columns.Count > 2)
		1641	{
		1642	dgvMotors1.Columns[0].Width = 24;
		1643	dgvMotors1.Columns[1].Width = 50;
		1644	dgvMotors1.Columns[2].Width = 50;
		1645	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1646	GridMotors.Height = dgvMotors1.Height + 10;
		1647	}
		1648
		1649	}
		1650	#endregion settings
		1651
		1652	#region functions
		1653
		1654	#region logging
		1655	/// <summary> Log data to the terminal window. </summary>
		1656	/// <param name="msgtype"> The type of message to be written. </param>
		1657	/// <param name="msg"> The string containing the message to be shown. </param>
		1658	private void Log(LogMsgType msgtype, string msg)
		1659	{
		1660	Dispatcher.Invoke(() =>
		1661	{
		1662	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1663	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1664	// rtfTerminal.AppendText(msg + "\r");
		1665	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd, rtfTerminal.Document.ContentEnd);
		1666	tr.Text = msg;
		1667	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1668	rtfTerminal.AppendText("\r");
		1669	rtfTerminal.ScrollToEnd();
		1670	});
		1671	}
		1672	private void ErrorLog(LogMsgType msgtype, string msg, string linkURL, string linkName)
		1673	{
		1674
		1675	Dispatcher.Invoke(() =>
		1676	{
		1677	Paragraph para = new Paragraph();
		1678	para.Margin = new Thickness(0); // remove indent between paragraphs
		1679
		1680	Hyperlink link = new Hyperlink();
		1681	if (linkURL != "" && linkName != "")
		1682	{
		1683	link.IsEnabled = true;
		1684	link.Inlines.Add(linkName);
		1685	link.NavigateUri = new Uri(linkURL);
		1686	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1687	}
		1688	//msg = DateTime.Now.ToLongTimeString() + msg;
		1689	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1690	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1691	r.Foreground = new SolidColorBrush(Colors.Black);
		1692	para.Inlines.Add(r);
		1693	para.Inlines.Add(msg);
		1694	para.Inlines.Add(link);
		1695	rtfError.Document.Blocks.Add(para);
		1696	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1697	//tr.Text = msg + link;
		1698	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1699	//rtfError.AppendText("\r");
		1700	rtfError.ScrollToEnd();
		1701
		1702	//_bErrorLog = true;
		1703	});
		1704	}
		1705	/// <summary>
		1706	/// Clear the line in the errorlog window
		1707	/// containing the error string when error has ceased
		1708	/// </summary>
		1709	/// <param name="s">substring of errrormessage</param>
		1710	void _clearErrorLog(string s)
		1711	{
		1712	Dispatcher.Invoke((Action)(() =>
		1713	{
		1714	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1715	TextRange foundRange = FindTextInRange(searchRange, s);
		1716
		1717	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1718
		1719
		1720	if (iStart > -1)
		1721	{
		1722	int iLength = 0;
		1723	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1724	if (iEnd > 0)
		1725	{
		1726	iLength = iEnd + 1;
		1727	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1728	if (iHttp == iLength)
		1729	{
		1730	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1731	if (iEnd2 > iLength)
		1732	{
		1733	iLength = iEnd2 + 1;
		1734	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1735
		1736	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1737	rtfError.Selection.Text = string.Empty;
		1738	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1739	}
		1740
		1741	}
		1742	else
		1743	{
		1744	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1745	rtfError.Selection.Text = string.Empty;
		1746	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1747	}
		1748	}
		1749	}
		1750	}));
		1751
		1752	}
		1753	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1754	{
		1755	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1756	if (offset < 0)
		1757	return null; // Not found
		1758
		1759	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1760	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1761
		1762	return result;
		1763	}
		1764	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1765	{
		1766	while (position != null)
		1767	{
		1768	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1769	{
		1770	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1771	if (characterCount <= count)
		1772	{
		1773	return position.GetPositionAtOffset(characterCount);
		1774	}
		1775
		1776	characterCount -= count;
		1777	}
		1778
		1779	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1780	if (nextContextPosition == null)
		1781	return position;
		1782
		1783	position = nextContextPosition;
		1784	}
		1785
		1786	return position;
		1787	}
		1788	#endregion logging
		1789
		1790	#region processing received data
		1791
		1792	private void processMessage(byte[] message)
		1793	{
		1794	if (message.Length > 0)
		1795	{
		1796	_iLifeCounter++;
		1797	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1798	//Log(LogMsgType.Incoming, message.Length.ToString());
		1799	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1800	char cmdID;
		1801	byte adr;
		1802	byte[] data;
		1803	byte[] tmp = null;
		1804	if (message[0] != '#')
		1805	{
		1806	int iFound = -1;
		1807	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1808	{ //so this is a workaround to not spam the log box
		1809	if (message[i] == 35)
		1810	{
		1811	iFound = i;
		1812	break;
		1813	}
		1814	}
		1815	if (iFound > 0)
		1816	{
		1817	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1818	tmp = new byte[message.Length - iFound];
		1819	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1820	}
		1821	s = s.Trim('\0', '\n', '\r');
		1822	if (s.Length > 0)
		1823	Log(LogMsgType.Normal, s);
		1824	if (tmp != null)
		1825	{
		1826	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1827	processMessage(tmp);
		1828	}
		1829	}
		1830	//Debug.Print(s);
		1831	else
		1832	{
		1833	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1834
		1835	if (adr == 255) { crcError++; }
		1836	else crcError = 0;
		1837	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1838	//display the active controller (FC / NC)
		1839	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...???
		1840	{
		1841	_iCtrlAct = adr;
		1842	switch (adr)
		1843	{
		1844	case 1:
		1845	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
		1846	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1847	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1848	// _setFieldsNA(); //display fields NA for FC
		1849	break;
		1850	case 2:
		1851	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1852	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1853	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1854	break;
		1855	//case 3:
		1856	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1857	// break;
		1858	//case 4:
		1859	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1860	// break;
		1861	default:
		1862	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1863	break;
		1864	}
		1865	// _loadLabelNames();
		1866	}
		1867	// else
		1868	// Debug.Print("Address == 0?");
		1869
		1870	if (data != null && data.Length > 0)
		1871	{
		1872	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1873	s = s.Trim('\0', '\n');
		1874
		1875	switch (cmdID)
		1876	{
		1877	//case 'A': //Label names
		1878	// _processLabelNames(s);
		1879	// break;
		1880
		1881	case 'D': //Debug data
		1882	_processDebugVals(adr, data);
		1883	break;
		1884
		1885	case 'V': //Version
		1886	_processVersion(adr, data);
		1887	break;
		1888
		1889	case 'K'://BL-CTRL data
		1890	_processBLCtrl(data);
		1891	break;
		1892
		1893	case 'M'://License info
		1894	_processLicense(data);
		1895	break;
		1896
		1897	case 'O': //NC Data
		1898	if (data[0] < 10)
		1899	_processNCData(data);
		1900	else
		1901	_processNCDataV2(data);
		1902	break;
		1903
		1904	//case 'E': //NC error-string
		1905	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1906	// break;
		1907
		1908	case 'L': //OSD Menue (called by pagenumber)
		1909	_processOSDSingle(data);
		1910	break;
		1911
		1912	case 'H': //OSD Menue (with autoupdate - called by Key)
		1913	_processOSDAuto(data);
		1914	break;
		1915
		1916	case 'X': //Waypoint data
		1917	_processWPData(data);
		1918	break;
		1919
		1920	case 'W': //return new Waypoint items count after sending waypoint to copter
		1921	_iWPCount = data[0];
		1922	break;
		1923	//default:
		1924	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1925	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1926	// break;
		1927	}
		1928	}
		1929	//else
		1930	//{
		1931	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1932	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1933	//}
		1934	}
		1935	}
		1936	}
		1937	/// <summary>
		1938	/// Analog label names 'A'
		1939	/// each label name is returned as a single string
		1940	/// and added to string array sAnalogLabel[]
		1941	/// and the datatable dtAnalog
		1942	/// </summary>
		1943	/// <param name="s">the label name</param>
		1944	void _processLabelNames(string s)
		1945	{
		1946	//if (iLableIndex < 32)
		1947	//{
		1948	// sAnalogLabel[iLableIndex] = s;
		1949	// if (dtAnalog.Rows.Count < 32)
		1950	// dtAnalog.Rows.Add(s, "");
		1951	// else
		1952	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1953
		1954	// // _getAnalogLabels(iLableIndex + 1);
		1955	//}
		1956	//Debug.Print(s);
		1957	}
		1958	/// <summary>
		1959	/// Debug values 'D'
		1960	/// </summary>
		1961	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1962	/// <param name="data">the received byte array to process</param>
		1963	void _processDebugVals(byte adr, byte[] data)
		1964	{
		1965	if (data.Length == 66)
		1966	{
		1967
		1968	double v;
		1969	int index = 0;
		1970	Int16 i16 = 0;
		1971	double dTemp = 0;
		1972	for (int i = 2; i < 66; i += 2)
		1973	{
		1974	i16 = data[i + 1];
		1975	i16 = (Int16)(i16 << 8);
		1976	iAnalogData[index] = data[i] + i16;
		1977	sAnalogData[index] = (data[i] + i16).ToString();
		1978	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1979
		1980	if (adr == 2) //NC
		1981	{
		1982	switch (index)
		1983	{
		1984	case 0: //pitch (German: nick)
		1985	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1986	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1987	break;
		1988	case 1: //roll
		1989	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1990	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1991	break;
		1992	case 4: //altitude
		1993	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1994	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1995	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
		1996	break;
		1997	case 7: //Voltage
		1998	v = (double)iAnalogData[index] / (double)10;
		1999	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		2000	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		2001	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		2002	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		2003	{
		2004	if (v == _dVoltLast)
		2005	if (_iVoltJitter < 20) _iVoltJitter++;
		2006	else
		2007	{
		2008	_iVoltJitter = 0;
		2009	_dVoltLast = v;
		2010	}
		2011	_dVoltLast = v;
		2012	if (_iVoltJitter == 20)
		2013	{
		2014	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		2015
		2016	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		2017	{
		2018	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		2019	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		2020	{
		2021	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		2022	_bCritAnimVoltActive = true;
		2023	}
		2024	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		2025	{
		2026	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3");
		2027	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		2028	//t.Start();
		2029	_bCritVoiceVoltActive = true;
		2030	}
		2031	}
		2032	else
		2033	{
		2034	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		2035	{
		2036	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		2037	_bCritAnimVoltActive = false;
		2038	}
		2039	_bCritVoiceVoltActive = false;
		2040
		2041	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
		2042	{
		2043	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3");
		2044	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		2045	//t.Start();
		2046	_bWarnVoiceVoltActive = true;
		2047	}
		2048	}
		2049	}
		2050	}
		2051	else
		2052	{
		2053	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		2054	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		2055	{
		2056	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		2057	_bCritAnimVoltActive = false;
		2058	}
		2059	_bCritVoiceVoltActive = false;
		2060	_bWarnVoiceVoltActive = false;
		2061	_iVoltJitter = 0;
		2062	}
		2063	break;
		2064	case 8: // Current
		2065	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		2066	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		2067	break;
		2068	case 10: //heading
		2069	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
		2070	if (!_Simulate) //use NavData for simulation
		2071	{
		2072	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		2073	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		2074	}
		2075	break;
		2076	case 12: // SPI error
		2077	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
		2078	break;
		2079	case 14: //i2c error
		2080	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
		2081	break;
		2082	case 20: //Earthmagnet field
		2083	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		2084	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		2085
		2086	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		2087	{
		2088	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		2089	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		2090	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		2091	{
		2092	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		2093	_bAnimMagneticFieldActive = false;
		2094	}
		2095	}
		2096	else
		2097	{
		2098	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		2099	if (_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		2100	{
		2101	if (_iMagneticFieldJitter < 20)
		2102	_iMagneticFieldJitter++;
		2103	}
		2104	else
		2105	{
		2106	_iMagneticFieldJitter = 0;
		2107	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		2108	}
		2109	if (_iMagneticFieldJitter == 20)
		2110	{
		2111	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		2112	{
		2113	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		2114	_bAnimMagneticFieldActive = true;
		2115	}
		2116	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		2117	{
		2118	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2119	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		2120	//t.Start();
		2121	_bVoiceMagneticFieldActive = true;
		2122	}
		2123	}
		2124	}
		2125	break;
		2126	case 21: //GroundSpeed
		2127	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		2128	if (!_Simulate)
		2129	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		2130	break;
		2131
		2132	///******** needs testing --> not sure what position this is *************
		2133	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		2134	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		2135	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		2136	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		2137	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		2138	dTemp = Math.Sqrt(dTemp) / (double)10;
		2139	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		2140	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		2141	break;
		2142
		2143	case 31: //Sats used
		2144	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		2145	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		2146	break;
		2147	}
		2148	}
		2149	index++;
		2150	}
		2151	}
		2152	else
		2153	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		2154	}
		2155	/// <summary>
		2156	/// Version string 'V'
		2157	/// </summary>
		2158	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		2159	/// <param name="data">the received byte array to process</param>
		2160	void _processVersion(byte adr, byte[] data)
		2161	{
		2162	if (data.Length == 12)
		2163	{
		2164	if (!check_HWError)
		2165	{
		2166	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		2167	string sVersion = "";
		2168	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		2169	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		2170	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		2171	Log(LogMsgType.Incoming, sVersion);
		2172	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		2173	Log(LogMsgType.Incoming, sVersion);
		2174	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		2175	}
		2176	if (data[5] > 0) //error0
		2177	{
		2178	if (adr == 1)
		2179	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(), "", "");
		2180	if (adr == 2)
		2181	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(), "", "");
		2182	}
		2183	if (data[6] > 0) //error1
		2184	{
		2185	if (adr == 1)
		2186	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(), "", "");
		2187	if (adr == 2)
		2188	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(), "", ""); //@moment NC has only one error field
		2189	}
		2190	//if ((data[5] + data[6] == 0) && _bErrorLog)
		2191	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		2192
		2193	}
		2194	check_HWError = false;
		2195	}
		2196
		2197	void _processLicense(byte[] data)
		2198	{
		2199	if (data.Length > 480)
		2200	{
		2201	Dispatcher.Invoke(() => {
		2202	tbDataLicenseUser.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 1, 127));
		2203	tbDataLicenseMail.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 129, 127));
		2204	tbDataLicenseFeature.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 257, 127));
		2205	tbDataLicenseExpire.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 385, 11));
		2206	tbDataLicenseLicense.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 397, 16));
		2207	});
		2208	}
		2209	}
		2210	/// <summary>
		2211	/// BL-Ctrl data 'K'
		2212	/// for FC you have to use a customized firmware
		2213	/// </summary>
		2214	/// <param name="data">the received byte array to process</param>
		2215	void _processBLCtrl(byte[] data)
		2216	{
		2217	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		2218	{
		2219	bool bAvailable = false;
		2220	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		2221	{
		2222
		2223	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		2224	bAvailable = true;
		2225	else
		2226	bAvailable = false;
		2227
		2228	if (data[i] < _iMotors)
		2229	{
		2230	if (bAvailable)
		2231	{
		2232	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		2233	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
		2234	}
		2235	else
		2236	{
		2237	dtMotors.Rows[data[i]].SetField(1, "NA");
		2238	dtMotors.Rows[data[i]].SetField(2, "NA");
		2239	}
		2240	}
		2241	//if (data[i] > 3 && data[i] < 8)
		2242	//{
		2243	// if (bAvailable)
		2244	// {
		2245	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		2246	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		2247	// }
		2248	// else
		2249	// {
		2250	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		2251	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		2252	// }
		2253	//}
		2254	}
		2255	}
		2256	}
		2257	/// <summary>
		2258	/// Navi-Ctrl data 'O'
		2259	/// GPS-Position, capacatiy, flying time...
