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

Rev	Author	Line No.	Line
2536	-	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 = true;
		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	string[] _voiceLanguage = new string[] { "EN","DE"};
		284	int _iVoiceIndex = 0;
		285
		286	bool _bSatFix = false;
		287	Storyboard stbSatFixLostAnim;
		288	bool _bAnimSatFixActive = false;
		289	bool _bVoiceSatFixActive = false;
		290	bool _bVoiceSatFixPlay = true;
		291	int _iSatsLast = 0;
		292	int _iSatsJitter = 0;
		293
		294	bool _bMagneticFieldOK = false;
		295	Storyboard stbMagneticFieldAnim;
		296	bool _bAnimMagneticFieldActive = false;
		297	bool _bVoiceMagneticFieldActive = false;
		298	bool _bVoiceMagneticFieldPlay = true;
		299	int _iMagneticFieldLast = 0;
		300	int _iMagneticFieldJitter = 0;
		301
		302	int _iThresholdBLCTRLTempWarn = 80;
		303	Storyboard stbBLCTRLTempAnim;
		304	bool _bAnimBLCTRLTempActive = false;
		305	bool _bVoiceBLCTRLTempActive = false;
		306	bool _bVoiceBLCTRLTempPlay = true;
		307	int[] _iBLCTRLTempLast = new int[12];
		308	int[] _iBLCTRLTempJitter = new int[12];
		309
		310	bool _bRCLevelOK = false;
		311	Storyboard stbRCLevelAnim;
		312	bool _bAnimRCLevelActive = false;
		313	bool _bVoiceRCLevelActive = false;
		314	bool _bVoiceRCLevelPlay = true;
		315	int _iRCLevelLast = 0;
		316	int _iRCLevelJitter = 0;
		317
		318	int _iMotors = 4;
		319	int _LipoCells = 3;
		320	bool _bLiPoAutoDetect = true;
		321
		322	double _dLipoVMax = 16.88;
		323	double _dLipoVMin = 12;
		324	double _dThresholdVoltageWarn = 0;
		325	double _dThresholdVoltageCrit = 0;
		326	Storyboard stbVoltageCritAnim;
		327	bool _bCritAnimVoltActive = false;
		328	bool _bCritVoiceVoltActive = false;
		329	bool _bWarnVoiceVoltActive = false;
		330	bool _bVoiceVoltPlay = true;
		331	double _dVoltLast = 0;
		332	int _iVoltJitter = 0;
		333
		334	double _dThresholdDistanceWarn = 100;
		335	Storyboard stbDistanceWarnAnim;
		336	bool _bAnimDistanceActive = false;
		337	bool _bVoiceDistanceActive = false;
		338	bool _bVoiceDistancePlay = true;
		339	double _dDistanceLast = 0;
		340	int _iDistanceJitter = 0;
		341
		342	double _dThresholdDistanceMax = 1000;
		343	int _iThresholdRC = 160;
		344	int _iThresholdMagField = 15;
		345
		346	bool _bAutoHome = true;
		347	bool _bFirstSatFix = false;
		348	int _iFirstSatFix = 0;
		349
		350	double _dTopHeight = 36;
		351
		352	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		353	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		354	string[] serChanTitle = new string[12];
		355
		356	string[] sAnalogLabel = new string[32];
		357	string[] sAnalogData = new string[32];
		358	int[] iAnalogData = new int[32];
		359
		360	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 };
		361	int[] iMotors = new int[] { 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 };
		362	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		363	/// <summary>
		364	/// interval for sending debugdata (multiplied by 10ms)
		365	/// </summary>
		366	byte debugInterval = 10; //(=> 100ms)
		367	/// <summary>
		368	/// interval for sending BL-CTRL status (multiplied by 10ms)
		369	/// </summary>
		370	byte blctrlInterval = 75;
		371	/// <summary>
		372	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		373	/// </summary>
		374	byte navctrlInterval = 20;
		375	/// <summary>
		376	/// interval for sending OSD page update (multiplied by 10ms)
		377	/// </summary>
		378	byte OSDInterval = 85;
		379	/// <summary>
		380	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		381	/// </summary>
		382	DataTable dtAnalog = new DataTable();
		383	/// <summary>
		384	/// datatable for motordata (current,temp)
		385	/// </summary>
		386	DataTable dtMotors = new DataTable();
		387
		388	DataTable dtWaypoints = new DataTable();
		389	static volatile int _iWPCount = -1;
		390	static volatile int _iWPIndex = -1;
		391	int _iWPTimeout = 1000;
		392	bool _bGetWP = false;
		393	bool _bShowWPRoute = true;
		394	bool _bAutoWPEdit = true;
		395	static volatile bool _bGetWPCount = false;
		396	DataTable dtGPX = new DataTable();
		397	DataRow drGPX;
		398	bool _bAirborne = false;
		399	int _wpIndex = -1, _wpCount = 0, _wpEdit = -1;
		400
		401	string _wpDefPrefix = "P";
		402	int _wpDefAltitude = 20;
		403	int _wpDefHeading = 0;
		404	int _wpDefCBoxHeading = 0;
		405	int _wpDefSpeed = 10;
		406	int _wpDefCBoxSpeed = 0;
		407	int _wpDefClimb = 10;
		408	int _wpDefCBoxClimb = 0;
		409	int _wpDefRadius = 5;
		410	int _wpDefHoldtime = 5;
		411	int _wpDefAutotrig = 0;
		412	int _wpDefCamangle = 0;
		413	int _wpDefCBoxCamangle = 0;
		414	int _wpDefOut1 = 0;
		415
		416	bool _wpAddCopterHeight = true;
		417	bool _wpAddCopterHeading = true;
		418
		419	DispatcherTimer timer = new DispatcherTimer();
		420	DispatcherTimer camTimer = new DispatcherTimer();
		421	BitmapSource _camImageSource;
		422	Storyboard stbCamActiveAnim;
		423	bool _bCamAnim;
		424	/// <summary>
		425	/// stuff for enabeling touch zoom for the map
		426	/// </summary>
		427	Point pTouch1 = new Point(0, 0), pTouch2 = new Point(0, 0);
		428	int iFirstStylusID = -1;
		429
		430	public string connectButtonText
		431	{
		432	get
		433	{
		434	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		435	}
		436	}
		437
		438	WinState winState = new WinState();
		439
		440	#endregion declarations
		441	public MainWindow()
		442	{
		443	String path = Environment.ExpandEnvironmentVariables("%SystemRoot%") + "\\System32\\VCRUNTIME140.DLL";
		444	if (!File.Exists(path))
		445	{
		446	MessageBoxResult dr = MessageBox.Show("Visual C++ Redistributable for Visual Studio 2015 seems not to be installed..." +
		447	Environment.NewLine + "Please download the file for x86 (32bit) @ https://www.microsoft.com/de-de/download/details.aspx?id=48145" +
		448	Environment.NewLine + Environment.NewLine + "Do You want me to take You there, now?", "Visual C++ Redistributable for Visual Studio 2015 missing ...",
		449	MessageBoxButton.YesNo,
		450	MessageBoxImage.Stop,MessageBoxResult.No, MessageBoxOptions.DefaultDesktopOnly);
		451
		452	if (dr == MessageBoxResult.Yes)
		453	System.Diagnostics.Process.Start("https://www.microsoft.com/de-de/download/details.aspx?id=48145");
		454
		455	Application.Current.Shutdown();
		456	}
		457	InitializeComponent();
		458	_initForm();
		459	_dataTablesInit();
		460	_setupMap();
		461	_init = false;
		462	timer.Tick += new EventHandler(timerEvent);
		463	timer.Interval = new TimeSpan(0, 0, 1);
		464	timer.Start();
		465	camTimer.Tick += new EventHandler(camTimer_Tick);
		466	camTimer.Interval = new TimeSpan(0, 0, 0, 0, 5);
		467	// camTimer.Start();
		468	}
		469
		470	#region init
		471	void _initForm()
		472	{
		473	_readIni();
		474	if (_bSaveWinStateNormal)
		475	_setScaleSliders(false);
		476	cBoxTimingsDebug.ItemsSource =
		477	cBoxTimingsNav.ItemsSource =
		478	cBoxTimingsBl.ItemsSource =
		479	cBoxTimingsOSD.ItemsSource =
		480	iTimings;
		481	cBoxLiPoCells.ItemsSource = sLiPoCells;
		482	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		483	_LipoMinMax();
		484	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		485	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		486	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
		487	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		488	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		489	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		490	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		491	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
		492	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		493	sliderThresholdBLCtrlTempWarn.Value = _iThresholdBLCTRLTempWarn;
		494	checkBoxBLCtrlTempVoice.IsChecked = _bVoiceBLCTRLTempPlay;
		495	comboBoxVoiceLanguage.SelectedIndex = _iVoiceIndex;
		496
		497	cBoxMotors.ItemsSource = iMotors;
		498	cBoxMotors.SelectedItem = _iMotors;
		499
		500	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		501	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		502	serialPortCtrl.DataReceived += processMessage;
		503
		504	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		505	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		506	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		507	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		508	chkbAutoLiPoDetect.IsChecked = _bLiPoAutoDetect;