		2260	/// </summary>
		2261	/// <param name="data">the received byte array to process</param>
		2262
		2263
		2264	byte OSDSTATUSFLAGS1 = 0;
		2265	byte OSDSTATUSFLAGS2 = 0;
		2266	void _processNCDataV2(byte[] data)
		2267	{
		2268	if ((int)data[0] < 17)
		2269	{
		2270	int i_32, i_16, iVal;
		2271	double d;
		2272	OSD_Base_Data_t osd = new OSD_Base_Data_t(data);
		2273	OSDSTATUSFLAGS1 = osd.OSDSTATUSFLAGS1();
		2274	Dispatcher.Invoke(() => { drGPX[2] = osd.Pos().Lng; });
		2275	Dispatcher.Invoke(() => { drGPX[1] = osd.Pos().Lat; });
		2276	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
		2277	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = osd.Speed().ToString("0.0 m/s")));
		2278	if (_Simulate)
		2279	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = osd.Speed().ToString("0.0 m/s")));
		2280
		2281	switch ((int)data[0])
		2282	{
		2283	case 10:
		2284	char[] c = Encoding.ASCII.GetChars(new byte[] { data[13] });
		2285	Dispatcher.Invoke((Action)(() => tbCamCtrl.Text = c[0].ToString()));
		2286	break;
		2287	case 11:
		2288	OSDSTATUSFLAGS2 = osd.OSDSTATUSFLAGS2();
		2289	//---------------NC-Flags--------------------------
		2290	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[14] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2291	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[14] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2292	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[14] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2293	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[14] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2294	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[14] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2295	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[14] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2296	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[14] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
		2297
		2298	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[14] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		2299	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Background = (((data[14] & 2) == 2) \| ((data[14] & 4) == 4)) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		2300	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Foreground = (((data[14] & 2) == 2) \| ((data[14] & 4) == 4)) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		2301	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.BorderBrush = (((data[14] & 2) == 2) \| ((data[14] & 4) == 4)) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		2302
		2303	//--------------- NC Error ------------------------
		2304	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[16].ToString())); //NC Errornumber
		2305	if (data[16] > 0)
		2306	_readNCError();
		2307	if (data[16] > 0 & data[16] < 44)
		2308	ErrorLog(LogMsgType.Error, " NC Error [" + data[16].ToString() + "]: ", NC_Error_Link[data[16]], NC_Error[data[16]]);
		2309
		2310	break;
		2311	case 12:
		2312	//--------------- RC quality ------------------------
		2313	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[23].ToString()));
		2314	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[23].ToString()));
		2315
		2316	if (data[23] > _iThresholdRC)
		2317	{
		2318	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2319	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2320	{
		2321	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2322	_bAnimRCLevelActive = false;
		2323	}
		2324	}
		2325	else
		2326	{
		2327	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2328	if (_iRCLevelJitter == 20)
		2329	{
		2330	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2331	{
		2332	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2333	_bAnimRCLevelActive = true;
		2334	}
		2335	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2336	{
		2337	_bVoiceRCLevelActive = true;
		2338	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2339	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2340	//th.Start();
		2341	}
		2342	_iRCLevelJitter++;
		2343	}
		2344	}
		2345	break;
		2346	case 13:
		2347	//-------------------------Waypoint max range (by license)------------------------------
		2348	i_32 = data[24];
		2349	iVal = i_32 << 8;
		2350	iVal += data[23];
		2351
		2352	if (dWPMaxRange != iVal)
		2353	{
		2354	dWPMaxRange = iVal;
		2355	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2356	{
		2357	if (cWPBound != null && cWPBound.Tag != null)
		2358	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2359
		2360	createCircle(home.Position, dWPMaxRange);
		2361	Dispatcher.Invoke(() =>
		2362	{
		2363	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2364	{
		2365	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2366	cWPBound.setColor(s);
		2367	}
		2368	});
		2369	}
		2370	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = iVal.ToString() + " m"));
		2371	}
		2372	//--------------- LiPoCell count ------------------------
		2373	Dispatcher.Invoke((Action)(() => tbLiPoCells.Text = data[25].ToString()));
		2374	Dispatcher.Invoke((Action)(() => {
		2375	if (_bLiPoAutoDetect == true)
		2376	{
		2377	if(data[25] > 2 && data[25] < 7 && _LipoCells != data[25])
		2378	{
		2379	cBoxLiPoCells.SelectedIndex = data[25] - 3;
		2380	_LipoCells = data[25];
		2381	_LipoMinMax();
		2382	}
		2383	}
		2384	}));
		2385
		2386	break;
		2387
		2388	case 14:
		2389	//--------------- Flying time ------------------------
		2390	i_16 = data[14];
		2391	i_16 = (Int16)(i_16 << 8);
		2392	iVal = data[13] + i_16;
		2393	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2394	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2395	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2396	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		2397
		2398	//--------------------------------Distance HP------------------------------------
		2399	i_16 = data[16];
		2400	i_16 = (Int16)(i_16 << 8);
		2401	iVal = data[15] + i_16;
		2402	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2403
		2404	//--------------------------Distance to next WP--------------------------------
		2405	i_16 = data[19];
		2406	i_16 = (Int16)(i_16 << 8);
		2407	iVal = data[18] + i_16;
		2408	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2409	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
		2410	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2411
		2412	//-------------------Satellites----------------------------------
		2413	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[23].ToString()));
		2414
		2415	if (data[23] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		2416	{
		2417	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
		2418	if (_bAutoHome && !_bFirstSatFix)
		2419	{
		2420	if (_iFirstSatFix < 3)
		2421	_iFirstSatFix++;
		2422	else
		2423	{
		2424	_bFirstSatFix = true;
		2425	Dispatcher.Invoke(() => _setHomePos());
		2426	}
		2427	}
		2428	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2429	{
		2430	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2431	_bAnimSatFixActive = false;
		2432	}
		2433	if (!_bFollowCopter)
		2434	{
		2435	_setCopterData(osd.Pos());
		2436	if (!MainMap.ViewArea.Contains(osd.Pos()))
		2437	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2438
		2439	}
		2440	else
		2441	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2442	}
		2443	else
		2444	{
		2445	if (_bSatFix)
		2446	{
		2447	if (data[23] == _iSatsLast)
		2448	{
		2449	if (_iSatsJitter < 20) _iSatsJitter++;
		2450	}
		2451	else
		2452	{
		2453	_iSatsJitter = 0;
		2454	_iSatsLast = data[23];
		2455	}
		2456
		2457	if (_iSatsJitter == 20)
		2458	{
		2459	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2460	{
		2461	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2462	_bAnimSatFixActive = true;
		2463	}
		2464	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2465	{
		2466	_bVoiceSatFixActive = true;
		2467	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2468	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2469	//th.Start();
		2470	}
		2471
		2472	_bSatFix = false;
		2473	}
		2474	}
		2475	}
		2476
		2477	break;
		2478
		2479	case 15:
		2480	//--------------------------------Waypoint index------------------------------------
		2481	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[13].ToString()));
		2482	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[13].ToString()));
		2483	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[13].ToString()));
		2484	if (data[13] > 0 && _wpIndex != data[13] - 1 && wpList.Count > data[13] - 1)
		2485	{
		2486	_setActiveWP(data[13] - 1);
		2487	if ((OSDSTATUSFLAGS2 & 2) == 2)
		2488	Dispatcher.Invoke(() =>
		2489	{
		2490	DataGridRow row;
		2491	if (_wpIndex > -1)
		2492	{
		2493	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2494	row.Background = new SolidColorBrush(Colors.Transparent);
		2495	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2496	row.BorderThickness = new Thickness(0);
		2497	}
		2498
		2499	_wpIndex = data[13] - 1;
		2500	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2501	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2502	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		2503	row.BorderThickness = new Thickness(2);
		2504	dgvWP.UpdateLayout();
		2505	});
		2506	_wpIndex = data[13] - 1;
		2507	}
		2508	else
		2509	{
		2510	if ((data[13] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
		2511	{
		2512	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
		2513	Dispatcher.Invoke(() =>
		2514	{
		2515	DataGridRow row;
		2516	if (_wpIndex > -1 && data[13] == 0 && wpList.Count > _wpIndex)
		2517	{
		2518	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2519	row.Background = new SolidColorBrush(Colors.Transparent);
		2520	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2521	row.BorderThickness = new Thickness(0);
		2522	_wpIndex = -1;
		2523	}
		2524	});
		2525
		2526	}
		2527	}
		2528	//----------------Waypoints count----------------------
		2529	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[14].ToString())); //Waypoints count
		2530	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[14].ToString())); //Waypoints count
		2531	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[14].ToString())); //Waypoints count
		2532	_wpCount = data[14];
		2533	if(_wpCount > dtWaypoints.Rows.Count)
		2534	{
		2535	Log(LogMsgType.Warning, "The copter reports more waypoints than there are in the local list!");
		2536	}
		2537
		2538	//---------------------------------Target hold time------------------------------
		2539	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[15].ToString() + " s"));
		2540	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[15].ToString() + " s"));
		2541
		2542	break;
		2543
		2544	case 16:
		2545	//--------------- Capacity used ------------------------
		2546	i_16 = data[18];
		2547	i_16 = (Int16)(i_16 << 8);
		2548	iVal = data[17] + i_16;
		2549	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2550	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		2551
		2552	//--------------- Heading compass ------------------------
		2553	i_16 = data[21];
		2554	iVal = 2 * i_16;
		2555	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
		2556	if (_Simulate)
		2557	{
		2558	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2559	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2560	}
		2561
		2562	break;
		2563	case 17:
		2564
		2565	break;
		2566	case 18:
		2567
		2568	break;
		2569	default:
		2570	break;
		2571	}
		2572	//--------------------------------------------------------------------------------
		2573	//-----------------------------FC Status Flags-------------------------------
		2574	//--------------------------------------------------------------------------------
		2575	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2576	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((OSDSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2577	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((OSDSTATUSFLAGS1 & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2578	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((OSDSTATUSFLAGS2 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2579	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2580	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((OSDSTATUSFLAGS1 & 32) == 32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2581
		2582	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2583	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2584	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((OSDSTATUSFLAGS2 & 4) == 4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2585	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((OSDSTATUSFLAGS1 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2586	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((OSDSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2587	Dispatcher.Invoke((Action)(() => FC2_6.Background = ((OSDSTATUSFLAGS2 & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground
		2588	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((OSDSTATUSFLAGS2 & 64) == 64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2589	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((OSDSTATUSFLAGS2 & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2590
		2591	//Sidebar StatusSymbols
		2592	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2593	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Foreground = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_MOTOR_RUN 0x01
		2594	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.BorderBrush = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_MOTOR_RUN 0x01
		2595
		2596	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2597	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Foreground = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		2598	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.BorderBrush = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		2599
		2600	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2601	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Foreground = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_EMERGENCY_LANDING 0x10
		2602	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.BorderBrush = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_EMERGENCY_LANDING 0x10
		2603
		2604	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2605	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Foreground = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2606	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.BorderBrush = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2607
		2608	_bAirborne = (OSDSTATUSFLAGS2 & 2) == 2 ? true : false;
		2609	}
		2610	}
		2611	public class OSD_Base_Data_t
		2612	{
		2613	byte[] data;
		2614
		2615	public OSD_Base_Data_t(byte [] _data)
		2616	{
		2617	data = _data;
		2618	}
		2619
		2620	public PointLatLng Pos()
		2621	{
		2622	PointLatLng p = new PointLatLng();
		2623	int i_32, iVal;
		2624	double d;
		2625
		2626	i_32 = data[4];
		2627	iVal = i_32 << 24;
		2628	i_32 = data[3];
		2629	iVal += i_32 << 16;
		2630	i_32 = data[2];
		2631	iVal += i_32 << 8;
		2632	iVal += data[1];
		2633	d = (double)iVal / Math.Pow(10, 7);
		2634	p.Lng = d;
		2635
		2636	i_32 = data[8];
		2637	iVal = i_32 << 24;
		2638	i_32 = data[7];
		2639	iVal += i_32 << 16;
		2640	i_32 = data[6];
		2641	iVal += i_32 << 8;
		2642	iVal += data[5];
		2643	d = (double)iVal / Math.Pow(10, 7);
		2644	p.Lat = d;
		2645
		2646	return p;
		2647
		2648	}
		2649
		2650	public int Height()
		2651	{
		2652	int i_32, iVal;
		2653	i_32 = data[10];
		2654	iVal = i_32 << 8;
		2655	iVal += data[9];
		2656
		2657	return iVal;
		2658	}
		2659
		2660	public double Speed()
		2661	{
		2662	if (data.Length > 11)
		2663	return (double)data[11]/10;
		2664	else return 0;
		2665	}
		2666
		2667	public byte OSDSTATUSFLAGS1()
		2668	{
		2669	if (data.Length > 12)
		2670	return data[12];
		2671	else return 0;
		2672	}
		2673	public byte OSDSTATUSFLAGS2()
		2674	{
		2675	if (data.Length > 13)
		2676	return data[13];
		2677	else return 0;
		2678	}
		2679	}
		2680	void _processNCData(byte[] data)
		2681	{
		2682	int i_32, i_16, iVal;
		2683	double d;
		2684
		2685	//----------------------------POSITION------------------------------------
		2686	i_32 = data[4];
		2687	iVal = i_32 << 24;
		2688	i_32 = data[3];
		2689	iVal += i_32 << 16;
		2690	i_32 = data[2];
		2691	iVal += i_32 << 8;
		2692	iVal += data[1];
		2693	d = (double)iVal / Math.Pow(10, 7);
		2694	Dispatcher.Invoke(() => { drGPX[2] = d; });
		2695
		2696	PointLatLng p = new PointLatLng();
		2697
		2698	p.Lng = d;
		2699	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		2700	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		2701
		2702	i_32 = data[8];
		2703	iVal = i_32 << 24;
		2704	i_32 = data[7];
		2705	iVal += i_32 << 16;
		2706	i_32 = data[6];
		2707	iVal += i_32 << 8;
		2708	iVal += data[5];
		2709	d = (double)iVal / Math.Pow(10, 7);
		2710	Dispatcher.Invoke(() => { drGPX[1] = d; });
		2711	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
		2712	p.Lat = d;
		2713
		2714	//---------------------------SATS-------------------------------------------------
		2715	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		2716	{
		2717	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
		2718	if(_bAutoHome && !_bFirstSatFix)
		2719	{
		2720	if (_iFirstSatFix < 3)
		2721	_iFirstSatFix++;
		2722	else
		2723	{
		2724	_bFirstSatFix = true;
		2725	Dispatcher.Invoke(() => _setHomePos());
		2726	}
		2727	}
		2728	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2729	{
		2730	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2731	_bAnimSatFixActive = false;
		2732	}
		2733	if (!_bFollowCopter)
		2734	{
		2735	_setCopterData(p);
		2736	if (!MainMap.ViewArea.Contains(p))
		2737	Dispatcher.Invoke(() => MainMap.Position = p);
		2738
		2739	}
		2740	else
		2741	Dispatcher.Invoke(() => MainMap.Position = p);
		2742	}
		2743	else
		2744	{
		2745	if(_bSatFix)
		2746	{
		2747	if (data[50] == _iSatsLast)
		2748	{
		2749	if (_iSatsJitter < 20) _iSatsJitter++;
		2750	}
		2751	else
		2752	{
		2753	_iSatsJitter = 0;
		2754	_iSatsLast = data[50];
		2755	}
		2756
		2757	if (_iSatsJitter == 20)
		2758	{
		2759	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2760	{
		2761	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2762	_bAnimSatFixActive = true;
		2763	}
		2764	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2765	{
		2766	_bVoiceSatFixActive = true;
		2767	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2768	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2769	//th.Start();
		2770	}
		2771
		2772	_bSatFix = false;
		2773	}
		2774	}
		2775	}
		2776
		2777	//--------------------------Distance to next WP--------------------------------
		2778	i_16 = data[28];
		2779	i_16 = (Int16)(i_16 << 8);
		2780	iVal = data[27] + i_16;
		2781	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2782	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
		2783	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2784
		2785	//-------------------------Distance to HP set by GPS on----------------------------------
		2786	i_16 = data[45];
		2787	i_16 = (Int16)(i_16 << 8);
		2788	iVal = data[44] + i_16;
		2789	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2790
		2791	//--------------------------------Waypoint index------------------------------------
		2792	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString()));
		2793	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
		2794	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString()));
		2795	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
		2796	{
		2797	_setActiveWP(data[48]- 1);
		2798	if((data[67] & 2) == 2)
		2799	Dispatcher.Invoke(() => {
		2800	DataGridRow row;
		2801	if (_wpIndex > -1)
		2802	{
		2803	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2804	row.Background = new SolidColorBrush(Colors.Transparent);
		2805	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2806	row.BorderThickness = new Thickness(0);
		2807	}
		2808
		2809	_wpIndex = data[48] - 1;
		2810	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2811	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2812	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		2813	row.BorderThickness = new Thickness(2);
		2814	dgvWP.UpdateLayout();
		2815	});
		2816	_wpIndex = data[48]- 1;
		2817	}
		2818	else
		2819	{
		2820	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
		2821	{
		2822	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
		2823	Dispatcher.Invoke(() =>
		2824	{
		2825	DataGridRow row;
		2826	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
		2827	{
		2828	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2829	row.Background = new SolidColorBrush(Colors.Transparent);
		2830	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2831	row.BorderThickness = new Thickness(0);
		2832	_wpIndex = -1;
		2833	}
		2834	});
		2835
		2836	}
		2837	}
		2838	//----------------Waypoints count----------------------
		2839	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
		2840	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
		2841	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count
		2842	_wpCount = data[49];
		2843	//-------------------Satellites----------------------------------
		2844	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString()));
		2845
		2846	//--------------- Capacity used ------------------------
		2847	i_16 = data[81];
		2848	i_16 = (Int16)(i_16 << 8);
		2849	iVal = data[80] + i_16;
		2850	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2851	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		2852
		2853	//--------------- Ground speed ------------------------
		2854	i_16 = data[59];
		2855	i_16 = (Int16)(i_16 << 8);
		2856	iVal = data[58] + i_16;
		2857	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		2858	if(_Simulate)
		2859	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		2860
		2861	//--------------- Heading north ------------------------
		2862	//i_16 = data[61];
		2863	//i_16 = (Int16)(i_16 << 8);
		2864	//iVal = data[60] + i_16;
		2865	//Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
		2866
		2867	//--------------- Heading compass ------------------------
		2868	i_16 = data[63];
		2869	i_16 = (Int16)(i_16 << 8);
		2870	iVal = data[62] + i_16;
		2871	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
		2872	if (_Simulate)
		2873	{
		2874	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2875	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2876	}
		2877	//--------------- Flying time ------------------------
		2878	i_16 = data[56];
		2879	i_16 = (Int16)(i_16 << 8);
		2880	iVal = data[55] + i_16;
		2881	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2882	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2883	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2884	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		2885
		2886	//--------------- RC quality ------------------------
		2887	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		2888	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		2889
		2890	if(data[66] > _iThresholdRC)
		2891	{
		2892	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2893	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2894	{
		2895	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2896	_bAnimRCLevelActive = false;
		2897	}
		2898	}
		2899	else
		2900	{
		2901	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2902	if (_iRCLevelJitter == 20)
		2903	{
		2904	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2905	{
		2906	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2907	_bAnimRCLevelActive = true;
		2908	}
		2909	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2910	{
		2911	_bVoiceRCLevelActive = true;
		2912	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2913	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2914	//th.Start();
		2915	}
		2916	_iRCLevelJitter++;
		2917	}
		2918	}
		2919
		2920	//-------------------------Waypoint max range (by license)------------------------------
		2921	if(dWPMaxRange != (double)data[70])
		2922	{
		2923	dWPMaxRange = (double)data[70];
		2924	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2925	{
		2926	if (cWPBound != null && cWPBound.Tag != null)
		2927	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2928
		2929	createCircle(home.Position, dWPMaxRange);
		2930	Dispatcher.Invoke(() =>
		2931	{
		2932	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2933	{
		2934	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2935	cWPBound.setColor(s);
		2936	}
		2937	});
		2938	}
		2939	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m"));
		2940	}
		2941	//---------------------------------Target hold time------------------------------
		2942	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
		2943	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s"));
		2944
		2945	//--------------- NC Error ------------------------
		2946	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		2947	if (data[69] > 0)
		2948	_readNCError();
		2949	if (data[69] > 0 & data[69] < 44)
		2950	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		2951	//else
		2952	// if (_bErrorLog) _clearErrorLog("NC Error");
		2953
		2954	//--------------------------------------------------------------------------------
		2955	//-----------------------------FC / NC Status Flags-------------------------------
		2956	//--------------------------------------------------------------------------------
		2957	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2958	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2959	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2960	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2961	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2962	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2963
		2964	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2965	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2966	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2967	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2968	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2969	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
		2970	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2971	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2972
		2973	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2974	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2975	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2976	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2977	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2978	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2979	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
		2980
		2981	//Sidebar StatusSymbols
		2982	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2983	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
		2984	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
		2985
		2986	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2987	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
		2988	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
		2989
		2990	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2991	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
		2992	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
		2993
		2994	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2995	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
		2996	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
		2997
		2998	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		2999	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
		3000	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
		3001	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
		3002
		3003	_bAirborne = (data[67] & 2) == 2 ? true : false;
		3004	}
		3005	/// <summary>
		3006	/// Navi-Ctrl WP data struct 'X'
		3007	/// called by index
		3008	/// </summary>
		3009	/// <param name="data">the received byte array to process</param>
		3010	void _processWPData(byte[] data)
		3011	{
		3012	_iWPCount = data[0];
		3013	_bGetWPCount = false;
		3014	if (data.Length >= 28)
		3015	{
		3016	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		3017	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		3018	if (_bGetWP)
		3019	{
		3020	if (data[1] == 1)
		3021	{
		3022	Dispatcher.Invoke(() =>
		3023	{
		3024	wpList.Clear();
		3025	_clearMapMarkers(typeof(CustomMarkerWP));
		3026	if (mRouteWP != null)
		3027	MainMap.Markers.Remove(mRouteWP);
		3028	if (wpActiveMarker != null)
		3029	MainMap.Markers.Remove(wpActiveMarker);
		3030	lblWPRouteDistance.Content = "0 m";
		3031	dtWaypoints.Rows.Clear();
		3032	_wpEdit = -1;_wpIndex = -1;
		3033	wpOffset.Clear();
		3034	});
		3035	}
		3036	DataRow dr = dtWaypoints.NewRow();
		3037	dr = Waypoints.toDataRow(data, dr);
		3038	dtWaypoints.Rows.Add(dr);
		3039	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1],(int)data[1]-1);
		3040	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3041	Dispatcher.Invoke(() => _iWPIndex = data[1]);
		3042	if (data[1] == data[0])
		3043	{
		3044	_bGetWP = false;
		3045	_routeUpdate();
		3046	}
		3047
		3048	}
		3049	}
		3050	else
		3051	{
		3052	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3053	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3054	}
		3055	}
		3056	/// <summary>
		3057	/// OSD Menue 'L'
		3058	/// single page called by pagenumber
		3059	/// no autoupdate
		3060	/// </summary>
		3061	/// <param name="data">the received byte array to process</param>
		3062	void _processOSDSingle(byte[] data)
		3063	{
		3064	if (data.Length == 84)
		3065	{
		3066	string sMessage = "";
		3067	iOSDPage = data[0];
		3068	iOSDMax = data[1];
		3069	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		3070	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		3071	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		3072	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		3073	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		3074	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		3075	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		3076	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		3077
		3078	}
		3079	//else
		3080	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		3081
		3082	}
		3083	/// <summary>
		3084	/// OSD Menue 'H'
		3085	/// called by keys (0x01,0x02,0x03,0x04)
		3086	/// autoupdate
		3087	/// </summary>
		3088	/// <param name="data">the received byte array to process</param>
		3089	void _processOSDAuto(byte[] data)
		3090	{
		3091	if (data.Length == 81)
		3092	{
		3093	string sMessage = "";
		3094	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		3095	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		3096	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		3097	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		3098	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		3099
		3100	}
		3101	//else
		3102	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		3103	}
		3104
		3105	#endregion processing received data
		3106
		3107	#region controller messages
		3108	/// <summary> send message to controller to request data
		3109	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		3110	/// </summary>
		3111	/// <param name="CMDID"> the command ID </param>
		3112	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		3113	private void _sendControllerMessage(char CMDID, byte address)
		3114	{
		3115	if (serialPortCtrl.Port.IsOpen)
		3116	{
		3117	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3118	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		3119	serialStream.Write(bytes, 0, bytes.Length);
		3120
		3121	}
		3122	else
		3123	Log(LogMsgType.Error, "NOT CONNECTED!");
		3124	}
		3125	/// <summary> send message to controller to request data
		3126	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		3127	/// </summary>
		3128	/// <param name="CMDID"> the command ID </param>
		3129	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		3130	/// <param name="data"> additional data for the request</param>
		3131	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		3132	{
		3133	if (serialPortCtrl.Port.IsOpen)
		3134	{
		3135	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3136	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		3137	serialStream.Write(bytes, 0, bytes.Length);
		3138
		3139	}
		3140	else
		3141	Log(LogMsgType.Error, "NOT CONNECTED!");
		3142	}
		3143
		3144	/// <summary>
		3145	/// start/stop continous polling of controller values
		3146	/// </summary>
		3147	/// <param name="b">start/stop switch</param>
		3148	void _readCont(bool b)
		3149	{
		3150	bReadContinously = b;
		3151	if (bReadContinously)
		3152	{
		3153	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		3154	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		3155	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		3156	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		3157	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		3158	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		3159	}
		3160	else
		3161	{
		3162	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		3163	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		3164	_bConnErr = false;
		3165	}
		3166	_iLifeCounter = 0;
		3167	}
		3168
		3169	private void _getVersion()
		3170	{
		3171	_sendControllerMessage('v', 0);
		3172	}
		3173	/// <summary>
		3174	/// get FC version struct via NC
		3175	/// by sending '1' as data (not documented in wiki...)
		3176	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		3177	/// </summary>
		3178	/// <param name="ctrl">controller number 1=FC</param>
		3179	private void _getVersion(byte ctrl)
		3180	{
		3181	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		3182	}
		3183	/// <summary>
		3184	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		3185	/// </summary>
		3186	private void _switchToNC()
		3187	{
		3188	if (serialPortCtrl.Port.IsOpen)
		3189	{
		3190	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3191	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		3192	serialStream.Write(bytes, 0, bytes.Length);
		3193
		3194	Thread.Sleep(100);
		3195	_getVersion();
		3196	Thread.Sleep(100);
		3197	_getLic();
		3198	// _OSDMenue(0);
		3199	}
		3200	else
		3201	Log(LogMsgType.Error, "NOT CONNECTED!");
		3202	}
		3203	/// <summary>
		3204	/// switch to FC
		3205	/// </summary>
		3206	private void _switchToFC()
		3207	{
		3208	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		3209	Thread.Sleep(100);
		3210	_getVersion();
		3211	Thread.Sleep(100);
		3212	// _OSDMenue(0);
		3213	}
		3214	/// <summary>
		3215	/// send RESET signal to FC
		3216	/// </summary>
		3217	private void _resetCtrl()
		3218	{
		3219	_sendControllerMessage('R', 1);
		3220	}
		3221	/// <summary>
		3222	/// poll the debug data (4sec subscription)
		3223	/// </summary>
		3224	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		3225	private void _readDebugData(bool auto)
		3226	{
		3227	byte interval = auto ? debugInterval : (byte)0;
		3228	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		3229	}
		3230	/// <summary>
		3231	/// poll the BL-CTRL status via NC (4sec subscription)
		3232	/// </summary>
		3233	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		3234	private void _readBLCtrl(bool auto)
		3235	{
		3236	byte interval = auto ? blctrlInterval : (byte)0;
		3237	_sendControllerMessage('k', 0, new byte[1] { interval });
		3238	}
		3239	/// <summary>
		3240	/// poll the NC data struct (4sec subscription)
		3241	/// </summary>
		3242	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		3243	private void _readNavData(bool auto)
		3244	{
		3245	byte interval = auto ? navctrlInterval : (byte)0;
		3246	// _sendControllerMessage('o', 2, new byte[1] { interval });
		3247	_sendControllerMessage('o', 2, new byte[3] { interval,4,0 });
		3248	}
		3249	/// <summary>
		3250	/// request the license info
		3251	/// </summary>
		3252	void _getLic()
		3253	{
		3254	if (serialPortCtrl.Port.IsOpen)
		3255	{
		3256	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3257	byte[] bytes = FlightControllerMessage.CreateMessage('m', 2, new byte[1] { (byte)1 });
		3258	serialStream.Write(bytes, 0, bytes.Length);
		3259	}
		3260	else
		3261	Log(LogMsgType.Error, "NOT CONNECTED!");
		3262
		3263	}
		3264	/// <summary>
		3265	/// get the errortext for pending NC error
		3266	/// </summary>
		3267	private void _readNCError()
		3268	{
		3269	_sendControllerMessage('e', 2);
		3270	}
		3271	/// <summary>
		3272	/// request the Waypoint at index
		3273	/// </summary>
		3274	/// <param name="index"></param>
		3275	void _getpWP(int index)
		3276	{
		3277	if (serialPortCtrl.Port.IsOpen)
		3278	{
		3279	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3280	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		3281	serialStream.Write(bytes, 0, bytes.Length);
		3282	}
		3283	else
		3284	Log(LogMsgType.Error, "NOT CONNECTED!");
		3285
		3286	}
		3287	void _getWP()
		3288	{
		3289	int iTimeout = 0;
		3290	_bGetWPCount = true;
		3291	_getpWP(1); //get the itemscount of wp
		3292	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		3293	{
		3294	Thread.Sleep(10);
		3295	iTimeout++;
		3296	}
		3297	if (_iWPCount > 0 & !_bGetWPCount)
		3298	_getWPList();
		3299	}
		3300	void _getWPList()
		3301	{
		3302	_bGetWP = true;
		3303	int iTimeout=0;
		3304	for (int j = 0; j < _iWPCount; j++)
		3305	{
		3306	_getpWP(j + 1);
		3307	iTimeout = 0;
		3308	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		3309	{
		3310	Thread.Sleep(1);
		3311	iTimeout++;
		3312	}
		3313	}
		3314	Dispatcher.Invoke(() =>
		3315	{
		3316	// MainMap.ZoomAndCenterMarkers(null);
		3317	MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]);
		3318	MainMap.Zoom = 19;
		3319	});
		3320	}
		3321	/// <summary>
		3322	/// Wrapper for _clearCopterWPList()
		3323	/// necessary, cause it is called by threadnew which does not like return values...
		3324	/// </summary>
		3325	void clearCopterWPList()
		3326	{
		3327	_clearCopterWPList();
		3328	}
		3329	/// <summary>
		3330	/// clear the WP list of the copter
		3331	/// by sending 'invalid' and index '0'
		3332	/// </summary>
		3333	/// <returns></returns>
		3334	bool _clearCopterWPList()
		3335	{
		3336	int iTimeout = 0;
		3337	if (serialPortCtrl.Port.IsOpen)
		3338	{
		3339	byte[] bData = new byte[30];
		3340	for (int i = 0; i < 30; i++)
		3341	bData[i] = 0;
		3342	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3343	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		3344	serialStream.Write(bytes, 0, bytes.Length);
		3345
		3346	_iWPCount = -1;
		3347	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
		3348	{
		3349	Thread.Sleep(10);
		3350	iTimeout++;
		3351	}
		3352	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
		3353	if (_iWPCount > -1)
		3354	return true;
		3355	else
		3356	Log(LogMsgType.Error, "Timeout while sending list!");
		3357	}
		3358	else
		3359	Log(LogMsgType.Error, "NOT CONNECTED!");
		3360
		3361	return false;
		3362	}
		3363	void _sendWPList()
		3364	{
		3365	_sendWPList(0);
		3366	}
		3367	void _sendWPList(int iStart)
		3368	{
		3369	int iTimeout = 0;
		3370	if (serialPortCtrl.Port.IsOpen)
		3371	{
		3372	if (_clearCopterWPList())
		3373	{
		3374	int k = 1;
		3375	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
		3376	{
		3377	k = iStart > 0 ? k : -1;
		3378	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
		3379
		3380	_iWPCount = -1;
		3381	iTimeout = 0;
		3382	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		3383	{
		3384	Thread.Sleep(10);
		3385	iTimeout++;
		3386	}
		3387	if (_iWPCount == -1)
		3388	{
		3389	Log(LogMsgType.Error, "Timeout while sending list!");
		3390	break;
		3391	}
		3392	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
		3393	k++;
		3394	}
		3395	}
		3396	}
		3397	else
		3398	Log(LogMsgType.Error, "NOT CONNECTED!");
		3399
		3400	}
		3401	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
		3402	{
		3403
		3404	if (serialPortCtrl.Port.IsOpen)
		3405	{
		3406	byte[] bData = new byte[30];
		3407	for (int i = 0; i < 30; i++)
		3408	bData[i] = 0;
		3409	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3410	byte[] bytes;
		3411	int iVal;
		3412	double dVal;
		3413	NumberFormatInfo nfi = new NumberFormatInfo();
		3414	nfi.NumberDecimalSeparator = ",";
		3415
		3416	//longitude
		3417	dVal = Convert.ToDouble(dr[4], nfi);
		3418	iVal = (int)(dVal * Math.Pow(10, 7));
		3419	bData[0] = (byte)(iVal & 0xff);
		3420	bData[1] = (byte)((iVal >> 8) & 0xff);
		3421	bData[2] = (byte)((iVal >> 16) & 0xff);
		3422	bData[3] = (byte)(iVal >> 24);
		3423	//latitude
		3424	dVal = Convert.ToDouble(dr[3], nfi);