		509
		510	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		511	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		512	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		513	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
		514	checkBoxAutoSetHP.IsChecked = _bAutoHome;
		515	checkBoxFollowCopter.IsChecked = _bFollowCopter;
		516	checkBoxGPXLog.IsChecked = _bGPXLog;
		517	checkBoxShowWPRoute.IsChecked = _bShowWPRoute;
		518	checkBoxAutoShowWPEdit.IsChecked = _bAutoWPEdit;
		519	checkBoxWPAddUseCopterHeight.IsChecked = _wpAddCopterHeight;
		520	checkBoxWPAddUseCopterHeading.IsChecked = _wpAddCopterHeading;
		521	GridSettings.Visibility = Visibility.Visible;
		522	GridCam.Visibility = GridData.Visibility = GridWP.Visibility = GridWPEdit.Visibility = Visibility.Collapsed;
		523	_initSerialCtrl();
		524	}
		525	/// <summary>
		526	/// initialize the datatables
		527	/// with columnnames etc
		528	/// </summary>
		529	void _dataTablesInit()
		530	{
		531	dtMotors.Columns.Add("#");
		532	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
		533	dtMotors.Columns.Add("Strom");
		534	else
		535	dtMotors.Columns.Add("Current");
		536	dtMotors.Columns.Add("Temp");
		537	dgvMotors1.DataContext = dtMotors.DefaultView;
		538	_initDTMotors();
		539
		540	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5, 0, 5, 0));
		541	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		542	style.Setters.Add(setter);
		543	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		544	style.Setters.Add(setter);
		545	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		546	style.Setters.Add(setter);
		547
		548	dtWaypoints.Columns.Add("Index", typeof(int));
		549	dtWaypoints.Columns.Add("Type", typeof(int));
		550	dtWaypoints.Columns.Add("Name", typeof(string));
		551	dtWaypoints.Columns.Add("Latitude", typeof(double));
		552	dtWaypoints.Columns.Add("Longitude", typeof(double));
		553	dtWaypoints.Columns.Add("Altitude", typeof(string));
		554	dtWaypoints.Columns.Add("Heading", typeof(string));
		555	dtWaypoints.Columns.Add("Speed", typeof(string));
		556	dtWaypoints.Columns.Add("ClimbRate", typeof(string));
		557	dtWaypoints.Columns.Add("Radius", typeof(string));
		558	dtWaypoints.Columns.Add("HoldTime", typeof(string));
		559	dtWaypoints.Columns.Add("AutoTrigger", typeof(string));
		560	dtWaypoints.Columns.Add("CamAngle", typeof(string));
		561	dtWaypoints.Columns.Add("Event", typeof(string));
		562	dtWaypoints.Columns.Add("Out1Timer", typeof(string));
		563	dtWaypoints.Columns.Add("Status", typeof(string));
		564	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		565	dgvWP.ItemsSource = dtWaypoints.DefaultView;
		566	dgvWP.ColumnHeaderStyle = new Style();
		567	dgvWP.ColumnHeaderStyle = style;
		568
		569	dtGPX.Columns.Add("Index", typeof(int));
		570	dtGPX.Columns.Add("Latitude", typeof(double));
		571	dtGPX.Columns.Add("Longitude", typeof(double));
		572	dtGPX.Columns.Add("Elevation", typeof(int));
		573	dtGPX.Columns.Add("Time", typeof(string));
		574	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		575	drGPX = dtGPX.NewRow();
		576
		577	}
		578	/// <summary>
		579	/// initialize the datatable dtMotors for motor values
		580	/// DataGridView dgvMotors1 is bound to dtMotors1
		581	/// </summary>
		582	void _initDTMotors()
		583	{
		584	for (int i = 0; i < 12; i++)
		585	{
		586	if (dtMotors.Rows.Count < 12)
		587	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
		588	else
		589	{
		590	dtMotors.Rows[i].SetField(1, "NA");
		591	dtMotors.Rows[i].SetField(2, "NA");
		592	}
		593	}
		594	}
		595
		596	#endregion init
		597
		598	#region events
		599	private void serialPortCtrl_PortOpened()
		600	{
		601	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		602	_getVersion();
		603	Thread.Sleep(100);
		604	_getLic();
		605	//_OSDMenue(0);
		606	//Thread.Sleep(200);
		607	//_sendSerialData();
		608	_readCont(true);
		609	}
		610	private void serialPortCtrl_PortClosed()
		611	{
		612	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		613	_readCont(false);
		614	}
		615	bool _bToggle = false;
		616	void timerEvent(object sender, EventArgs e)
		617	{
		618	if (bReadContinously)
		619	{
		620	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		621
		622	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		623
		624	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		625	check_HWError = true;
		626	_getVersion();
		627	Thread.Sleep(10);
		628	if (_OSDAutorefresh)
		629	{
		630	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		631	_initOSDCB();
		632	_OSDMenueAutoRefresh();
		633	}
		634	if (_iLifeCounter > 0)
		635	{
		636	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		637	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		638	_iLifeCounter = 0;
		639	_bConnErr = false;
		640	if (_bAirborne && _bGPXLog)
		641	{
		642	drGPX[0] = dtGPX.Rows.Count;
		643	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		644	}
		645	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		646	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		647	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		648	_bToggle = !_bToggle;
		649	}
		650	else
		651	{
		652	if (!_bConnErr)
		653	{
		654	Log(LogMsgType.Error, "No communication to NC/FC!");
		655	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		656	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		657	_bConnErr = true;
		658	}
		659	}
		660	}
		661	}
		662	private void camTimer_Tick(object sender, EventArgs e)
		663	{
		664	if (_camImageSource != null && _frameSource != null && _camImage.Visibility == Visibility.Visible)
		665	_camImage.Source = _camImageSource;
		666	camTimer.IsEnabled = false;
		667	}
		668
		669	#region menues
		670	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		671	{
		672	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		673	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		674	}
		675	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		676	{
		677	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		678	if (GridMotors.IsVisible)
		679	_setMotorGridSize();
		680	}
		681	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		682	{
		683	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		684	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		685	}
		686	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		687	{
		688	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		689	}
		690	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		691	{
		692	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		693	}
		694	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		695	{
		696	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		697	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		698	}
		699	private void labelWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		700	{
		701	GridWPEdit.Visibility = GridWPEdit.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		702	}
		703	private void labelCamera_MouseDown(object sender, MouseButtonEventArgs e)
		704	{
		705	GridCam.Visibility = GridCam.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		706	}
		707	#endregion menues
		708
		709	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		710	{
		711	Thread t = new Thread(new ThreadStart(_getWP));
		712	t.Start();
		713	}
		714	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		715	{
		716	Thread t = new Thread(new ThreadStart(_sendWPList));
		717	t.Start();
		718	}
		719	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		720	{
		721	if (!serialPortCtrl.Port.IsOpen)
		722	serialPortCtrl.Connect(true);
		723	else
		724	_readCont(!bReadContinously);
		725	}
		726	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		727	{
		728	_setHomePos();
		729	}
		730	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		731	{
		732	_clearHomePos();
		733	}
		734	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		735	{
		736	if (home != null && MainMap.Markers.Contains(home))
		737	MainMap.Position = home.Position;
		738	}
		739	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		740	{
		741	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		742	}