		3425	iVal = (int)(dVal * Math.Pow(10, 7));
		3426	bData[4] = (byte)(iVal & 0xff);
		3427	bData[5] = (byte)((iVal >> 8) & 0xff);
		3428	bData[6] = (byte)((iVal >> 16) & 0xff);
		3429	bData[7] = (byte)(iVal >> 24);
		3430	//altitude
		3431	dVal = Convert.ToDouble(dr[5], nfi);
		3432	iVal = (int)(dVal * 10);
		3433	bData[8] = (byte)(iVal & 0xff);
		3434	bData[9] = (byte)((iVal >> 8) & 0xff);
		3435	bData[10] = (byte)((iVal >> 16) & 0xff);
		3436	bData[11] = (byte)(iVal >> 24);
		3437	if(bSim)
		3438	bData[12] = 3; //Status 'SIMULATE'
		3439	//Status 'NEWDATA'
		3440	else
		3441	bData[12] = 1;
		3442	//heading
		3443	iVal = Convert.ToInt16(dr[6]);
		3444	bData[13] = (byte)(iVal & 0xff);
		3445	bData[14] = (byte)((iVal >> 8) & 0xff);
		3446	//ToleranceRadius
		3447	bData[15] = Convert.ToByte(dr[9]);
		3448	//HoldTime
		3449	bData[16] = Convert.ToByte(dr[10]);
		3450	//Event_Flag
		3451	bData[17] = Convert.ToByte(dr[13]);
		3452	//Index
		3453	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
		3454	//Type
		3455	bData[19] = Convert.ToByte(dr[1]);
		3456	//WP_EventChannelValue
		3457	bData[20] = Convert.ToByte(dr[14]);
		3458	//AltitudeRate
		3459	bData[21] = Convert.ToByte(dr[8]);
		3460	//Speed
		3461	bData[22] = Convert.ToByte(dr[7]);
		3462	//CamAngle
		3463	bData[23] = (byte)Convert.ToInt16(dr[12]);
		3464	//Name
		3465	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		3466	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
		3467	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		3468	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		3469	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		3470	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		3471	//Autotrigger
		3472	bData[28] = Convert.ToByte(dr[11]);
		3473
		3474	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
		3475	serialStream.Write(bytes, 0, bytes.Length);
		3476
		3477	return true;
		3478	}
		3479
		3480	return false;
		3481	}
		3482	#region OSD-Menue
		3483
		3484	/// <summary>
		3485	/// one time query of the OSD Menue with pagenumber
		3486	/// </summary>
		3487	/// <param name="iMenue">Menue page</param>
		3488	void _OSDMenue(int iMenue)
		3489	{
		3490	if (serialPortCtrl.Port.IsOpen)
		3491	{
		3492	if (iMenue > iOSDMax)
		3493	iMenue = 0;
		3494	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3495	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		3496	serialStream.Write(bytes, 0, bytes.Length);
		3497	}
		3498	else
		3499	Log(LogMsgType.Error, "NOT CONNECTED!");
		3500
		3501	}
		3502	/// <summary>
		3503	/// call the OSDMenue and start autorefresh
		3504	/// usually by sending a menuekey
		3505	/// 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)
		3506	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		3507	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		3508	/// </summary>
		3509	void _OSDMenueAutoRefresh()
		3510	{
		3511	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		3512	}
		3513	void _OSDMenueAutoRefresh(byte key)
		3514	{
		3515	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		3516	}
		3517	/// <summary>
		3518	/// initialize the OSD menue combobox
		3519	/// combox is filled by numbers from 0 to max pagenumber
		3520	/// </summary>
		3521	void _initOSDCB()
		3522	{
		3523	_bCBInit = true;
		3524	if (iOSDMax == 0)
		3525	{
		3526	_OSDMenue(0);
		3527	Thread.Sleep(10);
		3528	}
		3529	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		3530	for (int i = 0; i <= iOSDMax; i++)
		3531	{
		3532	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		3533	}
		3534	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		3535	_bCBInit = false;
		3536	}
		3537	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		3538	{
		3539	iOSDPage++;
		3540	if (iOSDPage > iOSDMax)
		3541	iOSDPage = 0;
		3542
		3543	_OSDMenue(iOSDPage);
		3544	}
		3545	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		3546	{
		3547	iOSDPage--;
		3548	if (iOSDPage < 0)
		3549	iOSDPage = iOSDMax;
		3550
		3551	_OSDMenue(iOSDPage);
		3552	}
		3553	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		3554	{
		3555	_OSDMenueAutoRefresh(8);
		3556	}
		3557	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		3558	{
		3559	_OSDMenueAutoRefresh(4);
		3560	}
		3561	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		3562	{
		3563	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		3564	_OSDMenue(cbOSD.SelectedIndex);
		3565	}
		3566	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		3567	{
		3568	Dispatcher.Invoke(() =>
		3569	{
		3570	TextRange tr;
		3571	if (bNew)
		3572	{
		3573	rtfOSD.SelectAll();
		3574	rtfOSD.Selection.Text = string.Empty;
		3575	}
		3576	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		3577	tr.Text = msg;
		3578	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		3579	// rtfOSD.AppendText("\r");
		3580	rtfOSD.ScrollToEnd();
		3581
		3582	});
		3583	}
		3584
		3585	#endregion OSD-Menue
		3586
		3587	#endregion controller messages
		3588
		3589	void _mediaPlayer(object file)
		3590	{
		3591	Monitor.TryEnter(lockObj);
		3592	try
		3593	{
		3594	if (File.Exists((string)file))
		3595	{
		3596
		3597	mediaPlayer.Open((string)file);
		3598	mediaPlayer.Play();
		3599	}
		3600
		3601	}
		3602	finally
		3603	{
		3604	Monitor.Exit(lockObj);
		3605	}
		3606	}
		3607
		3608	#region ui
		3609	/// <summary>
		3610	/// Switch between fullscreen and normal window mode
		3611	/// save & restore scaling settings
		3612	/// </summary>
		3613	/// <param name="sender"></param>
		3614	/// <param name="e"></param>
		3615	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		3616	{
		3617	if (winState.isMaximized)
		3618	{
		3619	winState.Restore(this);
		3620	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		3621	if(_bSaveWinStateFull)
		3622	_saveScaleSliders(true);
		3623	if(_bSaveWinStateNormal)
		3624	_setScaleSliders(false);
		3625	}
		3626	else
		3627	{
		3628	winState.Maximize(this);
		3629	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		3630	if(_bSaveWinStateNormal)
		3631	_saveScaleSliders(false);
		3632	if(_bSaveWinStateFull)
		3633	_setScaleSliders(true);
		3634	}
		3635	}
		3636
		3637	/// <summary>
		3638	/// reset the scaling of all UI elements to default
		3639	/// </summary>
		3640	/// <param name="sender"></param>
		3641	/// <param name="e"></param>
		3642	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		3643	{
		3644	UIScaleHorizonSlider.Value =
		3645	UIScaleLOGSlider.Value =
		3646	UIScaleMotorsSlider.Value =
		3647	UIScaleOSDSlider.Value =
		3648	UIScaleSlider.Value =
		3649	UIScaleTopSlider.Value = 1;
		3650	}
		3651	/// <summary>
		3652	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		3653	/// </summary>
		3654	/// <param name="sender"></param>
		3655	/// <param name="e"></param>
		3656	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3657	{
		3658	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		3659	if (GridMotors != null)
		3660	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		3661	if (GridSideBar != null)
		3662	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		3663	if (WPStatus != null)
		3664	WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom);
		3665	if (GridOSD != null)
		3666	{
		3667	if(WPStatus.Visibility == Visibility.Visible)
		3668	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3669	else
		3670	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3671	}
		3672	if (GridData != null)
		3673	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		3674	if (GridWP != null)
		3675	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		3676	}
		3677	private void UIScaleOSDSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3678	{
		3679	if (!_init)
		3680	{
		3681	if (WPStatus != null && (WPStatus.Visibility == Visibility.Visible))
		3682	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3683	else
		3684	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3685	}
		3686	}
		3687
		3688	/// <summary>
		3689	/// restore the saved scalings for the fullscreen/normal window mode
		3690	/// </summary>
		3691	/// <param name="bFull">the mode the window is set to</param>
		3692	void _setScaleSliders(bool bFull)
		3693	{
		3694	if(bFull)
		3695	{
		3696	UIScaleSlider.Value = scaleFullAll;
		3697	UIScaleTopSlider.Value = scaleFullTopBar;
		3698	UIScaleMotorsSlider.Value = scaleFullMotors;
		3699	UIScaleOSDSlider.Value = scaleFullOSD;
		3700	UIScaleLOGSlider.Value = scaleFullLOG;
		3701	UIScaleHorizonSlider.Value = scaleFullHorizon;
		3702	}
		3703	else
		3704	{
		3705	UIScaleSlider.Value = scaleNormalAll;
		3706	UIScaleTopSlider.Value = scaleNormalTopBar;
		3707	UIScaleMotorsSlider.Value = scaleNormalMotors;
		3708	UIScaleOSDSlider.Value = scaleNormalOSD;
		3709	UIScaleLOGSlider.Value = scaleNormalLOG;
		3710	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		3711	}
		3712	}
		3713
		3714	/// <summary>
		3715	/// save the scalings for the actual window mode
		3716	/// </summary>
		3717	/// <param name="bFull">the actual window mode</param>
		3718	void _saveScaleSliders(bool bFull)
		3719	{
		3720
		3721	if (bFull)
		3722	{
		3723	scaleFullAll = UIScaleSlider.Value;
		3724	scaleFullTopBar = UIScaleTopSlider.Value;
		3725	scaleFullMotors = UIScaleMotorsSlider.Value;
		3726	scaleFullOSD = UIScaleOSDSlider.Value;
		3727	scaleFullLOG = UIScaleLOGSlider.Value;
		3728	scaleFullHorizon = UIScaleHorizonSlider.Value;
		3729	}
		3730	else
		3731	{
		3732	scaleNormalAll = UIScaleSlider.Value;
		3733	scaleNormalTopBar = UIScaleTopSlider.Value;
		3734	scaleNormalMotors = UIScaleMotorsSlider.Value;
		3735	scaleNormalOSD = UIScaleOSDSlider.Value;
		3736	scaleNormalLOG = UIScaleLOGSlider.Value;
		3737	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		3738	}
		3739	}
		3740	#endregion ui
		3741
		3742	#region ini
		3743	/// <summary>
		3744	/// read settings from ini-file
		3745	/// </summary>
		3746	void _readIni()
		3747	{
		3748	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		3749	_writeIni();
		3750	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3751	ini.path = filePath + "\\MKLiveViewSettings.ini";
		3752	try
		3753	{
		3754
		3755	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		3756	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		3757	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		3758	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		3759	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		3760	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		3761	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		3762	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
		3763
		3764	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		3765	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		3766	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		3767	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		3768	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		3769	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		3770	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		3771	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
		3772
		3773	sVal = ini.IniReadValue("topBar", "voltage");
		3774	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		3775	sVal = ini.IniReadValue("topBar", "capacity");
		3776	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		3777	sVal = ini.IniReadValue("topBar", "current");
		3778	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		3779	sVal = ini.IniReadValue("topBar", "flightTime");
		3780	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		3781	sVal = ini.IniReadValue("topBar", "distanceHP");
		3782	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		3783	sVal = ini.IniReadValue("topBar", "height");
		3784	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		3785	sVal = ini.IniReadValue("topBar", "speed");
		3786	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		3787	sVal = ini.IniReadValue("topBar", "magneticField");
		3788	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		3789	sVal = ini.IniReadValue("topBar", "satellites");
		3790	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		3791	sVal = ini.IniReadValue("topBar", "rc");
		3792	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
		3793
		3794	sVal = ini.IniReadValue("style", "saveFullScreen");
		3795	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		3796	sVal = ini.IniReadValue("style", "saveNormalState");
		3797	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
		3798
		3799	sVal = ini.IniReadValue("style", "scaleNormalAll");
		3800	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		3801	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		3802	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		3803	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		3804	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		3805	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		3806	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		3807	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		3808	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		3809	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		3810	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
		3811
		3812	sVal = ini.IniReadValue("style", "scaleFullAll");
		3813	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		3814	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		3815	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		3816	sVal = ini.IniReadValue("style", "scaleFullMotors");
		3817	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		3818	sVal = ini.IniReadValue("style", "scaleFullOSD");
		3819	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		3820	sVal = ini.IniReadValue("style", "scaleFullLOG");
		3821	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		3822	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		3823	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
		3824
		3825	sVal = ini.IniReadValue("general", "LiPoCells");
		3826	_LipoCells = Convert.ToInt16(sVal);
		3827	sVal = ini.IniReadValue("general", "LiPoAutoDetect");
		3828	_bLiPoAutoDetect = Convert.ToBoolean(sVal);
		3829	sVal = ini.IniReadValue("general", "Motors");
		3830	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
		3831
		3832	sVal = ini.IniReadValue("map", "followMe");
		3833	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		3834	sVal = ini.IniReadValue("map", "location");
		3835	if (sVal != "") _mapPosition = sVal;
		3836	sVal = ini.IniReadValue("map", "AutoSetHome");
		3837	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
		3838	sVal = ini.IniReadValue("map", "GPXLog");
		3839	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
		3840
		3841	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		3842	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		3843	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		3844	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		3845	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		3846	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		3847	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		3848	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		3849	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		3850	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		3851	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		3852	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		3853	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		3854	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		3855	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		3856	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		3857	sVal = ini.IniReadValue("threshold", "MaxDistance");
		3858	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		3859	sVal = ini.IniReadValue("threshold", "RCThreshold");
		3860	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		3861	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		3862	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
		3863
		3864	sVal = ini.IniReadValue("waypoints", "wpcolor");
		3865	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		3866	sVal = ini.IniReadValue("waypoints", "poicolor");
		3867	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		3868	sVal = ini.IniReadValue("waypoints", "fscolor");
		3869	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		3870	sVal = ini.IniReadValue("waypoints", "coptercolor");
		3871	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
		3872	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		3873	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
		3874	sVal = ini.IniReadValue("waypoints", "landingcolor");
		3875	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
		3876	sVal = ini.IniReadValue("waypoints", "routecolor");
		3877	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		3878	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		3879	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
		3880	sVal = ini.IniReadValue("waypoints", "autoShowWPEdit");
		3881	if(sVal != "") _bAutoWPEdit = Convert.ToBoolean(sVal);
		3882	sVal = ini.IniReadValue("waypoints", "showWPMaxRange");
		3883	if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal);
		3884	sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor");
		3885	if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal);
		3886	sVal = ini.IniReadValue("waypoints", "WPDefPrefix");
		3887	if(sVal != "") _wpDefPrefix = sVal;
		3888	sVal = ini.IniReadValue("waypoints", "WPDefAltitude");
		3889	if(sVal != "") _wpDefAltitude = Convert.ToInt32(sVal);
		3890	sVal = ini.IniReadValue("waypoints", "WPDefHeading");
		3891	if(sVal != "") _wpDefHeading = Convert.ToInt32(sVal);
		3892	sVal = ini.IniReadValue("waypoints", "WPDefCBoxHeading");
		3893	if(sVal != "") _wpDefCBoxHeading = Convert.ToInt32(sVal);
		3894	sVal = ini.IniReadValue("waypoints", "WPDefSpeed");
		3895	if(sVal != "") _wpDefSpeed = Convert.ToInt32(sVal);
		3896	sVal = ini.IniReadValue("waypoints", "WPDefCBoxSpeed");
		3897	if(sVal != "") _wpDefCBoxSpeed = Convert.ToInt32(sVal);
		3898	sVal = ini.IniReadValue("waypoints", "WPDefClimb");
		3899	if(sVal != "") _wpDefClimb = Convert.ToInt32(sVal);
		3900	sVal = ini.IniReadValue("waypoints", "WPDefCBoxClimb");
		3901	if(sVal != "") _wpDefCBoxClimb = Convert.ToInt32(sVal);
		3902	sVal = ini.IniReadValue("waypoints", "WPDefRadius");
		3903	if(sVal != "") _wpDefRadius = Convert.ToInt32(sVal);
		3904	sVal = ini.IniReadValue("waypoints", "WPDefHoldtime");
		3905	if(sVal != "") _wpDefHoldtime = Convert.ToInt32(sVal);
		3906	sVal = ini.IniReadValue("waypoints", "WPDefAutotrig");
		3907	if(sVal != "") _wpDefAutotrig = Convert.ToInt32(sVal);
		3908	sVal = ini.IniReadValue("waypoints", "WPDefCamangle");
		3909	if(sVal != "") _wpDefCamangle = Convert.ToInt32(sVal);
		3910	sVal = ini.IniReadValue("waypoints", "WPDefCBoxCamangle");
		3911	if(sVal != "") _wpDefCBoxCamangle = Convert.ToInt32(sVal);
		3912	sVal = ini.IniReadValue("waypoints", "WPDefOut1");
		3913	if(sVal != "") _wpDefOut1 = Convert.ToInt32(sVal);
		3914	sVal = ini.IniReadValue("waypoints", "WPAddCopterHeight");
		3915	if (sVal != "") _wpAddCopterHeight = Convert.ToBoolean(sVal);
		3916	sVal = ini.IniReadValue("waypoints", "WPAddCopterHeading");
		3917	if (sVal != "") _wpAddCopterHeading = Convert.ToBoolean(sVal);
		3918	sVal = ini.IniReadValue("waypoints", "CopterSize");
		3919	if (sVal != "") SliderCopterZoom.Value = Convert.ToDouble(sVal);
		3920	sVal = ini.IniReadValue("waypoints", "WPSize");
		3921	if (sVal != "") SliderWPZoom.Value = Convert.ToDouble(sVal);
		3922
		3923	sVal = ini.IniReadValue("cam", "CamImagePosLeft");
		3924	if (sVal != "") _camImageMargin.Left = Convert.ToDouble(sVal);
		3925	sVal = ini.IniReadValue("cam", "CamImagePosTop");
		3926	if (sVal != "") _camImageMargin.Top = Convert.ToDouble(sVal);
		3927	sVal = ini.IniReadValue("cam", "CamImageZoom");
		3928	if (sVal != "") SliderCamZoom.Value = Convert.ToDouble(sVal);
		3929
		3930	for (int i = 0; i < 12; i++)
		3931	{
		3932	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		3933	if (sVal != "")
		3934	serChan[i] = Convert.ToInt16(sVal);
		3935	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		3936	if (sVal != "")
		3937	serChanTitle[i] = sVal;
		3938	for (int y = 0; i < 4 && y < 3; y++)
		3939	{
		3940	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		3941	if (sVal != "")
		3942	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		3943	}