		743	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		744	{
		745	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		746	}
		747	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		748	{
		749	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		750	}
		751
		752	#region thresholds
		753	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		754	{
		755	if (!_init)
		756	{
		757	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		758	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		759	}
		760	}
		761	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		762	{
		763	if (!_init)
		764	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		765	}
		766	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		767	{
		768	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		769	}
		770
		771	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		772	{
		773	if (!_init)
		774	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		775	}
		776	private void sliderThresholdBLCtrlTempWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		777	{
		778	if (!_init)
		779	_iThresholdBLCTRLTempWarn = (int)sliderThresholdBLCtrlTempWarn.Value;
		780	}
		781	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		782	{
		783	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		784	}
		785
		786	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		787	{
		788	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		789	}
		790	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		791	{
		792	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		793	}
		794	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		795	{
		796	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		797	}
		798	private void checkBoxBLCtrlTempVoice_Click(object sender, RoutedEventArgs e)
		799	{
		800	_bVoiceBLCTRLTempPlay = (bool)checkBoxBLCtrlTempVoice.IsChecked;
		801	}
		802	private void comboBoxVoiceLanguage_DropDownClosed(object sender, EventArgs e)
		803	{
		804	if (comboBoxVoiceLanguage.SelectedIndex > -1)
		805	{
		806	_iVoiceIndex = comboBoxVoiceLanguage.SelectedIndex;
		807	}
		808	}
		809	#endregion thresholds
		810
		811	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		812	{
		813	_switchToNC();
		814	}
		815
		816	private void Window_Loaded(object sender, RoutedEventArgs e)
		817	{
		818	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
		819	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		820	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		821	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		822	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
		823	stbCamActiveAnim = TryFindResource("CamActiveAnim") as Storyboard;
		824	stbBLCTRLTempAnim = TryFindResource("BLCtrlCritAnim") as Storyboard;
		825	_setMotorGridSize();
		826	// Refresh the list of available cameras
		827	comboBoxCameras.Items.Clear();
		828
		829	foreach (Camera cam in CameraService.AvailableCameras)
		830	comboBoxCameras.Items.Add(cam);
		831
		832	if (comboBoxCameras.Items.Count > 0)
		833	comboBoxCameras.SelectedIndex = 0;
		834	}
		835	private void Window_Closing(object sender, CancelEventArgs e)
		836	{
		837	_writeIni();
		838	if (_bGPXLog && dtGPX.Rows.Count > 0)
		839	_saveGPXLog();
		840	thrashOldCamera();
		841	}
		842	private void Window_Closed(object sender, EventArgs e)
		843	{
		844	Application.Current.Shutdown();
		845	}
		846
		847	#region contextmenue add point
		848	Point pWPAdd;
		849	private void GridGMapControl_PreviewMouseLeftButtonDown(object sender, MouseButtonEventArgs e)
		850	{
		851	if(e.ClickCount == 2)
		852	{
		853	double x = 0, y = 0;
		854	var titleHeight = SystemParameters.WindowCaptionHeight + SystemParameters.ResizeFrameHorizontalBorderHeight;
		855
		856	pWPAdd = new Point(e.GetPosition(this).X, e.GetPosition(this).Y);
		857	if (pWPAdd.X + canvasAddPoint.Width > Width)
		858	x = pWPAdd.X - canvasAddPoint.Width;
		859	else
		860	x = pWPAdd.X;
		861	if (pWPAdd.Y + canvasAddPoint.Height > Height - titleHeight)
		862	y = pWPAdd.Y - canvasAddPoint.Height;
		863	else
		864	y = pWPAdd.Y;
		865
		866	canvasAddPoint.Margin = new Thickness(x, y, canvasAddPoint.Margin.Left, canvasAddPoint.Margin.Bottom);
		867	canvasAddPoint.Visibility = Visibility.Visible;
		868	}
		869
		870	}
		871	private void canvasAddPoint_LostFocus(object sender, RoutedEventArgs e)
		872	{
		873	canvasAddPoint.Visibility = Visibility.Collapsed;
		874	}
		875	private void canvasAddPoint_MouseLeave(object sender, MouseEventArgs e)
		876	{
		877	canvasAddPoint.Visibility = Visibility.Collapsed;
		878	}
		879	private void btnCmAddWP_Click(object sender, RoutedEventArgs e)
		880	{
		881	if (pWPAdd != null)
		882	{
		883	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		884	_addWP(p,0);
		885	canvasAddPoint.Visibility = Visibility.Collapsed;
		886	}
		887	}
		888	private void btnCmAddPOI_Click(object sender, RoutedEventArgs e)
		889	{
		890	if (pWPAdd != null)
		891	{
		892	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		893	_addWP(p,1);
		894	canvasAddPoint.Visibility = Visibility.Collapsed;
		895	}
		896	}
		897	private void btnCmAddFailsave_Click(object sender, RoutedEventArgs e)
		898	{
		899	if (pWPAdd != null)
		900	{
		901	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		902	_addWP(p,2);
		903	canvasAddPoint.Visibility = Visibility.Collapsed;
		904	}
		905	}
		906	private void btnCmAddLanding_Click(object sender, RoutedEventArgs e)
		907	{
		908	if (pWPAdd != null)
		909	{
		910	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		911	_addWP(p,3);
		912	canvasAddPoint.Visibility = Visibility.Collapsed;
		913	}
		914	}
		915	#endregion contextmenue add point
		916
		917	#endregion events
		918
		919	#region cam
		920	private CameraFrameSource _frameSource;
		921
		922	private void btnCamStart_Click(object sender, RoutedEventArgs e)
		923	{
		924	if (_frameSource != null && _frameSource.Camera == comboBoxCameras.SelectedItem)
		925	return;
		926
		927	thrashOldCamera();
		928	startCapturing();
		929	}
		930	private void btnCamStop_Click(object sender, RoutedEventArgs e)
		931	{
		932	thrashOldCamera();
		933	_camImage.Visibility = Visibility.Collapsed;
		934	if (stbCamActiveAnim != null && _bCamAnim)
		935	{
		936	Dispatcher.Invoke(() => stbCamActiveAnim.Stop());
		937	_bCamAnim = false;
		938	rectCamStart.Visibility = Visibility.Collapsed;
		939	}
		940	}
		941	private void btnCamSettings_Click(object sender, RoutedEventArgs e)
		942	{
		943	if (_frameSource != null && _frameSource.Camera != null)
		944	{
		945	_frameSource.Camera.ShowPropertiesDialog();
		946	}
		947	}
		948	private void btnCamListRefresh_Click(object sender, RoutedEventArgs e)
		949	{
		950	comboBoxCameras.Items.Clear();
		951	CameraService.ClearCameraList();
		952	foreach (Camera cam in CameraService.AvailableCameras)
		953	comboBoxCameras.Items.Add(cam);
		954
		955	if (comboBoxCameras.Items.Count > 0)
		956	comboBoxCameras.SelectedIndex = 0;
		957	//if (_frameSource != null && comboBoxCameras.Items.Count > 0 && comboBoxCameras.Items.Contains(_frameSource.Camera.ToString()))
		958	// comboBoxCameras.SelectedItem = (Camera)_frameSource.Camera;
		959
		960	}
		961
		962	private void lblCam_Click(object sender, RoutedEventArgs e)
		963	{
		964	if (_frameSource != null && _frameSource.Camera != null)
		965	{
		966	_camImage.Visibility = _camImage.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		967	}
		968	}
		969
		970	void _setCamPicStretch(Stretch type)
		971	{
		972	if(_camImage.Stretch == Stretch.None)
		973	_camImageMargin = _camImage.Margin;
		974	if(type != Stretch.None)
		975	_camImage.Margin = new Thickness(0);
		976	_camImage.Stretch = type;
		977	}
		978	private void btnCamPicStretchNone_Click(object sender, RoutedEventArgs e)
		979	{
		980	_setCamPicStretch(Stretch.None);
		981	_camImage.Margin = _camImageMargin;
		982	}
		983	private void btnCamResetZoom_Click(object sender, RoutedEventArgs e)
		984	{
		985	_setCamPicStretch(Stretch.None);
		986	_camImage.Margin = _camImageMargin = new Thickness(0);
		987	SliderCamZoom.Value = 1;
		988	}
		989	private void btnCamPicStretchFill_Click(object sender, RoutedEventArgs e)
		990	{
		991	_setCamPicStretch(Stretch.Fill);
		992	}
		993	private void btnCamPicStretchUniform_Click(object sender, RoutedEventArgs e)
		994	{
		995	_setCamPicStretch(Stretch.Uniform);
		996	}
		997	private void btnCamPicStretchUFill_Click(object sender, RoutedEventArgs e)
		998	{
		999	_setCamPicStretch(Stretch.UniformToFill);
		1000	}
		1001	private Camera CurrentCamera
		1002	{
		1003	get
		1004	{
		1005	return comboBoxCameras.SelectedItem as Camera;
		1006	}
		1007	}
		1008	private void startCapturing()
		1009	{
		1010	try
		1011	{
		1012	Camera c = (Camera)comboBoxCameras.SelectedItem;
		1013	setFrameSource(new CameraFrameSource(c));
		1014	_frameSource.Camera.CaptureWidth = 640;
		1015	_frameSource.Camera.CaptureHeight = 480;
		1016	_frameSource.Camera.Fps = 25;
		1017	_frameSource.NewFrame += OnImageCaptured;
		1018	_frameSource.StartFrameCapture();
		1019	_camImage.Visibility = Visibility.Visible;
		1020	_camImage.Margin = _camImageMargin;
		1021	if (stbCamActiveAnim != null && !_bCamAnim)
		1022	{
		1023	Dispatcher.Invoke(() => stbCamActiveAnim.Begin());
		1024	_bCamAnim = true;
		1025	rectCamStart.Visibility = Visibility.Visible;
		1026	}
		1027	}
		1028	catch (Exception ex)
		1029	{
		1030	comboBoxCameras.Text = "Select A Camera";
		1031	MessageBox.Show(ex.Message);
		1032	}
		1033	}
		1034
		1035	public void OnImageCaptured(Touchless.Vision.Contracts.IFrameSource frameSource, Touchless.Vision.Contracts.Frame frame, double fps)
		1036	{
		1037	_camImageSource = BitmapConversion.ToWpfBitmap(frame.Image);
		1038	camTimer.IsEnabled = true;
		1039	}
		1040	private void setFrameSource(CameraFrameSource cameraFrameSource)
		1041	{
		1042	if (_frameSource == cameraFrameSource)
		1043	return;
		1044
		1045	_frameSource = cameraFrameSource;
		1046	}
		1047	private void thrashOldCamera()
		1048	{
		1049
		1050	// Trash the old camera
		1051	if (_frameSource != null)
		1052	{
		1053	_frameSource.NewFrame -= OnImageCaptured;
		1054	Dispatcher.Invoke(() => {
		1055	_camImage.Source = null;
		1056	_camImage.InvalidateVisual();
		1057	});
		1058	using (Dispatcher.DisableProcessing())
		1059	{
		1060	_frameSource.StopFrameCapture();
		1061	setFrameSource(null);
		1062	Thread.Sleep(10);
		1063	}
		1064	}
		1065	}
		1066
		1067	Point pOffset,mouse_pos;
		1068	Thickness _camImageMargin = new Thickness(0);
		1069	private void _CamImage_MouseMove(object sender, System.Windows.Input.MouseEventArgs e)
		1070	{
		1071	if (e.LeftButton == System.Windows.Input.MouseButtonState.Pressed && _camImage.Stretch == Stretch.None)
		1072	{
		1073	mouse_pos = Mouse.GetPosition(this);
		1074	mouse_pos.Offset(-pOffset.X, -pOffset.Y);
		1075	pOffset = Mouse.GetPosition(this);
		1076	_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);
		1077	}
		1078	}
		1079	private void _CamImage_MouseDown(object sender, MouseButtonEventArgs e)
		1080	{
		1081	if (e.LeftButton == System.Windows.Input.MouseButtonState.Pressed && _camImage.Stretch == Stretch.None)
		1082	pOffset = Mouse.GetPosition(this);
		1083	}
		1084
		1085	#endregion cam
		1086
		1087	#region GMap
		1088	string _mapPosition = "Landshut";
		1089	void _setupMap()
		1090	{
		1091	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		1092	MainMap.MapProvider = GMapProviders.BingHybridMap;
		1093	textBoxGeo.Text = _mapPosition;
		1094	MainMap.SetPositionByKeywords(_mapPosition);
		1095	textBoxLat_currentPos.Text = MainMap.Position.Lat.ToString() + "°";
		1096	textBoxLng_currentPos.Text = MainMap.Position.Lng.ToString() + "°";
		1097	MainMap.MinZoom = 0;
		1098	MainMap.MaxZoom = 24;
		1099	MainMap.Zoom = 16;
		1100	MainMap.ShowCenter = true;
		1101	MainMap.ShowTileGridLines = false;
		1102	sliderMapZoom.Value = 16;
		1103	comboBoxMapType.ItemsSource = providerList;
		1104	comboBoxMapType.DisplayMemberPath = "Name";
		1105	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		1106
		1107	// acccess mode
		1108	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		1109	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		1110
		1111	}
		1112
		1113	/// <summary>
		1114	/// selection of relevant map providers --> if You need more, You can change the line:
		1115	/// comboBoxMapType.ItemsSource = providerList;
		1116	/// to:
		1117	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		1118	/// in _setupMap()
		1119	/// or add items here:
		1120	/// </summary>
		1121	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		1122	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		1123	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		1124	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		1125	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		1126
		1127	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		1128	{
		1129	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		1130	copter = new GMapMarker(MainMap.Position);
		1131
		1132	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"), "red");
		1133	if (comboBoxCopterColor.SelectionBoxItem != null)
		1134	{
		1135	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		1136	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
		1137	}
		1138	Dispatcher.Invoke(() => {
		1139	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		1140	{
		1141	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		1142	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		1143	}
		1144	});
		1145	copter.Offset = new System.Windows.Point(-26, -26);
		1146	copter.ZIndex = int.MaxValue;
		1147	MainMap.Markers.Add(copter);
		1148	copter.Position = MainMap.Position;
		1149	_setMapItemsSize("Copter", SliderCopterZoom.Value);
		1150	}
		1151	void _setHomePos()
		1152	{
		1153	pHome = MainMap.Position;
		1154	if (!MainMap.Markers.Contains(home))
		1155	{
		1156	home = new GMapMarker(MainMap.Position);
		1157	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		1158	home.Offset = new System.Windows.Point(-16.5, -16.5);
		1159	// home.ZIndex = int.MaxValue;
		1160	MainMap.Markers.Add(home);
		1161	}
		1162	home.Position = MainMap.Position;
		1163	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		1164	_setMapItemsSize("Home", SliderHPZoom.Value);
		1165	if (checkBoxShowWPMaxRange.IsChecked == true)
		1166	{
		1167	if (cWPBound != null && cWPBound.Tag != null)
		1168	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		1169
		1170	createCircle(home.Position, dWPMaxRange);
		1171	Dispatcher.Invoke(() =>
		1172	{
		1173	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		1174	{
		1175	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		1176	cWPBound.setColor(s);
		1177	}
		1178	});
		1179	}
		1180
		1181	}
		1182	void _setActiveWP(int iIndex)
		1183	{
		1184	if (iIndex < wpList.Count)
		1185	{
		1186	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
		1187	{
		1188	Dispatcher.Invoke(() =>
		1189	{
		1190	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		1191	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		1192	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		1193	MainMap.Markers.Add(wpActiveMarker);
		1194	});
		1195	}
		1196	else
		1197	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
		1198	}
		1199
		1200	Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m");
		1201	}
		1202	void _clearHomePos()
		1203	{
		1204	MainMap.Markers.Remove(home);
		1205	if (cWPBound != null && cWPBound.Tag != null)
		1206	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		1207	}
		1208	void _clearMapMarkers(Type markerType)
		1209	{
		1210	for (int k = 0; k < MainMap.Markers.Count;)
		1211	{
		1212	GMapMarker p = MainMap.Markers[k];
		1213	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
		1214	MainMap.Markers.Remove(p);
		1215	else
		1216	k++;
		1217	}
		1218	_WPisMouseCaptured = false;
		1219	}
		1220
		1221	GMapMarker _findWPMarker(string name)
		1222	{
		1223	for (int k = 0; k < MainMap.Markers.Count;)
		1224	{
		1225	GMapMarker p = MainMap.Markers[k];
		1226	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
		1227	if (((CustomMarkerWP)p.Shape).WPText == name)
		1228	return p;
		1229	else
		1230	k++;
		1231	else
		1232	k++;
		1233	}
		1234	return null;
		1235	}
		1236	void _clearWPMarker(string name)
		1237	{
		1238	GMapMarker p = _findWPMarker(name);
		1239	if (p != null)
		1240	MainMap.Markers.Remove(p);
		1241	}