		3944	}
		3945
		3946	}
		3947	catch (Exception e)
		3948	{
		3949
		3950	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		3951	}
		3952
		3953	}
		3954
		3955	/// <summary>
		3956	/// save settings to ini-file
		3957	/// </summary>
		3958	void _writeIni()
		3959	{
		3960
		3961	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3962	ini.path = filePath + "\\MKLiveViewSettings.ini";
		3963
		3964	try
		3965	{
		3966
		3967	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		3968	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		3969	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		3970	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
		3971
		3972	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		3973	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		3974	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		3975	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
		3976
		3977	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		3978	ini.IniWriteValue("general", "LiPoAutoDetect", _bLiPoAutoDetect.ToString());
		3979	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
		3980
		3981	ini.IniWriteValue("map", "location", _mapPosition);
		3982	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		3983	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
		3984	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
		3985
		3986	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		3987	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		3988	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		3989	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		3990	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		3991	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		3992	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		3993	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		3994	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		3995	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
		3996
		3997	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		3998	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
		3999
		4000	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		4001	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		4002	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		4003	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		4004	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		4005	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
		4006
		4007	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		4008	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		4009	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		4010	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		4011	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		4012	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
		4013
		4014	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		4015
		4016	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		4017	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		4018	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		4019	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		4020	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		4021	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		4022	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		4023	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		4024	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		4025	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		4026	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
		4027
		4028	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		4029	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		4030	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		4031	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
		4032	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
		4033	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
		4034	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		4035	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
		4036	ini.IniWriteValue("waypoints", "showWPMaxRange", ((bool)checkBoxShowWPMaxRange.IsChecked).ToString());
		4037	ini.IniWriteValue("waypoints", "autoShowWPEdit", ((bool)checkBoxAutoShowWPEdit.IsChecked).ToString());
		4038	ini.IniWriteValue("waypoints", "WPMaxRangecolor", comboBoxWPMaxRangeColor.SelectedIndex.ToString());
		4039	ini.IniWriteValue("waypoints", "WPDefPrefix", _wpDefPrefix);
		4040	ini.IniWriteValue("waypoints", "WPDefAltitude", _wpDefAltitude.ToString());
		4041	ini.IniWriteValue("waypoints", "WPDefHeading", _wpDefHeading.ToString());
		4042	ini.IniWriteValue("waypoints", "WPDefCBoxHeading", _wpDefCBoxHeading.ToString());
		4043	ini.IniWriteValue("waypoints", "WPDefSpeed", _wpDefSpeed.ToString());
		4044	ini.IniWriteValue("waypoints", "WPDefCBoxSpeed", _wpDefCBoxSpeed.ToString());
		4045	ini.IniWriteValue("waypoints", "WPDefClimb", _wpDefClimb.ToString());
		4046	ini.IniWriteValue("waypoints", "WPDefCBoxClimb", _wpDefCBoxClimb.ToString());
		4047	ini.IniWriteValue("waypoints", "WPDefRadius", _wpDefRadius.ToString());
		4048	ini.IniWriteValue("waypoints", "WPDefHoldtime", _wpDefHoldtime.ToString());
		4049	ini.IniWriteValue("waypoints", "WPDefAutotrig", _wpDefAutotrig.ToString());
		4050	ini.IniWriteValue("waypoints", "WPDefCamangle", _wpDefCamangle.ToString());
		4051	ini.IniWriteValue("waypoints", "WPDefCBoxCamangle", _wpDefCBoxCamangle.ToString());
		4052	ini.IniWriteValue("waypoints", "WPDefOut1", _wpDefOut1.ToString());
		4053	ini.IniWriteValue("waypoints", "WPAddCopterHeight", _wpAddCopterHeight.ToString());
		4054	ini.IniWriteValue("waypoints", "WPAddCopterHeading", _wpAddCopterHeading.ToString());
		4055	ini.IniWriteValue("waypoints", "CopterSize", SliderCopterZoom.Value.ToString());
		4056	ini.IniWriteValue("waypoints", "WPSize", SliderWPZoom.Value.ToString());
		4057
		4058	ini.IniWriteValue("cam", "CamImagePosLeft", _camImageMargin.Left.ToString());
		4059	ini.IniWriteValue("cam", "CamImagePosTop", _camImageMargin.Top.ToString());
		4060	ini.IniWriteValue("cam", "CamImageZoom", SliderCamZoom.Value.ToString());
		4061
		4062	for (int i = 0; i < 12; i++)
		4063	{
		4064	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		4065	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		4066	for (int y = 0; i < 4 && y < 3; y++)
		4067	{
		4068	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		4069	}
		4070	}
		4071
		4072	}
		4073	catch (Exception e)
		4074	{
		4075
		4076	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);
		4077	}
		4078	}
		4079	#endregion ini
		4080
		4081	#region serial channels
		4082	/// <summary>
		4083	/// Sending the serial channel values
		4084	/// </summary>
		4085	void _sendSerialData()
		4086	{
		4087	byte[] serData = new byte[12];
		4088	for (int i = 0; i < 12; i++)
		4089	{
		4090	serData[i] = unchecked((byte)(serChan[i] - 127));
		4091	}
		4092	_sendControllerMessage('y', 1, serData);
		4093	}
		4094	/// <summary>
		4095	/// init the controls for displaying
		4096	/// and setting serial control channels
		4097	/// </summary>
		4098	void _initSerialCtrl()
		4099	{
		4100	SerChan1ScaleSlider.Value = serChan[0];
		4101	textBoxSerial1.Text = serChanTitle[0];
		4102	SerChan2ScaleSlider.Value = serChan[1];
		4103	textBoxSerial2.Text = serChanTitle[1];
		4104	SerChan3ScaleSlider.Value = serChan[2];
		4105	textBoxSerial3.Text = serChanTitle[2];
		4106	//SerChan4ScaleSlider.Value = serChan[3];
		4107	//textBoxSerial4.Text = serChanTitle[3];
		4108	//trckbarSerial5.Value = serChan[4];
		4109	//textBoxSerial5.Text = serChanTitle[4];
		4110	//trckbarSerial6.Value = serChan[5];
		4111	//textBoxSerial6.Text = serChanTitle[5];
		4112	//trckbarSerial7.Value = serChan[6];
		4113	//textBoxSerial7.Text = serChanTitle[6];
		4114	//trckbarSerial8.Value = serChan[7];
		4115	//textBoxSerial8.Text = serChanTitle[7];
		4116
		4117	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		4118	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		4119	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		4120	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		4121	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		4122	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
		4123	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		4124	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		4125	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
		4126	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		4127	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		4128	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		4129	}
		4130	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		4131	{
		4132	if (!_init)
		4133	{
		4134	serChan[0] = (int)SerChan1ScaleSlider.Value;
		4135	_sendSerialData();
		4136	}
		4137	}
		4138	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		4139	{
		4140	if (!_init)
		4141	{
		4142	serChanTitle[0] = textBoxSerial1.Text;
		4143	}
		4144	}
		4145	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		4146	{
		4147	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		4148	{
		4149	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		4150	}
		4151	}
		4152	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		4153	{
		4154	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		4155	{
		4156	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		4157	}
		4158	}
		4159	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		4160	{
		4161	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		4162	{
		4163	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		4164	}
		4165	}
		4166	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		4167	{
		4168	if (textBoxSerial1_val1.Text.Length > 0)
		4169	{
		4170	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		4171	}
		4172	}
		4173	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		4174	{
		4175	SerChan1ScaleSlider.Value = 0;
		4176	}
		4177	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		4178	{
		4179	SerChan1ScaleSlider.Value = 127;
		4180	}
		4181	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		4182	{
		4183	SerChan1ScaleSlider.Value = 254;
		4184	}
		4185	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		4186	{
		4187	if (textBoxSerial1_val2.Text.Length > 0)
		4188	{
		4189	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		4190	}
		4191	}
		4192	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		4193	{
		4194	if (textBoxSerial1_val3.Text.Length > 0)
		4195	{
		4196	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		4197	}
		4198	}
		4199
		4200	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		4201	{
		4202	if (!_init)
		4203	{
		4204	serChan[1] = (int)SerChan2ScaleSlider.Value;
		4205	_sendSerialData();
		4206	}
		4207	}
		4208	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		4209	{
		4210	if (!_init)
		4211	{
		4212	serChanTitle[1] = textBoxSerial2.Text;
		4213	}
		4214	}
		4215	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		4216	{
		4217	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		4218	{
		4219	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		4220	}
		4221	}
		4222	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		4223	{
		4224	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		4225	{
		4226	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		4227	}
		4228	}
		4229	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		4230	{
		4231	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		4232	{
		4233	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		4234	}
		4235	}
		4236	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		4237	{
		4238	SerChan2ScaleSlider.Value = 0;
		4239	}
		4240	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		4241	{
		4242	SerChan2ScaleSlider.Value = 127;
		4243	}
		4244	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		4245	{
		4246	SerChan2ScaleSlider.Value = 254;
		4247	}
		4248	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		4249	{
		4250	if (textBoxSerial2_val1.Text.Length > 0)
		4251	{
		4252	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		4253	}
		4254	}
		4255	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		4256	{
		4257	if (textBoxSerial2_val2.Text.Length > 0)
		4258	{
		4259	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		4260	}
		4261	}
		4262	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		4263	{
		4264	if (textBoxSerial2_val3.Text.Length > 0)
		4265	{
		4266	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		4267	}
		4268	}
		4269
		4270	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		4271	{
		4272	if (!_init)
		4273	{
		4274	serChan[2] = (int)SerChan3ScaleSlider.Value;
		4275	_sendSerialData();
		4276	}
		4277	}
		4278	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		4279	{
		4280	if (!_init)
		4281	{
		4282	serChanTitle[2] = textBoxSerial3.Text;
		4283	}
		4284	}
		4285	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		4286	{
		4287	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		4288	{
		4289	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		4290	}
		4291	}
		4292	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		4293	{
		4294	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		4295	{
		4296	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		4297	}
		4298	}
		4299	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		4300	{
		4301	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		4302	{
		4303	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		4304	}
		4305	}
		4306	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		4307	{
		4308	SerChan3ScaleSlider.Value = 0;
		4309	}
		4310	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		4311	{
		4312	SerChan3ScaleSlider.Value = 127;
		4313	}
		4314	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		4315	{
		4316	SerChan3ScaleSlider.Value = 254;
		4317	}
		4318	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		4319	{
		4320	if (textBoxSerial3_val1.Text.Length > 0)
		4321	{
		4322	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		4323	}
		4324	}
		4325	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		4326	{
		4327	if (textBoxSerial3_val2.Text.Length > 0)
		4328	{
		4329	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		4330	}
		4331	}
		4332	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		4333	{
		4334	if (textBoxSerial3_val3.Text.Length > 0)
		4335	{
		4336	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		4337	}
		4338	}
		4339	/// <summary>
		4340	/// checks the input of a textbox
		4341	/// for valid data
		4342	/// in this case values 0-254
		4343	/// </summary>
		4344	/// <param name="sender"></param>
		4345	/// <param name="e"></param>
		4346	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		4347	{
		4348	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		4349	e.Handled = true;
		4350	else
		4351	if ("\b".IndexOf(e.Key.ToString()) < 0)
		4352	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		4353	e.Handled = true;
		4354	else
		4355	{
		4356	int i = -1;
		4357	switch (((TextBox)sender).Name)
		4358	{
		4359	case "textBoxSerial1_val1":
		4360	i = 0;
		4361	break;
		4362	case "textBoxSerial1_val2":
		4363	i = 1;
		4364	break;
		4365	case "textBoxSerial1_val3":
		4366	i = 2;
		4367	break;
		4368	case "textBoxSerial2_val1":
		4369	i = 3;
		4370	break;
		4371	case "textBoxSerial2_val2":
		4372	i = 4;
		4373	break;
		4374	case "textBoxSerial2_val3":
		4375	i = 5;
		4376	break;
		4377	case "textBoxSerial3_val1":
		4378	i = 6;
		4379	break;
		4380	case "textBoxSerial3_val2":
		4381	i = 7;
		4382	break;
		4383	case "textBoxSerial3_val3":
		4384	i = 8;
		4385	break;
		4386	case "textBoxSerial4_val1":
		4387	i = 9;
		4388	break;
		4389	case "textBoxSerial4_val2":
		4390	i = 10;
		4391	break;
		4392	case "textBoxSerial4_val3":
		4393	i = 11;
		4394	break;
		4395	}
		4396	if (i > -1)
		4397	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		4398	}
		4399	}
		4400
		4401	#endregion serial channels
		4402	#region WP
		4403	void _readWPLFile()
		4404	{
		4405	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4406	fd.Filter = "Waypointlists \| *.wpl";
		4407	fd.Multiselect = false;
		4408	if (fd.ShowDialog().Value)
		4409	{
		4410	string file = fd.SafeFileName;
		4411	IniFile ini = new IniFile(fd.SafeFileName);
		4412	ini.path = fd.FileName;
		4413
		4414	try
		4415	{
		4416	string sVal = ini.IniReadValue("General", "FileVersion");
		4417	if (sVal == "")
		4418	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4419	else
		4420	{
		4421	if (Convert.ToInt16(sVal) < 3)
		4422	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4423	else
		4424	{
		4425	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		4426	if (sVal == "")
		4427	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4428	else
		4429	{
		4430	int wpnum = Convert.ToInt16(sVal);
		4431	string wp;
		4432	int i;
		4433	NumberFormatInfo nfi = new NumberFormatInfo();
		4434	nfi.NumberDecimalSeparator = ".";
		4435	dtWaypoints.Rows.Clear();
		4436	_wpEdit = -1;_wpIndex = -1;
		4437	wpOffset.Clear();
		4438	_clearMapMarkers(typeof(CustomMarkerWP));
		4439	_clearMapMarkers(typeof(CustomMarkerWPActive));
		4440	wpList.Clear();
		4441	if (mRouteWP != null)
		4442	MainMap.Markers.Remove(mRouteWP);
		4443	//if (wpActiveMarker != null)
		4444	// MainMap.Markers.Remove(wpActiveMarker);
		4445	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		4446
		4447	for (int k = 1; k <= wpnum; k++)
		4448	{
		4449	DataRow dr = dtWaypoints.NewRow();
		4450	dr.ItemArray = new object[16];
		4451	object[] o = new object[16];
		4452	i = 0;
		4453	wp = "Point" + k.ToString();
		4454	o[i] = k;
		4455	i++;
		4456	sVal = ini.IniReadValue(wp, "Type");
		4457	if (sVal != "")
		4458	o[i] = Convert.ToInt16(sVal) - 1;
		4459	i++;
		4460	sVal = ini.IniReadValue(wp, "Prefix");
		4461	if (sVal != "")
		4462	o[i] = sVal + k.ToString();
		4463	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
		4464	i++;
		4465	sVal = ini.IniReadValue(wp, "Latitude");
		4466	if (sVal != "")
		4467	o[i] = Convert.ToDouble(sVal, nfi);
		4468	i++;
		4469	sVal = ini.IniReadValue(wp, "Longitude");
		4470	if (sVal != "")
		4471	o[i] = Convert.ToDouble(sVal, nfi);
		4472	i++;
		4473	sVal = ini.IniReadValue(wp, "Altitude");
		4474	if (sVal != "")
		4475	o[i] = Convert.ToDouble(sVal, nfi);
		4476	i++;
		4477	sVal = ini.IniReadValue(wp, "Heading");
		4478	if (sVal != "")
		4479	o[i] = Convert.ToInt16(sVal);
		4480	i++;
		4481	sVal = ini.IniReadValue(wp, "Speed");
		4482	if (sVal != "")
		4483	o[i] = Convert.ToInt16(sVal);
		4484	i++;
		4485	sVal = ini.IniReadValue(wp, "ClimbRate");
		4486	if (sVal != "")
		4487	o[i] = Convert.ToInt16(sVal);
		4488	i++;
		4489	sVal = ini.IniReadValue(wp, "Radius");
		4490	if (sVal != "")
		4491	o[i] = Convert.ToInt16(sVal);
		4492	i++;
		4493	sVal = ini.IniReadValue(wp, "DelayTime");
		4494	if (sVal != "")
		4495	o[i] = Convert.ToInt16(sVal);
		4496	i++;
		4497	sVal = ini.IniReadValue(wp, "AutoTrigger");
		4498	if (sVal != "")
		4499	o[i] = Convert.ToInt16(sVal); ;
		4500	i++;
		4501	sVal = ini.IniReadValue(wp, "CAM-Nick");
		4502	if (sVal != "")
		4503	o[i] = Convert.ToInt16(sVal);
		4504	i++;
		4505	o[i] = 0;
		4506	i++;
		4507	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		4508	if (sVal != "")
		4509	o[i] = Convert.ToInt16(sVal);
		4510	i++;
		4511	o[i] = "New";
		4512
		4513	dr.ItemArray = o;
		4514	dtWaypoints.Rows.Add(dr);
		4515	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1], (int)o[0]-1);
		4516
		4517	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		4518	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		4519	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4520	Thread.Sleep(1);
		4521	}
		4522	Dispatcher.Invoke(() => MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]));
		4523	Dispatcher.Invoke(() => MainMap.Zoom = 19);
		4524	// Dispatcher.Invoke(() => MainMap.ZoomAndCenterMarkers(null));
		4525	Dispatcher.Invoke(() => _routeUpdate());
		4526	}
		4527	}
		4528	}
		4529
		4530	}
		4531	catch (Exception e)
		4532	{
		4533
		4534	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		4535	}
		4536
		4537	}
		4538	}
		4539	void _saveWPLFile()
		4540	{
		4541	if (dtWaypoints.Rows.Count > 0)
		4542	{
		4543	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		4544	fd.Filter = "Waypointlists \| *.wpl";
		4545	fd.AddExtension = true;
		4546	if (fd.ShowDialog().Value)
		4547	{