		1242	void _renameWPMarker(string s1, string s2)
		1243	{
		1244	GMapMarker p = _findWPMarker(s1);
		1245	if (p != null)
		1246	((CustomMarkerWP)p.Shape).WPText = s2;
		1247	}
		1248	void _WPMarkerSetType(string text, int type)
		1249	{
		1250	GMapMarker p = _findWPMarker(text);
		1251	if (p != null)
		1252	((CustomMarkerWP)p.Shape).WPType = type;
		1253	}
		1254	void _repositionWPMarker(PointLatLng point, string name)
		1255	{
		1256	GMapMarker p = _findWPMarker(name);
		1257	if (p != null)
		1258	p.Position = point;
		1259	}
		1260
		1261	void createCircle(PointLatLng center, double distance)
		1262	{
		1263
		1264	GMapMarker it = new GMapMarker(center);
		1265	it.ZIndex = -1;
		1266
		1267	cWPBound.Center = center;
		1268	cWPBound.Bound = GMap.NET.PureProjection.GetPointFromDistance(center, distance);
		1269	cWPBound.Tag = it;
		1270	cWPBound.IsHitTestVisible = false;
		1271	UpdateCircle(cWPBound);
		1272	it.Shape = cWPBound;
		1273	MainMap.Markers.Add(it);
		1274	}
		1275	// calculates circle radius
		1276	void UpdateCircle(Circle c)
		1277	{
		1278	var pxCenter = MainMap.FromLatLngToLocal(c.Center);
		1279	var pxBounds = MainMap.FromLatLngToLocal(c.Bound);
		1280
		1281	double a = (double)(pxBounds.X - pxCenter.X);
		1282	double b = (double)(pxBounds.Y - pxCenter.Y);
		1283	var pxCircleRadius = Math.Sqrt(a * a + b * b);
		1284
		1285	c.Width = c.Height = pxCircleRadius * 2;
		1286	//c.Width = 55 + pxCircleRadius * 2;
		1287	//c.Height = 55 + pxCircleRadius * 2;
		1288	(c.Tag as GMapMarker).Offset = new System.Windows.Point(-c.Width / 2, -c.Height / 2);
		1289	}
		1290
		1291	// access mode
		1292	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		1293	{
		1294	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		1295	MainMap.ReloadMap();
		1296	}
		1297	// zoom up
		1298	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		1299	{
		1300	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		1301	}
		1302
		1303	// zoom down
		1304	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		1305	{
		1306	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		1307	}
		1308
		1309	// prefetch
		1310	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		1311	{
		1312	RectLatLng area = MainMap.SelectedArea;
		1313	if (!area.IsEmpty)
		1314	{
		1315	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		1316	{
		1317	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		1318
		1319	if (res == MessageBoxResult.Yes)
		1320	{
		1321	TilePrefetcher obj = new TilePrefetcher();
		1322	obj.Owner = this;
		1323	obj.ShowCompleteMessage = true;
		1324	obj.Start(area, i, MainMap.MapProvider, 100);
		1325	}
		1326	else if (res == MessageBoxResult.No)
		1327	{
		1328	continue;
		1329	}
		1330	else if (res == MessageBoxResult.Cancel)
		1331	{
		1332	break;
		1333	}
		1334	}
		1335	}
		1336	else
		1337	{
		1338	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1339	}
		1340	}
		1341
		1342	// goto by geocoder
		1343	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		1344	{
		1345	_goto_byGeoCoder();
		1346	}
		1347	// goto by geocoder
		1348	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		1349	{
		1350	if (e.Key == System.Windows.Input.Key.Enter)
		1351	_goto_byGeoCoder();
		1352	}
		1353	void _goto_byGeoCoder()
		1354	{
		1355	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		1356	_mapPosition = textBoxGeo.Text;
		1357	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		1358	{
		1359	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1360	}
		1361	}
		1362	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		1363	{
		1364	try
		1365	{
		1366	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		1367	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		1368
		1369	MainMap.Position = new PointLatLng(lat, lng);
		1370	}
		1371	catch (Exception ex)
		1372	{
		1373	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		1374	}
		1375
		1376	}
		1377
		1378	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		1379	{
		1380	MainMap.ReloadMap();
		1381	}
		1382
		1383	private void MainMap_OnPositionChanged(PointLatLng point)
		1384	{
		1385	if (_bFollowCopter)
		1386	_setCopterData(MainMap.Position);
		1387	}
		1388
		1389	private void MainMap_OnMapZoomChanged()
		1390	{
		1391	if (_bFollowCopter)
		1392	_setCopterData(MainMap.Position);
		1393	if ((int)sliderMapZoom.Value != MainMap.Zoom)
		1394	sliderMapZoom.Value = MainMap.Zoom;
		1395	if (cWPBound != null && cWPBound.Tag != null)
		1396	UpdateCircle(cWPBound);
		1397	}
		1398
		1399	void _setCopterData(PointLatLng p)
		1400	{
		1401	Dispatcher.Invoke(() =>
		1402	{
		1403	copter.Position = p;
		1404	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		1405	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		1406	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		1407	});
		1408	if (home != null && MainMap.Markers.Contains(home))
		1409	{
		1410	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		1411	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		1412	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
		1413
		1414	if (d * 1000 < _dThresholdDistanceWarn)
		1415	{
		1416	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		1417	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		1418	{
		1419	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		1420	_bAnimDistanceActive = false;
		1421	}
		1422	}
		1423	else
		1424	{
		1425	if (_iDistanceJitter < 20)
		1426	{ _iDistanceJitter++; }
		1427	if (_iDistanceJitter == 20)
		1428	{
		1429	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		1430	{
		1431	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		1432	_bAnimDistanceActive = true;
		1433	}
		1434	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		1435	{
		1436	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\Distance.mp3");
		1437	//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		1438	//t.Start();
		1439	_bVoiceDistanceActive = true;
		1440	}
		1441	_iDistanceJitter++;
		1442	}
		1443	}
		1444	}
		1445	}
		1446
		1447	void _setMapItemsSize(string item, double value)
		1448	{
		1449	ScaleTransform scaleTransform = new ScaleTransform();
		1450	scaleTransform.ScaleY = value;
		1451	scaleTransform.ScaleX = value;
		1452	TransformGroup transformGroup = new TransformGroup();
		1453	transformGroup.Children.Add(scaleTransform);
		1454
		1455	switch (item)
		1456	{
		1457	case "Copter":
		1458	if (copter != null && copter.Shape != null)
		1459	{
		1460	((ScaleTransform)transformGroup.Children[0]).CenterX = 26;
		1461	((ScaleTransform)transformGroup.Children[0]).CenterY = 26;
		1462	copter.Shape.RenderTransform = transformGroup;
		1463	}
		1464	break;
		1465	case "Home":
		1466	if (home != null && MainMap.Markers.Contains(home))
		1467	{
		1468	((ScaleTransform)transformGroup.Children[0]).CenterX = 16.5;
		1469	((ScaleTransform)transformGroup.Children[0]).CenterY = 16.5;
		1470	home.Shape.RenderTransform = transformGroup;
		1471	home.Shape.InvalidateVisual();
		1472	}
		1473	break;
		1474	case "WP":
		1475	Dispatcher.Invoke(() =>
		1476	{
		1477	((ScaleTransform)transformGroup.Children[0]).CenterX = 11.5;
		1478	((ScaleTransform)transformGroup.Children[0]).CenterY = 11.5;
		1479	for (int k = 0; k < MainMap.Markers.Count;)
		1480	{
		1481	GMapMarker p = MainMap.Markers[k];
		1482	if (p.Shape != null && (p.Shape.GetType() == typeof(CustomMarkerWP) \|\| p.Shape.GetType() == typeof(CustomMarkerWPActive)))
		1483	{
		1484	((CustomMarkerWP)(p.Shape)).RenderTransform = transformGroup;
		1485	}
		1486	k++;
		1487	}
		1488	});
		1489	break;
		1490	}
		1491
		1492	}
		1493
		1494	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		1495	{
		1496	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		1497	}
		1498
		1499	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1500	{
		1501	if (MainMap.Zoom != sliderMapZoom.Value)
		1502	MainMap.Zoom = (int)sliderMapZoom.Value;
		1503	}
		1504
		1505	private void SliderCopterZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1506	{
		1507	if (copter != null && copter.Shape != null)
		1508	_setMapItemsSize("Copter",SliderCopterZoom.Value);
		1509	}
		1510	private void SliderWPZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1511	{
		1512	if (MainMap.Markers.Count > 2)
		1513	_setMapItemsSize("WP",SliderWPZoom.Value);
		1514	}
		1515	private void SliderHomeZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1516	{
		1517	if (home != null && MainMap.Markers.Contains(home))
		1518	_setMapItemsSize("Home",SliderHPZoom.Value);
		1519	}
		1520
		1521
		1522
		1523	#region Touch zooming hackattack ;)
		1524	/// <summary>
		1525	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		1526	/// </summary>
		1527	bool bFirstAccess = true;
		1528	double dDistance = 0;
		1529	int iZoom;
		1530	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1531	{
		1532	if (!_WPisMouseCaptured)
		1533	{
		1534	var id = e.StylusDevice.Id;
		1535	e.StylusDevice.Capture(MainMap);
		1536	if (iFirstStylusID == -1)
		1537	{
		1538	iFirstStylusID = id;
		1539	}
		1540	else
		1541	{
		1542
		1543	MainMap.CanDragMap = false;
		1544	}
		1545	}
		1546	}
		1547	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1548	{
		1549	MainMap.ReleaseStylusCapture();
		1550	iFirstStylusID = -1;
		1551	bFirstAccess = true;
		1552	MainMap.CanDragMap = true;
		1553	iZoom = 0;
		1554	}
		1555	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1556	{
		1557	var id = e.StylusDevice.Id;
		1558	var tp = e.GetPosition(MainMap);
		1559
		1560	// This is the first Stylus point; just record its position.
		1561	if (id == iFirstStylusID)
		1562	{
		1563	pTouch1.X = tp.X;
		1564	pTouch1.Y = tp.Y;
		1565	}
		1566	else
		1567	if (iFirstStylusID > -1)
		1568	{
		1569	pTouch2.X = tp.X;
		1570	pTouch2.Y = tp.Y;
		1571	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1572	if (!bFirstAccess)
		1573	{
		1574	if (distance > dDistance)
		1575	iZoom++;
		1576	else
		1577	if (distance < dDistance)
		1578	iZoom--;
		1579	}
		1580	if (iZoom > 30)
		1581	{
		1582	iZoom = 0;
		1583	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1584	}
		1585	if (iZoom < -30)
		1586	{
		1587	iZoom = 0;
		1588	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1589	}
		1590	dDistance = distance;
		1591	bFirstAccess = false;
		1592	}
		1593	}
		1594	#endregion Touch zooming hackattack ;)
		1595
		1596	#endregion GMap
		1597
		1598	#region settings
		1599	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1600	{
		1601	if (!_bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		1602	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1603	}
		1604	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1605	{
		1606	if (!_bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		1607	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1608	}
		1609	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1610	{
		1611	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1612	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1613	}
		1614	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1615	{
		1616	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1617	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1618	}
		1619	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1620	{
		1621	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1622	}
		1623	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1624	{
		1625	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1626	}
		1627	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1628	{
		1629	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1630	}
		1631	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1632	{
		1633	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1634	}
		1635
		1636	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1637	{
		1638	if (cBoxLiPoCells.SelectedIndex > -1)
		1639	{
		1640	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1641	_LipoMinMax();
		1642	}
		1643	}
		1644	private void chkbAutoLiPo_Click(object sender, RoutedEventArgs e)
		1645	{
		1646	_bLiPoAutoDetect = (bool)chkbAutoLiPoDetect.IsChecked;
		1647	}
		1648
		1649	void _LipoMinMax()
		1650	{
		1651	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1652	_dLipoVMin = (double)_LipoCells * 3;
		1653	pbTopVoltage.Maximum = _dLipoVMax;
		1654	pbTopVoltage.Minimum = _dLipoVMin;
		1655	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1656	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1657	}
		1658	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1659	{
		1660	if (cBoxMotors.SelectedIndex > -1)
		1661	{
		1662	_iMotors = cBoxMotors.SelectedIndex + 3;
		1663	Dispatcher.Invoke(() =>
		1664	{
		1665	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1666	GridMotors.Height = dgvMotors1.Height + 10;
		1667	});
		1668	}
		1669	}
		1670	void _setMotorGridSize()
		1671	{
		1672	if (dgvMotors1.Columns.Count > 2)
		1673	{
		1674	dgvMotors1.Columns[0].Width = 24;
		1675	dgvMotors1.Columns[1].Width = 50;
		1676	dgvMotors1.Columns[2].Width = 50;
		1677	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1678	GridMotors.Height = dgvMotors1.Height + 10;
		1679	}
		1680
		1681	}
		1682	#endregion settings
		1683
		1684	#region functions
		1685
		1686	#region logging
		1687	/// <summary> Log data to the terminal window. </summary>
		1688	/// <param name="msgtype"> The type of message to be written. </param>
		1689	/// <param name="msg"> The string containing the message to be shown. </param>
		1690	private void Log(LogMsgType msgtype, string msg)
		1691	{
		1692	Dispatcher.Invoke(() =>
		1693	{
		1694	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1695	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1696	// rtfTerminal.AppendText(msg + "\r");
		1697	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd, rtfTerminal.Document.ContentEnd);
		1698	tr.Text = msg;
		1699	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1700	rtfTerminal.AppendText("\r");
		1701	rtfTerminal.ScrollToEnd();
		1702	});
		1703	}
		1704	private void ErrorLog(LogMsgType msgtype, string msg, string linkURL, string linkName)
		1705	{
		1706
		1707	Dispatcher.Invoke(() =>
		1708	{
		1709	Paragraph para = new Paragraph();
		1710	para.Margin = new Thickness(0); // remove indent between paragraphs
		1711
		1712	Hyperlink link = new Hyperlink();
		1713	if (linkURL != "" && linkName != "")
		1714	{
		1715	link.IsEnabled = true;
		1716	link.Inlines.Add(linkName);
		1717	link.NavigateUri = new Uri(linkURL);
		1718	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1719	}
		1720	//msg = DateTime.Now.ToLongTimeString() + msg;
		1721	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1722	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1723	r.Foreground = new SolidColorBrush(Colors.Black);
		1724	para.Inlines.Add(r);
		1725	para.Inlines.Add(msg);
		1726	para.Inlines.Add(link);
		1727	rtfError.Document.Blocks.Add(para);
		1728	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1729	//tr.Text = msg + link;
		1730	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1731	//rtfError.AppendText("\r");
		1732	rtfError.ScrollToEnd();
		1733
		1734	//_bErrorLog = true;
		1735	});
		1736	}
		1737	/// <summary>
		1738	/// Clear the line in the errorlog window
		1739	/// containing the error string when error has ceased
		1740	/// </summary>
		1741	/// <param name="s">substring of errrormessage</param>
		1742	void _clearErrorLog(string s)
		1743	{
		1744	Dispatcher.Invoke((Action)(() =>
		1745	{
		1746	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1747	TextRange foundRange = FindTextInRange(searchRange, s);
		1748
		1749	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1750
		1751
		1752	if (iStart > -1)
		1753	{
		1754	int iLength = 0;
		1755	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1756	if (iEnd > 0)
		1757	{
		1758	iLength = iEnd + 1;
		1759	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1760	if (iHttp == iLength)
		1761	{
		1762	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1763	if (iEnd2 > iLength)
		1764	{
		1765	iLength = iEnd2 + 1;
		1766	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1767
		1768	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1769	rtfError.Selection.Text = string.Empty;
		1770	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1771	}
		1772
		1773	}
		1774	else
		1775	{
		1776	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1777	rtfError.Selection.Text = string.Empty;