		4548	string file = fd.SafeFileName;
		4549	IniFile ini = new IniFile(fd.SafeFileName);
		4550	ini.path = fd.FileName;
		4551	NumberFormatInfo nfi = new NumberFormatInfo();
		4552	nfi.NumberDecimalSeparator = ".";
		4553
		4554	try
		4555	{
		4556	ini.IniWriteValue("General", "FileVersion", "3");
		4557	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		4558	ini.IniWriteValue("General", "Mapfile", "");
		4559	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		4560	{
		4561	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		4562	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		4563	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		4564	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		4565	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		4566	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		4567	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		4568	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		4569	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		4570	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		4571	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		4572	ini.IniWriteValue("Point" + i.ToString(), "Prefix", dtWaypoints.Rows[i - 1][2].ToString().Substring(0, 1)); // == "!" ? "0" : dtWaypoints.Rows[i - 1][2].ToString().Substring(0, 1));
		4573	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		4574	}
		4575	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		4576	}
		4577	catch { }
		4578	}
		4579	}
		4580	else
		4581	MessageBox.Show("Nothing to save...");
		4582	}
		4583	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		4584	{
		4585	_saveWPLFile();
		4586	}
		4587	/// <summary>
		4588	/// set the selected color for the route
		4589	/// </summary>
		4590	/// <param name="color"></param>
		4591	/// <returns></returns>
		4592	Brush _getBrush(string color)
		4593	{
		4594	switch (color)
		4595	{
		4596	case "red":
		4597	return Brushes.Red;
		4598	case "green":
		4599	return Brushes.Lime;
		4600	case "blue":
		4601	return Brushes.Aqua;
		4602	case "pink":
		4603	return Brushes.Magenta;
		4604	case "yellow":
		4605	return Brushes.Yellow;
		4606	default:
		4607	return Brushes.Magenta;
		4608	}
		4609	}
		4610	void _routeUpdate()
		4611	{
		4612	Dispatcher.Invoke(() =>
		4613	{
		4614	if (comboBoxRouteColor.SelectionBoxItem != null)
		4615	{
		4616	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4617	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4618	}
		4619	else
		4620	mRouteWP = new GMapRoute(wpList, null);
		4621
		4622	if (_bShowWPRoute)
		4623	MainMap.Markers.Add(mRouteWP);
		4624	});
		4625
		4626	MapRoute mr = new MapRoute(wpList, "WPList");
		4627	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		4628	}
		4629	GMapMarker _createWP(PointLatLng p, string name, int type, int index)
		4630	{
		4631	GMapMarker wpMarker = new GMapMarker(p);
		4632	Dispatcher.Invoke(()=>
		4633	{
		4634	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
		4635	wpMarker.Tag = name;
		4636	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		4637	wpMarker.ZIndex = 100;
		4638	_setMarkerColor(wpMarker, type);
		4639	MainMap.Markers.Add(wpMarker);
		4640	if (type == 0 \|\| type == 3)
		4641	{
		4642	wpList.Add(p);
		4643	wpOffset.Add(index);
		4644	}
		4645	((CustomMarkerWP)wpMarker.Shape).positionChanged += _updateDTWPPos;
		4646	((CustomMarkerWP)wpMarker.Shape).newPosition += _updateDTWPPosFin;
		4647	((CustomMarkerWP)wpMarker.Shape).mouseCaptured += _WPMouseCaptured;
		4648	_setMapItemsSize("WP", SliderWPZoom.Value);
		4649	});
		4650	return wpMarker;
		4651	}
		4652	bool _WPisMouseCaptured = false;
		4653	void _WPMouseCaptured(bool isCaptured)
		4654	{
		4655	_WPisMouseCaptured = isCaptured;
		4656	MainMap.CanDragMap = !isCaptured;
		4657	}
		4658	void _updateDTWPPos(CustomMarkerWP wp)
		4659	{
		4660	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4661	int index = Convert.ToInt16(sIndex) -1;
		4662	GMapMarker p = ((GMapMarker)wp.DataContext);
		4663	if (p != null && index < dtWaypoints.Rows.Count)
		4664	{
		4665	//Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4666	if(wp.WPType == 0 \| wp.WPType == 3)
		4667	{
		4668	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		4669	int wpListIndex = wpList.IndexOf(x);
		4670	if (wpListIndex > -1)
		4671	{
		4672	wpList[wpListIndex] = p.Position;
		4673	MainMap.Markers.Remove(mRouteWP);
		4674	_routeUpdate();
		4675	}
		4676	}
		4677	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4678	dtWaypoints.Rows[index][4] = p.Position.Lng;
		4679	}
		4680	}
		4681	void _updateDTWPPosFin(CustomMarkerWP wp)
		4682	{
		4683	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4684	int index = Convert.ToInt16(sIndex) -1;
		4685	GMapMarker p = ((GMapMarker)wp.DataContext);
		4686	if (p != null && index < dtWaypoints.Rows.Count)
		4687	{
		4688	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4689	dtWaypoints.Rows[index][4] = p.Position.Lng;
		4690	Dispatcher.Invoke(() =>
		4691	{
		4692	dgvWP.Items.Refresh();
		4693	dgvWP.SelectedIndex = index;
		4694	_dgvWPselectEditRow();
		4695	});
		4696
		4697	}
		4698
		4699	}
		4700	void _addWP(PointLatLng p,int type)
		4701	{
		4702	object[] o = new object[16];
		4703
		4704	o[0] = dgvWP.ItemContainerGenerator.Items.Count + 1;
		4705	o[1] = type;
		4706	// cbWPEditType.SelectedIndex = 0;
		4707	// tbWPEditPrefix.Text = "P";
		4708	o[2] = _wpDefPrefix + o[0].ToString();
		4709	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4710	o[3] = p.Lat;
		4711	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4712	o[4] = p.Lng;
		4713	// lblWPEditAlt.Content = ((double)iAnalogData[4] / (double)10).ToString();
		4714	o[5] = _wpAddCopterHeight ? iAnalogData[4].ToString(): _wpDefAltitude.ToString();
		4715
		4716	cbWPEditHeading.SelectedIndex = _wpDefCBoxHeading;
		4717	o[6] = _wpAddCopterHeading ? iAnalogData[10].ToString(): _wpDefHeading.ToString();
		4718	//lblWPEditHeading.Content = iAnalogData[10].ToString();
		4719	// tbWPEditHeading.IsReadOnly = false;
		4720
		4721	cbWPEditSpeed.SelectedIndex = _wpDefCBoxSpeed;
		4722	// tbWPEditSpeed.Text = "5.0";
		4723	// tbWPEditSpeed.IsReadOnly = false;
		4724	o[7] = _wpDefSpeed.ToString();
		4725
		4726	cbWPEditClimbrate.SelectedIndex = _wpDefCBoxClimb;
		4727	// lblWPEditClimbrate.Content = "5.0";
		4728	// tbWPEditClimbrate.IsReadOnly = false;
		4729	o[8] = _wpDefClimb.ToString();
		4730
		4731	// lblWPEditRadius.Content = "10";
		4732	o[9] = _wpDefRadius.ToString();
		4733	// lblWPEditHoldtime.Content = "5";
		4734	o[10] = _wpDefHoldtime.ToString();
		4735	// lblWPEditAutoTrigger.Content = "0";
		4736	o[11] = _wpDefAutotrig.ToString();
		4737	cbWPEditCamAngle.SelectedIndex = _wpDefCBoxCamangle;
		4738	// lblWPEditCamAngle.Content = "AUTO";
		4739	// tbWPEditCamAngle.IsReadOnly = true;
		4740	o[12] = _wpDefCamangle.ToString();
		4741
		4742	o[13] = "0";
		4743	// lblWPEditOut1.Content = "0";
		4744	o[14] = _wpDefOut1.ToString();
		4745	o[15] = "0";
		4746
		4747	dtWaypoints.Rows.Add(o);
		4748	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1], (int)o[0] - 1);
		4749	// Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4750	if (mRouteWP != null)
		4751	MainMap.Markers.Remove(mRouteWP);
		4752	_routeUpdate();
		4753	Dispatcher.Invoke(() =>
		4754	{
		4755	dgvWP.Items.Refresh();
		4756	dgvWP.UpdateLayout();
		4757	dgvWP.SelectedIndex = (int)o[0] - 1;
		4758	_dgvWPselectEditRow();
		4759	});
		4760	}
		4761	/// <summary>
		4762	/// find the index of of a wp from datatable in the waypointlist wpList
		4763	/// </summary>
		4764	/// <param name="dtIndex">the index of wp in datatable (0-based)</param>
		4765	/// <returns></returns>
		4766	int _getWPIndexfromList(int dtIndex)
		4767	{
		4768	if ((int)dtWaypoints.Rows[dtIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dtIndex][1] == 3)
		4769	{
		4770	GMapMarker wp = _findWPMarker((string)dtWaypoints.Rows[dtIndex][2]);
		4771	if (wp != null)
		4772	return wpList.IndexOf(wp.Position);
		4773	}
		4774	return -1;
		4775	}
		4776	/// <summary>
		4777	/// find the index of of a wp from datatable in the waypointlist wpList
		4778	/// </summary>
		4779	/// <param name="name">the name of the wp</param>
		4780	/// <returns></returns>
		4781	int _getWPIndexfromList(string name)
		4782	{
		4783	GMapMarker wp = _findWPMarker(name);
		4784	if ((wp != null && wp.Shape != null) && ((CustomMarkerWP)wp.Shape).WPType == 0 \| ((CustomMarkerWP)wp.Shape).WPType == 3)
		4785	return wpList.IndexOf(wp.Position);
		4786	else
		4787	return -1;
		4788	}
		4789	int _getWPListOffset(int index)
		4790	{
		4791	int k = 0;
		4792	for(int i = 0; i < wpOffset.Count;i++)
		4793	{
		4794	if (wpOffset[i] <= index)
		4795	k++;
		4796	}
		4797
		4798	return k;
		4799	}
		4800	void _setMarkerColor(GMapMarker wpMarker,int iType)
		4801	{
		4802	if(wpMarker != null)
		4803	Dispatcher.Invoke(() =>
		4804	{
		4805	switch (iType)
		4806	{
		4807	case 0:
		4808	if (comboBoxWPColor.SelectionBoxItem != null)
		4809	{
		4810	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		4811	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4812	}
		4813	else
		4814	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
		4815	break;
		4816	case 1:
		4817	if (comboBoxPOIColor.SelectionBoxItem != null)
		4818	{
		4819	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		4820	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4821	}
		4822	else
		4823	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
		4824	break;
		4825	case 2:
		4826	if (comboBoxFSColor.SelectionBoxItem != null)
		4827	{
		4828	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		4829	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4830	}
		4831	else
		4832	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4833	break;
		4834	case 3:
		4835	if (comboBoxLandingColor.SelectionBoxItem != null)
		4836	{
		4837	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		4838	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4839	}
		4840	else
		4841	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		4842	break;
		4843	default:
		4844	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4845	break;
		4846	}
		4847	});
		4848
		4849	}
		4850	void _MarkerColorSelection(object sender,int type)
		4851	{
		4852	Dispatcher.Invoke(() =>
		4853	{
		4854	if (((ComboBox)sender).SelectionBoxItem != null)
		4855	{
		4856	for (int k = 0; k < MainMap.Markers.Count; k++)
		4857	{
		4858	GMapMarker p = MainMap.Markers[k];
		4859	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
		4860	{
		4861	if (((CustomMarkerWP)p.Shape).WPType == type)
		4862	{
		4863	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
		4864	((CustomMarkerWP)(p.Shape)).setColor(s);
		4865	}
		4866	}
		4867	}
		4868	}
		4869	});
		4870	}
		4871	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
		4872	{
		4873	_MarkerColorSelection(sender, 0);
		4874	}
		4875	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		4876	{
		4877	_MarkerColorSelection(sender, 1);
		4878	}
		4879	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		4880	{
		4881	_MarkerColorSelection(sender, 2);
		4882	}
		4883	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		4884	{
		4885	_MarkerColorSelection(sender,3);
		4886	}
		4887	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
		4888	{
		4889	Dispatcher.Invoke(() => {
		4890	if (comboBoxCopterColor.SelectionBoxItem != null)
		4891	{
		4892	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		4893	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
		4894	}
		4895	else
		4896	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
		4897	});
		4898	}
		4899	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		4900	{
		4901	Dispatcher.Invoke(() => {
		4902	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		4903	{
		4904	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		4905	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		4906	}
		4907	else
		4908	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		4909	});
		4910	}
		4911	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		4912	{
		4913	Dispatcher.Invoke(() =>
		4914	{
		4915	if (comboBoxRouteColor.SelectionBoxItem != null)
		4916	{
		4917	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4918	MainMap.Markers.Remove(mRouteWP);
		4919	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4920	if (_bShowWPRoute)
		4921	MainMap.Markers.Add(mRouteWP);
		4922	}
		4923	});
		4924	}
		4925	private void comboBoxWPMaxRangeColor_DropDownClosed(object sender, EventArgs e)
		4926	{
		4927	Dispatcher.Invoke(() =>
		4928	{
		4929	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		4930	{
		4931	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		4932	{
		4933	if (cWPBound != null && cWPBound.Tag != null)
		4934	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		4935
		4936	createCircle(home.Position, dWPMaxRange);
		4937	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		4938	cWPBound.setColor(s);
		4939
		4940	}
		4941	}
		4942	});
		4943
		4944	}
		4945	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		4946	{
		4947	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		4948	if (_bShowWPRoute)
		4949	{
		4950	if (mRouteWP != null)
		4951	MainMap.Markers.Add(mRouteWP);
		4952	}
		4953	else
		4954	{
		4955	if (mRouteWP != null)
		4956	MainMap.Markers.Remove(mRouteWP);
		4957	}
		4958	}
		4959
		4960	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
		4961	{
		4962	_readWPLFile();
		4963	}
		4964	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		4965	{
		4966	_clearMapMarkers(typeof(CustomMarkerWP));
		4967	_clearMapMarkers(typeof(CustomMarkerWPActive));
		4968	wpList.Clear();
		4969	if (mRouteWP != null)
		4970	MainMap.Markers.Remove(mRouteWP);
		4971	//if (wpActiveMarker != null)
		4972	// MainMap.Markers.Remove(wpActiveMarker);
		4973	dtWaypoints.Rows.Clear();
		4974	_wpEdit = -1;
		4975	_wpIndex = -1;
		4976	wpOffset.Clear();
		4977	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4978	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		4979	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		4980	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		4981	}
		4982	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		4983	{
		4984	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		4985	t.Start();
		4986	}
		4987	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
		4988	{
		4989	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4990	{
		4991	if (_wpCount > 0)
		4992	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
		4993	else
		4994	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
		4995
		4996	//int index = dgvWP.SelectedIndex;
		4997	//Thread t = new Thread(() => _sendWPList(index));
		4998	//t.Start();
		4999
		5000	Dispatcher.Invoke(() => {
		5001	DataGridRow row;
		5002	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		5003	{
		5004	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		5005	row.Background = new SolidColorBrush(Colors.Transparent);
		5006	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		5007	row.BorderThickness = new Thickness(0);
		5008	dgvWP.UpdateLayout();
		5009	}
		5010	//_wpEdit = dgvWP.SelectedIndex;
		5011	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		5012	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		5013	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		5014	//row.BorderThickness = new Thickness(2);
		5015	});
		5016	}
		5017	}
		5018	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		5019	{
		5020	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5021	{
		5022
		5023	object[] o = new object[16];
		5024	o[0] = dgvWP.SelectedIndex + 1;
		5025	o[1] = cbWPEditType.SelectedIndex;
		5026	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		5027	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		5028	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		5029	o[5] = lblWPEditAlt.Content;
		5030	switch (cbWPEditHeading.SelectedIndex)
		5031	{
		5032	case 0:
		5033	o[6] = "0";
		5034	break;
		5035	case 1:
		5036	o[6] = "-" + lblWPEditHeading.Content;
		5037	break;
		5038	case 2:
		5039	o[6] = lblWPEditHeading.Content;
		5040	break;
		5041	}
		5042	switch (cbWPEditSpeed.SelectedIndex)
		5043	{
		5044	case 0:
		5045	o[7] = "0";
		5046	break;
		5047	case 1:
		5048	o[7] = (System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10).ToString("0");
		5049	break;
		5050	case 2:
		5051	o[7] = (256 - Convert.ToInt16(lblWPEditSpeed.Content)).ToString();
		5052	break;
		5053	}
		5054	switch (cbWPEditClimbrate.SelectedIndex)
		5055	{
		5056	case 0:
		5057	o[8] = "255";
		5058	break;
		5059	case 1:
		5060	o[8] = (System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.', ',')) * 10).ToString("0");
		5061	break;
		5062	}
		5063	o[9] = lblWPEditRadius.Content;
		5064	o[10] = lblWPEditHoldtime.Content;
		5065	o[11] = lblWPEditAutoTrigger.Content;
		5066	switch (cbWPEditCamAngle.SelectedIndex)
		5067	{
		5068	case 0:
		5069	o[12] = "0";
		5070	break;
		5071	case 1:
		5072	o[12] = "255";
		5073	break;
		5074	case 2:
		5075	o[12] = lblWPEditCamAngle.Content;
		5076	break;
		5077	}
		5078	o[13] = 0;
		5079	o[14] = lblWPEditOut1.Content;
		5080	DataRow dr = dtWaypoints.NewRow();
		5081	dr.ItemArray = o;
		5082
		5083	if (_wpCount > 0)
		5084	_sendWayPoint(dr, -1, 'w', false);
		5085	else
		5086	_sendWayPoint(dr, 1, 'w', false);
		5087
		5088	if (_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count)
		5089	_sendWayPoint(dtWaypoints.Rows[wpOffset[_wpIndex]], _wpIndex+1, 's', false);
		5090	}
		5091	}
		5092	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		5093	{
		5094	_Simulate = !_Simulate;
		5095	if (dtWaypoints.Rows.Count > 0)
		5096	{
		5097	DataRow dr = dtWaypoints.Rows[0];
		5098	dr[13] = _Simulate ? 3 : 0;
		5099	_sendWayPoint(dr, 0, 's', true);
		5100	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
		5101	}
		5102	}
		5103
		5104	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		5105	{
		5106	_dgvWPselectEditRow();
		5107	}
		5108	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		5109	{
		5110	}
		5111	void _dgvWPselectEditRow()
		5112	{
		5113	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5114	{
		5115	Dispatcher.Invoke(() => {
		5116	DataGridRow row;
		5117	dgvWP.Items.Refresh();
		5118	dgvWP.UpdateLayout();
		5119	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		5120	{
		5121	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		5122	if (row != null)
		5123	{
		5124	row.Background = new SolidColorBrush(Colors.Transparent);
		5125	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		5126	row.BorderThickness = new Thickness(0);
		5127	}
		5128	}
		5129	_wpEdit = dgvWP.SelectedIndex;
		5130	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		5131	if (row != null)
		5132	{
		5133	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		5134	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		5135	row.BorderThickness = new Thickness(2);
		5136	dgvWP.UpdateLayout();
		5137	}
		5138	if (GridWPEdit.Visibility == Visibility.Collapsed && _bAutoWPEdit)
		5139	GridWPEdit.Visibility = Visibility.Visible;
		5140
		5141	_setWPEditFields(_wpEdit);
		5142	});
		5143	}
		5144	}
		5145	void _setWPEditFields(int index)
		5146	{
		5147	if (GridWPEdit.Visibility == Visibility.Collapsed && _bAutoWPEdit)
		5148	GridWPEdit.Visibility = Visibility.Visible;
		5149
		5150	int iVal;
		5151	lblWPEditIndex.Content = dtWaypoints.Rows[index][0].ToString();
		5152	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		5153	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		5154	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		5155	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		5156
		5157	SliderAlt.Value = Convert.ToInt16(dtWaypoints.Rows[index][5]);
		5158
		5159	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		5160	SliderHeading.Value = Math.Abs(iVal);
		5161	if (iVal == 0)
		5162	{
		5163	cbWPEditHeading.SelectedIndex = 0;
		5164	// lblWPEditHeading.Content = " - - -";
		5165	}
		5166	if (iVal > 0 && iVal < 360)
		5167	{
		5168	cbWPEditHeading.SelectedIndex = 2;
		5169	// lblWPEditHeading.Content = iVal.ToString();
		5170	}
		5171	if (iVal < 0)
		5172	{
		5173	cbWPEditHeading.SelectedIndex = 1;
		5174	// lblWPEditHeading.Content = (Math.Abs(iVal).ToString());
		5175	}
		5176	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		5177	SliderSpeed.Value = (double)iVal * 0.1; //------------!!!!!!!!