		1778	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1779	}
		1780	}
		1781	}
		1782	}));
		1783
		1784	}
		1785	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1786	{
		1787	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1788	if (offset < 0)
		1789	return null; // Not found
		1790
		1791	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1792	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1793
		1794	return result;
		1795	}
		1796	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1797	{
		1798	while (position != null)
		1799	{
		1800	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1801	{
		1802	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1803	if (characterCount <= count)
		1804	{
		1805	return position.GetPositionAtOffset(characterCount);
		1806	}
		1807
		1808	characterCount -= count;
		1809	}
		1810
		1811	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1812	if (nextContextPosition == null)
		1813	return position;
		1814
		1815	position = nextContextPosition;
		1816	}
		1817
		1818	return position;
		1819	}
		1820	#endregion logging
		1821
		1822	#region processing received data
		1823
		1824	private void processMessage(byte[] message)
		1825	{
		1826	if (message.Length > 0)
		1827	{
		1828	_iLifeCounter++;
		1829	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1830	//Log(LogMsgType.Incoming, message.Length.ToString());
		1831	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1832	char cmdID;
		1833	byte adr;
		1834	byte[] data;
		1835	byte[] tmp = null;
		1836	if (message[0] != '#')
		1837	{
		1838	int iFound = -1;
		1839	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1840	{ //so this is a workaround to not spam the log box
		1841	if (message[i] == 35)
		1842	{
		1843	iFound = i;
		1844	break;
		1845	}
		1846	}
		1847	if (iFound > 0)
		1848	{
		1849	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1850	tmp = new byte[message.Length - iFound];
		1851	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1852	}
		1853	s = s.Trim('\0', '\n', '\r');
		1854	if (s.Length > 0)
		1855	Log(LogMsgType.Normal, s);
		1856	if (tmp != null)
		1857	{
		1858	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1859	processMessage(tmp);
		1860	}
		1861	}
		1862	//Debug.Print(s);
		1863	else
		1864	{
		1865	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1866
		1867	if (adr == 255) { crcError++; }
		1868	else crcError = 0;
		1869	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1870	//display the active controller (FC / NC)
		1871	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...???
		1872	{
		1873	_iCtrlAct = adr;
		1874	switch (adr)
		1875	{
		1876	case 1:
		1877	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
		1878	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1879	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1880	// _setFieldsNA(); //display fields NA for FC
		1881	break;
		1882	case 2:
		1883	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1884	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1885	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1886	break;
		1887	//case 3:
		1888	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1889	// break;
		1890	//case 4:
		1891	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1892	// break;
		1893	default:
		1894	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1895	break;
		1896	}
		1897	// _loadLabelNames();
		1898	}
		1899	// else
		1900	// Debug.Print("Address == 0?");
		1901
		1902	if (data != null && data.Length > 0)
		1903	{
		1904	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1905	s = s.Trim('\0', '\n');
		1906
		1907	switch (cmdID)
		1908	{
		1909	//case 'A': //Label names
		1910	// _processLabelNames(s);
		1911	// break;
		1912
		1913	case 'D': //Debug data
		1914	_processDebugVals(adr, data);
		1915	break;
		1916
		1917	case 'V': //Version
		1918	_processVersion(adr, data);
		1919	break;
		1920
		1921	case 'K'://BL-CTRL data
		1922	_processBLCtrl(data);
		1923	break;
		1924
		1925	case 'M'://License info
		1926	_processLicense(data);
		1927	break;
		1928
		1929	case 'O': //NC Data
		1930	if (data[0] < 10)
		1931	_processNCData(data);
		1932	else
		1933	_processNCDataV2(data);
		1934	break;
		1935
		1936	//case 'E': //NC error-string
		1937	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1938	// break;
		1939
		1940	case 'L': //OSD Menue (called by pagenumber)
		1941	_processOSDSingle(data);
		1942	break;
		1943
		1944	case 'H': //OSD Menue (with autoupdate - called by Key)
		1945	_processOSDAuto(data);
		1946	break;
		1947
		1948	case 'X': //Waypoint data
		1949	_processWPData(data);
		1950	break;
		1951
		1952	case 'W': //return new Waypoint items count after sending waypoint to copter
		1953	_iWPCount = data[0];
		1954	break;
		1955	//default:
		1956	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1957	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1958	// break;
		1959	}
		1960	}
		1961	//else
		1962	//{
		1963	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1964	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1965	//}
		1966	}
		1967	}
		1968	}
		1969	/// <summary>
		1970	/// Analog label names 'A'
		1971	/// each label name is returned as a single string
		1972	/// and added to string array sAnalogLabel[]
		1973	/// and the datatable dtAnalog
		1974	/// </summary>
		1975	/// <param name="s">the label name</param>
		1976	void _processLabelNames(string s)
		1977	{
		1978	//if (iLableIndex < 32)
		1979	//{
		1980	// sAnalogLabel[iLableIndex] = s;
		1981	// if (dtAnalog.Rows.Count < 32)
		1982	// dtAnalog.Rows.Add(s, "");
		1983	// else
		1984	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1985
		1986	// // _getAnalogLabels(iLableIndex + 1);
		1987	//}
		1988	//Debug.Print(s);
		1989	}
		1990	/// <summary>
		1991	/// Debug values 'D'
		1992	/// </summary>
		1993	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1994	/// <param name="data">the received byte array to process</param>
		1995	void _processDebugVals(byte adr, byte[] data)
		1996	{
		1997	if (data.Length == 66)
		1998	{
		1999
		2000	double v;
		2001	int index = 0;
		2002	Int16 i16 = 0;
		2003	double dTemp = 0;
		2004	for (int i = 2; i < 66; i += 2)
		2005	{
		2006	i16 = data[i + 1];
		2007	i16 = (Int16)(i16 << 8);
		2008	iAnalogData[index] = data[i] + i16;
		2009	sAnalogData[index] = (data[i] + i16).ToString();
		2010	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		2011
		2012	if (adr == 2) //NC
		2013	{
		2014	switch (index)
		2015	{
		2016	case 0: //pitch (German: nick)
		2017	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		2018	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		2019	break;
		2020	case 1: //roll
		2021	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		2022	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		2023	break;
		2024	case 4: //altitude
		2025	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		2026	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		2027	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
		2028	break;
		2029	case 7: //Voltage
		2030	v = (double)iAnalogData[index] / (double)10;
		2031	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		2032	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		2033	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		2034	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		2035	{
		2036	if (v == _dVoltLast)
		2037	if (_iVoltJitter < 20) _iVoltJitter++;
		2038	else
		2039	{
		2040	_iVoltJitter = 0;
		2041	_dVoltLast = v;
		2042	}
		2043	_dVoltLast = v;
		2044	if (_iVoltJitter == 20)
		2045	{
		2046	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		2047
		2048	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		2049	{
		2050	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		2051	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		2052	{
		2053	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		2054	_bCritAnimVoltActive = true;
		2055	}
		2056	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		2057	{
		2058	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\CriticalBattery.mp3");
		2059	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		2060	//t.Start();
		2061	_bCritVoiceVoltActive = true;
		2062	}