		5178	if (iVal == 0)
		5179	{
		5180	cbWPEditSpeed.SelectedIndex = 0;
		5181	// lblWPEditSpeed.Content = "MAX";
		5182	}
		5183	if (iVal > 0 && iVal < 248)
		5184	{
		5185	cbWPEditSpeed.SelectedIndex = 1;
		5186	// lblWPEditSpeed.Content = ((double)iVal * 0.1).ToString();
		5187	}
		5188	if (iVal > 247)
		5189	{
		5190	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		5191	// lblWPEditSpeed.Content = "";
		5192	}
		5193	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		5194	SliderClimbrate.Value = (System.Convert.ToDouble(iVal) / 10); //------------!!!!!!!!
		5195	if (iVal == 255)
		5196	{
		5197	cbWPEditClimbrate.SelectedIndex = 0;
		5198	// lblWPEditClimbrate.Content = "AUTO";
		5199	}
		5200	else
		5201	{
		5202	cbWPEditClimbrate.SelectedIndex = 1;
		5203	// lblWPEditClimbrate.Content = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		5204	}
		5205	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		5206	SliderRadius.Value = iVal;
		5207	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		5208	SliderHoldTime.Value = iVal;
		5209	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		5210	SliderAutoTrigger.Value = iVal;
		5211	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		5212	SliderCamAngle.Value = iVal;
		5213	if (iVal == 0)
		5214	{
		5215	cbWPEditCamAngle.SelectedIndex = 0;
		5216	// lblWPEditCamAngle.Content = " - - - ";
		5217	}
		5218	if (iVal < 0 \| iVal == 255)
		5219	{
		5220	cbWPEditCamAngle.SelectedIndex = 1;
		5221	// lblWPEditCamAngle.Content = "AUTO";
		5222	}
		5223	if (iVal > 0 & iVal < 255)
		5224	{
		5225	cbWPEditCamAngle.SelectedIndex = 2;
		5226	// lblWPEditCamAngle.Content = iVal.ToString();
		5227	}
		5228	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		5229	SliderOut1.Value = iVal;
		5230	}
		5231	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		5232	{
		5233	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5234	{
		5235	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
		5236	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		5237	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		5238	int i = wpList.IndexOf(pOld);
		5239	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		5240	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		5241	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		5242	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		5243	if (i > -1)
		5244	{
		5245	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		5246	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		5247	else
		5248	{
		5249	wpList.Remove(pOld);
		5250	wpOffset.Remove(wpOffset[i]);
		5251	}
		5252	}
		5253	else
		5254	{
		5255	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		5256	{
		5257	int found = 0;
		5258	for (int k = 0; k < dgvWP.SelectedIndex; k++)
		5259	{
		5260	if ((int)dtWaypoints.Rows[k][1] == 0 \|\| (int)dtWaypoints.Rows[k][1] == 3)
		5261	{
		5262	found++;
		5263	}
		5264	}
		5265	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		5266	wpOffset.Insert(found, dgvWP.SelectedIndex);
		5267	}
		5268	}
		5269	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = lblWPEditAlt.Content;
		5270	switch (cbWPEditHeading.SelectedIndex)
		5271	{
		5272	case 0:
		5273	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		5274	break;
		5275	case 1:
		5276	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + lblWPEditHeading.Content;
		5277	break;
		5278	case 2:
		5279	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = lblWPEditHeading.Content;
		5280	break;
		5281	}
		5282	switch (cbWPEditSpeed.SelectedIndex)
		5283	{
		5284	case 0:
		5285	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		5286	break;
		5287	case 1:
		5288	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10).ToString("0");
		5289	break;
		5290	case 2:
		5291	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(lblWPEditSpeed.Content)).ToString();
		5292	break;
		5293	}
		5294	switch (cbWPEditClimbrate.SelectedIndex)
		5295	{
		5296	case 0:
		5297	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		5298	break;
		5299	case 1:
		5300	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.',',')) * 10).ToString("0");
		5301	break;
		5302	}
		5303	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = lblWPEditRadius.Content;
		5304	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = lblWPEditHoldtime.Content;
		5305	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = lblWPEditAutoTrigger.Content;
		5306	switch (cbWPEditCamAngle.SelectedIndex)
		5307	{
		5308	case 0:
		5309	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		5310	break;
		5311	case 1:
		5312	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		5313	break;
		5314	case 2:
		5315	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = lblWPEditCamAngle.Content;
		5316	break;
		5317	}
		5318	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = lblWPEditOut1.Content;
		5319
		5320	// _clearMapMarkers(typeof(CustomMarkerWP));
		5321	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		5322	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
		5323	_clearMapMarkers(typeof(CustomMarkerWPActive));
		5324	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
		5325	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
		5326	// wpList.Clear();
		5327	if (mRouteWP != null)
		5328	MainMap.Markers.Remove(mRouteWP);
		5329
		5330	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		5331	//{
		5332	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		5333	//}
		5334	_routeUpdate();
		5335	dgvWP.Items.Refresh();
		5336
		5337	}
		5338
		5339	}
		5340	private void btnEditWPAdd_Click(object sender, RoutedEventArgs e)
		5341	{
		5342	DataRow dr = dtWaypoints.NewRow();
		5343	dr[0] = dtWaypoints.Rows.Count+1;
		5344	dr[1] = cbWPEditType.SelectedIndex;
		5345	dr[2] = tbWPEditPrefix.Text + dr[0].ToString();
		5346	dr[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ',')) + 0.00000001;
		5347	dr[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ',')) + 0.00000001;
		5348	dr[5] = lblWPEditAlt.Content;
		5349	switch (cbWPEditHeading.SelectedIndex)
		5350	{
		5351	case 0:
		5352	dr[6] = "0";
		5353	break;
		5354	case 1:
		5355	dr[6] = "-" + lblWPEditHeading.Content;
		5356	break;
		5357	case 2:
		5358	dr[6] = lblWPEditHeading.Content;
		5359	break;
		5360	}
		5361	switch (cbWPEditSpeed.SelectedIndex)
		5362	{
		5363	case 0:
		5364	dr[7] = "0";
		5365	break;
		5366	case 1:
		5367	dr[7] = (System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10).ToString("0");
		5368	break;
		5369	case 2:
		5370	dr[7] = (256 - Convert.ToInt16(lblWPEditSpeed.Content)).ToString();
		5371	break;
		5372	}
		5373	switch (cbWPEditClimbrate.SelectedIndex)
		5374	{
		5375	case 0:
		5376	dr[8] = "255";
		5377	break;
		5378	case 1:
		5379	dr[8] = (System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.', ',')) * 10).ToString("0");
		5380	break;
		5381	}
		5382	dr[9] = lblWPEditRadius.Content;
		5383	dr[10] = lblWPEditHoldtime.Content;
		5384	dr[11] = lblWPEditAutoTrigger.Content;
		5385	switch (cbWPEditCamAngle.SelectedIndex)
		5386	{
		5387	case 0:
		5388	dr[12] = "0";
		5389	break;
		5390	case 1:
		5391	dr[12] = "255";
		5392	break;
		5393	case 2:
		5394	dr[12] = lblWPEditCamAngle.Content;
		5395	break;
		5396	}
		5397	dr[13] = "";
		5398	dr[14] = lblWPEditOut1.Content;
		5399	dr[15] = "";
		5400	_createWP(new PointLatLng((double)dr[3], (double)dr[4]),(string) dr[2], (int)dr[1], (int)dr[0]);
		5401	if (mRouteWP != null)
		5402	MainMap.Markers.Remove(mRouteWP);
		5403	_routeUpdate();
		5404	dtWaypoints.Rows.Add(dr);
		5405	dgvWP.Items.Refresh();
		5406	}
		5407	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		5408	{
		5409	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5410	{
		5411	int index = dgvWP.SelectedIndex;
		5412	Dispatcher.Invoke(() => {
		5413	DataGridRow row;
		5414	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		5415	{
		5416	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		5417	row.Background = new SolidColorBrush(Colors.Transparent);
		5418	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		5419	row.BorderThickness = new Thickness(0);
		5420	}
		5421	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
		5422	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
		5423	else
		5424	wpOffset.Remove((int)dtWaypoints.Rows[index][0] + 1);
		5425	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
		5426	if (wpActiveMarker != null)
		5427	MainMap.Markers.Remove(wpActiveMarker);
		5428	dtWaypoints.Rows[index].Delete();
		5429	_wpIndex = -1;
		5430	_wpEdit = -1;
		5431	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		5432	{
		5433	dtWaypoints.Rows[i][0] = i + 1;
		5434	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		5435	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		5436	_renameWPMarker(s1, s2);
		5437	dtWaypoints.Rows[i][2] = s2;
		5438	}
		5439	lblWPCount.Content = dtWaypoints.Rows.Count;
		5440	if (mRouteWP != null)
		5441	MainMap.Markers.Remove(mRouteWP);
		5442	_routeUpdate();
		5443
		5444	dgvWP.UpdateLayout();
		5445	});
		5446	}
		5447	}
		5448	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		5449	{
		5450	_wpWEdit(sender);
		5451	}
		5452	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		5453	{
		5454	_wpWEdit(sender);
		5455	}
		5456	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		5457	{
		5458	_wpWEdit(sender);
		5459	}
		5460	void _wpWEdit(object sender)
		5461	{
		5462	// if (!((TextBox)sender).IsReadOnly)
		5463	{
		5464	KeyPad.Keypad k = new KeyPad.Keypad(this);
		5465
		5466	switch (((TextBox)sender).Name)
		5467	{
		5468	case "tbWPEditLat":
		5469	k.Title = "Latitude";
		5470	k.LENGTH = 17;
		5471	k.MAX = 359.9;
		5472	break;
		5473	case "tbWPEditLon":
		5474	k.Title = "Longitude";
		5475	k.LENGTH = 17;
		5476	k.MAX = 359.9;
		5477	break;
		5478	case "tbWPEditAlt":
		5479	k.Title = "Altitude";
		5480	k.LENGTH = 3;
		5481	k.MAX = 254;
		5482	k.disableDecimal();
		5483	break;
		5484	case "tbWPEditHeading":
		5485	k.Title = "Heading";
		5486	k.LENGTH = 3;
		5487	k.MAX = 359;
		5488	k.MIN = 1;
		5489	k.disableDecimal();
		5490	break;
		5491	case "tbWPEditSpeed":
		5492	k.Title = "Speed";
		5493	k.LENGTH = 4;
		5494	k.MAX = 24.7;
		5495	k.MIN = 0.1;
		5496	break;
		5497	case "tbWPEditClimbrate":
		5498	k.Title = "Climbrate";
		5499	k.LENGTH = 4;
		5500	k.MAX = 25.4;
		5501	k.MIN = 0.1;
		5502	break;
		5503	case "tbWPEditRadius":
		5504	k.Title = "Radius";
		5505	k.LENGTH = 3;
		5506	k.MAX = 254;
		5507	k.disableDecimal();
		5508	break;
		5509	case "tbWPEditHoldtime":
		5510	k.Title = "Holdtime";
		5511	k.LENGTH = 3;
		5512	k.MAX = 254;
		5513	break;
		5514	case "tbWPEditAutoTrigger":
		5515	k.Title = "Autotrigger";
		5516	k.LENGTH = 3;
		5517	k.MAX = 254;
		5518	k.disableDecimal();
		5519	break;
		5520	case "tbWPEditCamAngle":
		5521	k.Title = "Camera angle";
		5522	k.LENGTH = 3;
		5523	k.MAX = 254;
		5524	k.MIN = 1;
		5525	k.disableDecimal();
		5526	break;
		5527	case "tbWPEditOut1":
		5528	k.Title = "OUT1 timer interval";
		5529	k.LENGTH = 3;
		5530	k.MAX = 254;
		5531	k.disableDecimal();
		5532	break;
		5533	}
		5534	k.Result = ((TextBox)sender).Text;
		5535	if (k.ShowDialog() == true && k.Result.Length > 0)
		5536	((TextBox)sender).Text = k.Result;
		5537	}
		5538
		5539	}
		5540	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
		5541	{
		5542	_addWP(new PointLatLng(copter.Position.Lat, copter.Position.Lng),0);
		5543	}
		5544	private void checkBoxWPAddUseCopterHeading_Click(object sender, RoutedEventArgs e)
		5545	{
		5546	_wpAddCopterHeading = (bool)checkBoxWPAddUseCopterHeading.IsChecked;
		5547	}
		5548	private void checkBoxWPAddUseCopterHeight_Click(object sender, RoutedEventArgs e)
		5549	{
		5550	_wpAddCopterHeight = (bool)checkBoxWPAddUseCopterHeight.IsChecked;
		5551	}
		5552	private void btnSaveDefault_Click(object sender, RoutedEventArgs e)
		5553	{
		5554	_wpDefPrefix = tbWPEditPrefix.Text;
		5555	_wpDefAltitude = Convert.ToInt16(lblWPEditAlt.Content);
		5556	switch (cbWPEditHeading.SelectedIndex)
		5557	{
		5558	case 0:
		5559	_wpDefHeading = 0;
		5560	break;
		5561	case 1:
		5562	_wpDefHeading = -Convert.ToInt16(lblWPEditHeading.Content);
		5563	break;
		5564	case 2:
		5565	_wpDefHeading = Convert.ToInt16(lblWPEditHeading.Content);
		5566	break;
		5567	}
		5568	_wpDefCBoxHeading = cbWPEditHeading.SelectedIndex;
		5569	switch (cbWPEditSpeed.SelectedIndex)
		5570	{
		5571	case 0:
		5572	_wpDefSpeed = 0;
		5573	break;
		5574	case 1:
		5575	_wpDefSpeed = (int)(System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10);
		5576	break;
		5577	case 2:
		5578	_wpDefSpeed = 256 - Convert.ToInt16(lblWPEditSpeed.Content);
		5579	break;
		5580	}
		5581	_wpDefCBoxSpeed = cbWPEditSpeed.SelectedIndex;
		5582	switch (cbWPEditClimbrate.SelectedIndex)
		5583	{
		5584	case 0:
		5585	_wpDefClimb = 255;
		5586	break;
		5587	case 1:
		5588	_wpDefClimb = (int)(System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.', ',')) * 10);
		5589	break;
		5590	}
		5591	_wpDefCBoxClimb = cbWPEditClimbrate.SelectedIndex;
		5592	_wpDefRadius = Convert.ToInt16(lblWPEditRadius.Content);
		5593	_wpDefHoldtime = Convert.ToInt16(lblWPEditHoldtime.Content);
		5594	_wpDefAutotrig = Convert.ToInt16(lblWPEditAutoTrigger.Content);
		5595	switch (cbWPEditCamAngle.SelectedIndex)
		5596	{
		5597	case 0:
		5598	_wpDefCamangle = 0;
		5599	break;
		5600	case 1:
		5601	_wpDefCamangle = 255;
		5602	break;
		5603	case 2:
		5604	_wpDefCamangle = Convert.ToInt16(lblWPEditCamAngle.Content);
		5605	break;
		5606	}
		5607	_wpDefCBoxCamangle = cbWPEditCamAngle.SelectedIndex;
		5608	_wpDefOut1 = Convert.ToInt16(lblWPEditOut1.Content);
		5609	}
		5610
		5611	private void btnWPEditmoveUp_Click(object sender, RoutedEventArgs e)
		5612	{
		5613	if (dgvWP.SelectedIndex > 0 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5614	{
		5615	int index = dgvWP.SelectedIndex;
		5616	if (((int)dtWaypoints.Rows[index][1] == 0 \| (int)dtWaypoints.Rows[index][1] == 3) && ((int)dtWaypoints.Rows[index - 1][1] == 0 \| (int)dtWaypoints.Rows[index - 1][1] == 3))// && wpList.Count > index)
		5617	{
		5618	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		5619	int wpListIndex = wpList.IndexOf(x);
		5620	if (wpListIndex > 0)
		5621	{
		5622	wpList.RemoveAt(wpListIndex);
		5623	wpList.Insert(wpListIndex - 1, x);
		5624	MainMap.Markers.Remove(mRouteWP);
		5625	_routeUpdate();
		5626	}
		5627	}
		5628	DataRow dr = dtWaypoints.Rows[index];
		5629	DataRow newRow = dtWaypoints.NewRow();
		5630	newRow.ItemArray = dr.ItemArray;
		5631	dtWaypoints.Rows.Remove(dr);
		5632	dtWaypoints.Rows.InsertAt(newRow, index - 1);
		5633	dtWaypoints.Rows[index][0] = 100;
		5634	dtWaypoints.Rows[index - 1][0] = index;
		5635	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index - 1][2].ToString());
		5636	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5637	dtWaypoints.Rows[index - 1][2] = dtWaypoints.Rows[index - 1][2].ToString().Substring(0, 1) + index.ToString();
		5638	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index - 1][2].ToString();
		5639	dtWaypoints.Rows[index][0] = index + 1;
		5640	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5641	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5642	dgvWP.Items.Refresh();
		5643	dgvWP.SelectedIndex = index - 1;
		5644	_dgvWPselectEditRow();
		5645	if (wpOffset.Contains(index)) // calculating offset for wpList (index is 0-based - offset starts with index 1)
		5646	{
		5647	int iOffset = wpOffset.IndexOf(index);
		5648	if (iOffset > 0) // if not first element
		5649	{
		5650	if (wpOffset[iOffset - 1] < index-1) //if previous element is not immediately before actual offset
		5651	wpOffset[iOffset] = index-1; //then decrease offset value by one
		5652	}
		5653	else
		5654	wpOffset[iOffset] = index-1; //if first element, decrease offset by one
		5655	}
		5656	else //selected line is POI
		5657	{
		5658	if (wpOffset.Contains(index - 1)) // if next point is WP
		5659	{
		5660	int iOffset = wpOffset.IndexOf(index - 1);
		5661	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5662	}
		5663	}
		5664
		5665	}
		5666	}
		5667	private void btnWPEditmoveDown_Click(object sender, RoutedEventArgs e)
		5668	{
		5669	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count - 1)
		5670	{
		5671	int index = dgvWP.SelectedIndex;
		5672	if (((int)dtWaypoints.Rows[index][1] == 0 \| (int)dtWaypoints.Rows[index][1] == 3) && ((int)dtWaypoints.Rows[index+1][1] == 0 \| (int)dtWaypoints.Rows[index+1][1] == 3))// && wpList.Count > index)
		5673	{
		5674	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		5675	int wpListIndex = wpList.IndexOf(x);
		5676	if (wpListIndex > -1)
		5677	{
		5678	wpList.RemoveAt(wpListIndex);
		5679	if (wpList.Count > wpListIndex)
		5680	wpList.Insert(wpListIndex + 1, x);
		5681	else
		5682	wpList.Add(x);
		5683	MainMap.Markers.Remove(mRouteWP);
		5684	_routeUpdate();
		5685	}
		5686	}
		5687	DataRow dr = dtWaypoints.Rows[index];
		5688	DataRow newRow = dtWaypoints.NewRow();
		5689	newRow.ItemArray = dr.ItemArray;
		5690	dtWaypoints.Rows.Remove(dr);
		5691	dtWaypoints.Rows.InsertAt(newRow, index + 1);
		5692	dtWaypoints.Rows[index][0] = 100;
		5693	dtWaypoints.Rows[index + 1][0] = index + 2;
		5694	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index + 1][2].ToString());
		5695	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5696	dtWaypoints.Rows[index + 1][2] = dtWaypoints.Rows[index + 1][2].ToString().Substring(0, 1) + (index+2).ToString();
		5697	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index + 1][2].ToString();
		5698	dtWaypoints.Rows[index][0] = index + 1;
		5699	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5700	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5701	dgvWP.Items.Refresh();
		5702	dgvWP.SelectedIndex = index + 1;
		5703	_dgvWPselectEditRow();
		5704	if(wpOffset.Contains(index)) // If selected line is WP
		5705	{
		5706	int iOffset = wpOffset.IndexOf(index);
		5707	if(iOffset < wpOffset.Count -1) // if not last element
		5708	{
		5709	if (wpOffset[iOffset + 1] > index + 1) //if next element is not immediately after actual offset
		5710	wpOffset[iOffset] = index + 1; //then increase offset value by one
		5711	}
		5712	else
		5713	wpOffset[iOffset] = index + 1; //if last element increase offset by one
		5714	}
		5715	else //selected line is POI
		5716	{
		5717	if (wpOffset.Contains(index + 1)) // if next point is WP
		5718	{
		5719	int iOffset = wpOffset.IndexOf(index + 1);
		5720	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5721	}
		5722	}
		5723	}
		5724
		5725	}
		5726
		5727	private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e)
		5728	{
		5729	if (WPStatus.Visibility == Visibility.Visible)
		5730	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5731	else
		5732	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5733	}
		5734	private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e)
		5735	{
		5736	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		5737	{
		5738	if (cWPBound != null && cWPBound.Tag != null)
		5739	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		5740
		5741	createCircle(home.Position, dWPMaxRange);
		5742	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		5743	{
		5744	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		5745	cWPBound.setColor(s);
		5746	}
		5747	}
		5748
		5749	if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null))
		5750	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		5751	}
		5752	private void checkBoxAutoShowWPEdit_Click(object sender, RoutedEventArgs e)
		5753	{
		5754	_bAutoWPEdit = (bool)checkBoxAutoShowWPEdit.IsChecked;
		5755	}
		5756
		5757	#endregion WP
		5758	#region GPX
		5759	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		5760	{
		5761	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		5762	}
		5763	void _gpxAdd(double lat,double lon, int elevation)
		5764	{
		5765	DataRow dr = dtGPX.NewRow();
		5766	dr[0] = dtGPX.Rows.Count - 1;
		5767	dr[1] = lat;
		5768	dr[2] = lon;
		5769	dr[3] = elevation;
		5770	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		5771	dtGPX.Rows.Add(dr);
		5772	}
		5773
		5774	void _saveGPXLog()
		5775	{
		5776	if (!Directory.Exists("GPXLog"))
		5777	Directory.CreateDirectory("GPXLog");
		5778	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		5779	XmlTextWriter myXmlTextWriter = null;
		5780	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		5781	NumberFormatInfo nfi = new NumberFormatInfo();
		5782	nfi.NumberDecimalSeparator = ".";
		5783
		5784	try
		5785	{
		5786	myXmlTextWriter.Formatting = Formatting.Indented;
		5787
		5788	myXmlTextWriter.WriteStartDocument();
		5789
		5790	myXmlTextWriter.WriteStartElement("gpx");
		5791
		5792	myXmlTextWriter.WriteAttributeString("version", "1.0");
		5793	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		5794	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		5795	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		5796	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		5797
		5798	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		5799
		5800	myXmlTextWriter.WriteStartElement("trk");
		5801	myXmlTextWriter.WriteStartElement("trkseg");
		5802	for(int i = 0; i< dtGPX.Rows.Count;i++)
		5803	{
		5804	myXmlTextWriter.WriteStartElement("trkpt");
		5805	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		5806	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		5807	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		5808	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		5809	myXmlTextWriter.WriteEndElement();
		5810	}
		5811	myXmlTextWriter.WriteEndElement();
		5812	myXmlTextWriter.WriteEndElement();
		5813	myXmlTextWriter.WriteEndElement();
		5814	}
		5815	catch (Exception e)
		5816	{
		5817	Console.WriteLine("Exception: {0}", e.ToString());
		5818	}
		5819	finally
		5820	{
		5821	if (myXmlTextWriter != null)
		5822	{
		5823	myXmlTextWriter.Close();
		5824	}
		5825	}
		5826	}
		5827
		5828	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		5829	{
		5830	_loadGPXLog();
		5831	}
		5832	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		5833	{
		5834	_clearMapMarkers(typeof(GMapRoute));
		5835	}
		5836	void _loadGPXLog()
		5837	{
		5838
		5839	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		5840	fd.Filter = "GPX-Logfile \| *.gpx";
		5841	fd.Multiselect = false;
		5842	if (fd.ShowDialog().Value)
		5843	{
		5844	string file = fd.FileName;
		5845	try
		5846	{
		5847	XDocument gpxDoc = XDocument.Load(file);
		5848	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		5849
		5850	NumberFormatInfo nfi = new NumberFormatInfo();
		5851	nfi.NumberDecimalSeparator = ".";
		5852
		5853	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		5854	select new
		5855	{
		5856	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		5857	Segs = (
		5858	from trackpoint in track.Descendants(gpx + "trkpt")
		5859	select new
		5860	{
		5861	Latitude = trackpoint.Attribute("lat").Value,
		5862	Longitude = trackpoint.Attribute("lon").Value,
		5863	Elevation = trackpoint.Element(gpx + "ele") != null ?
		5864	trackpoint.Element(gpx + "ele").Value : null,
		5865	Time = trackpoint.Element(gpx + "time") != null ?
		5866	trackpoint.Element(gpx + "time").Value : null
		5867	}
		5868	)
		5869	};
		5870
		5871	List<PointLatLng> wpl = new List<PointLatLng>();
		5872	foreach(var trk in tracks)
		5873	{
		5874	foreach(var trkseg in trk.Segs)
		5875	{
		5876	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		5877	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		5878	}
		5879
		5880	}
		5881	if(wpl.Count() > 0)
		5882	{
		5883	_clearMapMarkers(typeof(GMapRoute));
		5884	MapRoute mr = new MapRoute(wpl, "flying");
		5885	Dispatcher.Invoke(() =>
		5886	{
		5887	GMapRoute mRoute;
		5888	if (comboBoxRouteColor.SelectionBoxItem != null)
		5889	{
		5890	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		5891	mRoute = new GMapRoute(wpl, _getBrush(s));
		5892	}
		5893	else
		5894	mRoute = new GMapRoute(wpl, null);
		5895
		5896	MainMap.Markers.Add(mRoute);
		5897	});
		5898	}
		5899
		5900	}
		5901	catch (Exception e)
		5902	{
		5903	Console.WriteLine("Exception: {0}", e.ToString());
		5904	}
		5905	}
		5906	}
		5907	#endregion GPX
		5908	#endregion functions
		5909	}
		5910
		5911	/// <summary>
		5912	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		5913	/// </summary>
		5914	public class waypointsConverter : IValueConverter
		5915	{
		5916	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		5917	{
		5918	if (value != null)
		5919	{
		5920	switch ((string)parameter)
		5921	{
		5922	case "Latitude":
		5923	return value.ToString() + " °";
		5924	case "Longitude":
		5925	return value.ToString() + " °";
		5926	case "Radius":
		5927	return value.ToString() + " m";
		5928	case "Altitude":
		5929	return value.ToString() + " m";
		5930	case "ClimbRate":
		5931	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		5932	case "DelayTime":
		5933	return value.ToString() + " s";
		5934	case "Heading":
		5935	return Waypoints.Heading(System.Convert.ToInt32(value));
		5936	case "Speed":
		5937	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		5938	case "CamAngle":
		5939	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		5940	case "Type":
		5941	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		5942	case "AutoTrigger":
		5943	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		5944	case "Status":
		5945	return (Waypoints.status)(System.Convert.ToInt16(value));
		5946	}
		5947
		5948	return value.ToString();
		5949	}
		5950	else return value;
		5951	}
		5952
		5953	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		5954	{
		5955	throw new NotImplementedException();
		5956	}
		5957	}
		5958	public class IniFile
		5959	{
		5960	public string path;
		5961
		5962	[DllImport("kernel32")]
		5963	private static extern long WritePrivateProfileString(string section,
		5964	string key, string val, string filePath);
		5965
		5966	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		5967	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		5968	uint nSize, string lpFileName);
		5969
		5970	[DllImport("kernel32")]
		5971	private static extern int GetPrivateProfileString(string section,
		5972	string key, string def, StringBuilder retVal,
		5973	int size, string filePath);
		5974
		5975	public IniFile(string INIPath)
		5976	{
		5977	path = INIPath;
		5978	}
		5979
		5980	public void IniWriteValue(string Section, string Key, string Value)
		5981	{
		5982	WritePrivateProfileString(Section, Key, Value, this.path);
		5983	}
		5984
		5985	public string IniReadValue(string Section, string Key)
		5986	{
		5987	StringBuilder temp = new StringBuilder(255);
		5988	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		5989	return temp.ToString();
		5990	}
		5991	//Ini_sections auslesen in String-Array
		5992	public string[] IniSectionNames()
		5993	{
		5994
		5995	// uint MAX_BUFFER = 32767;
		5996	uint MAX_BUFFER = 8388608;
		5997	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		5998	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		5999	if (bytesReturned == 0)
		6000	{
		6001	Marshal.FreeCoTaskMem(pReturnedString);
		6002	return null;
		6003	}
		6004	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		6005	Marshal.FreeCoTaskMem(pReturnedString);
		6006	//use of Substring below removes terminating null for split
		6007	return local.Substring(0, local.Length - 1).Split('\0');
		6008
		6009
		6010	}
		6011	}
		6012	/// <summary>
		6013	/// Selected Win AI Function Calls
		6014	/// </summary>
		6015	public class WinApi
		6016	{
		6017	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		6018	public static extern int GetSystemMetrics(int which);
		6019	[DllImport("user32.dll")]
		6020	public static extern void
		6021	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		6022	int X, int Y, int width, int height, uint flags);
		6023
		6024	private const int SM_CXSCREEN = 0;
		6025	private const int SM_CYSCREEN = 1;
		6026	private static IntPtr HWND_TOP = IntPtr.Zero;
		6027	private const int SWP_SHOWWINDOW = 64; // 0x0040
		6028
		6029	public static int ScreenX
		6030	{
		6031	get { return GetSystemMetrics(SM_CXSCREEN); }
		6032	}
		6033
		6034	public static int ScreenY
		6035	{
		6036	get { return GetSystemMetrics(SM_CYSCREEN); }
		6037	}
		6038
		6039	public static void SetWinFullScreen(IntPtr hwnd)
		6040	{
		6041	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		6042	}
		6043	}
		6044	/// <summary>
		6045	/// Class used to preserve / restore state of the window
		6046	/// </summary>
		6047	public class WinState
		6048	{
		6049	private WindowState winState;
		6050	private WindowStyle brdStyle;
		6051	private bool topMost;
		6052	private Rect restore;
		6053	private bool IsMaximized = false;
		6054
		6055	public bool isMaximized
		6056	{
		6057	get { return IsMaximized; }
		6058	}
		6059	public void Maximize(Window targetForm)
		6060	{
		6061	if (!IsMaximized)
		6062	{
		6063	IsMaximized = true;
		6064	Save(targetForm);
		6065	targetForm.WindowState = WindowState.Maximized;
		6066	targetForm.WindowStyle = WindowStyle.None;
		6067	targetForm.Topmost = true;
		6068	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		6069	}
		6070	}
		6071
		6072	public void Save(Window targetForm)
		6073	{
		6074	winState = targetForm.WindowState;
		6075	brdStyle = targetForm.WindowStyle;
		6076	topMost = targetForm.Topmost;
		6077	restore = targetForm.RestoreBounds;
		6078	}
		6079	public void Restore(Window targetForm)
		6080	{
		6081	targetForm.WindowState = winState;
		6082	targetForm.WindowStyle = brdStyle;
		6083	targetForm.Topmost = topMost;
		6084
		6085	targetForm.Left = restore.Left;
		6086	targetForm.Top = restore.Top;
		6087	targetForm.Height = restore.Height;
		6088	targetForm.Width = restore.Width;
		6089	IsMaximized = false;
		6090	}
		6091	}
		6092
		6093	public static class BitmapConversion
		6094	{
		6095	public static System.Drawing.Bitmap ToWinFormsBitmap(this BitmapSource bitmapsource)
		6096	{
		6097	using (MemoryStream stream = new MemoryStream())
		6098	{
		6099	BitmapEncoder enc = new BmpBitmapEncoder();
		6100	enc.Frames.Add(BitmapFrame.Create(bitmapsource));
		6101	enc.Save(stream);
		6102	using (var tempBitmap = new System.Drawing.Bitmap(stream))
		6103	{
		6104	// According to MSDN, one "must keep the stream open for the lifetime of the Bitmap."
		6105	// So we return a copy of the new bitmap, allowing us to dispose both the bitmap and the stream.
		6106	return new System.Drawing.Bitmap(tempBitmap);
		6107	}
		6108	}
		6109	}
		6110	public static BitmapSource ToWpfBitmap(this System.Drawing.Bitmap bitmap)
		6111	{
		6112	using (MemoryStream stream = new MemoryStream())
		6113	{
		6114	bitmap.Save(stream, System.Drawing.Imaging.ImageFormat.Bmp); stream.Position = 0;
		6115	BitmapImage result = new BitmapImage();
		6116	result.BeginInit();
		6117	// According to MSDN, "The default OnDemand cache option retains access to the stream until the image is needed."
		6118	// Force the bitmap to load right now so we can dispose the stream.
		6119	result.CacheOption = BitmapCacheOption.OnLoad;
		6120	result.StreamSource = stream;
		6121	result.EndInit();
		6122	result.Freeze();
		6123	return result;
		6124	}
		6125	}
		6126	}
		6127
		6128	}

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(root)/MKLiveView/v1.0/Source/MKLiveView/MainWindow.xaml.cs @ 2522 - Rev