		2063	}
		2064	else
		2065	{
		2066	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		2067	{
		2068	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		2069	_bCritAnimVoltActive = false;
		2070	}
		2071	_bCritVoiceVoltActive = false;
		2072
		2073	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
		2074	{
		2075	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\LowBattery.mp3");
		2076	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		2077	//t.Start();
		2078	_bWarnVoiceVoltActive = true;
		2079	}
		2080	}
		2081	}
		2082	}
		2083	else
		2084	{
		2085	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		2086	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		2087	{
		2088	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		2089	_bCritAnimVoltActive = false;
		2090	}
		2091	_bCritVoiceVoltActive = false;
		2092	_bWarnVoiceVoltActive = false;
		2093	_iVoltJitter = 0;
		2094	}
		2095	break;
		2096	case 8: // Current
		2097	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		2098	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		2099	break;
		2100	case 10: //heading
		2101	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
		2102	if (!_Simulate) //use NavData for simulation
		2103	{
		2104	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		2105	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		2106	}
		2107	break;
		2108	case 12: // SPI error
		2109	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
		2110	break;
		2111	case 14: //i2c error
		2112	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
		2113	break;
		2114	case 20: //Earthmagnet field
		2115	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		2116	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		2117
		2118	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		2119	{
		2120	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		2121	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		2122	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		2123	{
		2124	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		2125	_bAnimMagneticFieldActive = false;
		2126	}
		2127	}
		2128	else
		2129	{
		2130	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		2131	if (_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		2132	{
		2133	if (_iMagneticFieldJitter < 20)
		2134	_iMagneticFieldJitter++;
		2135	}
		2136	else
		2137	{
		2138	_iMagneticFieldJitter = 0;
		2139	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		2140	}
		2141	if (_iMagneticFieldJitter == 20)
		2142	{
		2143	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		2144	{
		2145	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		2146	_bAnimMagneticFieldActive = true;
		2147	}
		2148	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		2149	{
		2150	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\MagneticField.mp3");
		2151	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		2152	//t.Start();
		2153	_bVoiceMagneticFieldActive = true;
		2154	}
		2155	}
		2156	}
		2157	break;
		2158	case 21: //GroundSpeed
		2159	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		2160	if (!_Simulate)
		2161	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		2162	break;
		2163
		2164	///******** needs testing --> not sure what position this is *************
		2165	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		2166	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		2167	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		2168	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		2169	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		2170	dTemp = Math.Sqrt(dTemp) / (double)10;
		2171	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		2172	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		2173	break;
		2174
		2175	case 31: //Sats used
		2176	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		2177	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		2178	break;
		2179	}
		2180	}
		2181	index++;
		2182	}
		2183	}
		2184	else
		2185	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		2186	}
		2187	/// <summary>
		2188	/// Version string 'V'
		2189	/// </summary>
		2190	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		2191	/// <param name="data">the received byte array to process</param>
		2192	void _processVersion(byte adr, byte[] data)
		2193	{
		2194	if (data.Length == 12)
		2195	{
		2196	if (!check_HWError)
		2197	{
		2198	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		2199	string sVersion = "";
		2200	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		2201	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		2202	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		2203	Log(LogMsgType.Incoming, sVersion);
		2204	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		2205	Log(LogMsgType.Incoming, sVersion);
		2206	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		2207	}
		2208	if (data[5] > 0) //error0
		2209	{
		2210	if (adr == 1)
		2211	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(), "", "");
		2212	if (adr == 2)
		2213	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(), "", "");
		2214	}
		2215	if (data[6] > 0) //error1
		2216	{
		2217	if (adr == 1)
		2218	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(), "", "");
		2219	if (adr == 2)
		2220	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(), "", ""); //@moment NC has only one error field
		2221	}
		2222	//if ((data[5] + data[6] == 0) && _bErrorLog)
		2223	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		2224
		2225	}
		2226	check_HWError = false;
		2227	}
		2228
		2229	void _processLicense(byte[] data)
		2230	{
		2231	if (data.Length > 480)
		2232	{
		2233	Dispatcher.Invoke(() => {
		2234	tbDataLicenseUser.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 1, 127));
		2235	tbDataLicenseMail.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 129, 127));
		2236	tbDataLicenseFeature.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 257, 127));
		2237	tbDataLicenseExpire.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 385, 11));
		2238	tbDataLicenseLicense.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 397, 16));
		2239	});
		2240	}
		2241	}
		2242	/// <summary>
		2243	/// BL-Ctrl data 'K'
		2244	/// for FC you have to use a customized firmware
		2245	/// </summary>
		2246	/// <param name="data">the received byte array to process</param>
		2247	void _processBLCtrl(byte[] data)
		2248	{
		2249	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		2250	{
		2251	bool bAvailable = false;
		2252	bool bTempError = false;
		2253	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		2254	{
		2255
		2256	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		2257	bAvailable = true;
		2258	else
		2259	bAvailable = false;
		2260
		2261	if (data[i] < _iMotors)
		2262	{
		2263	if (bAvailable)
		2264	{
		2265	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		2266	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
		2267	int temp = data[i + 2];
		2268	if (temp < _iThresholdBLCTRLTempWarn)
		2269	{
		2270	_iBLCTRLTempJitter[data[i]] = 0;
		2271	}
		2272	else
		2273	{
		2274	if (_iBLCTRLTempLast[data[i]] > _iThresholdBLCTRLTempWarn)
		2275	{
		2276	if (_iBLCTRLTempJitter[data[i]] < 12)
		2277	_iBLCTRLTempJitter[data[i]]++;
		2278	}
		2279	else
		2280	{
		2281	_iBLCTRLTempJitter[data[i]] = 0;
		2282	}
		2283	_iBLCTRLTempLast[data[i]] = temp;
		2284	if (_iBLCTRLTempJitter[data[i]] == 12)
		2285	{
		2286	bTempError = true;
		2287	Dispatcher.Invoke(() =>
		2288	{
		2289	DataGridRow row = (DataGridRow)dgvMotors1.ItemContainerGenerator.ContainerFromIndex(data[i]);
		2290	if (row != null)
		2291	{
		2292	DataGridCell cell = dgvMotors1.Columns[2].GetCellContent(row).Parent as DataGridCell;
		2293	if(cell != null)
		2294	cell.Background = new SolidColorBrush(Colors.Red);
		2295	}
		2296	});
		2297	if (stbBLCTRLTempAnim != null && !_bAnimBLCTRLTempActive)
		2298	{
		2299	Dispatcher.Invoke(() => stbBLCTRLTempAnim.Begin());
		2300	_bAnimBLCTRLTempActive = true;
		2301	}
		2302	if (_bVoiceBLCTRLTempPlay && !_bVoiceBLCTRLTempActive)
		2303	{
		2304	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\BLCtrlTemp.mp3");
		2305	_bVoiceBLCTRLTempActive = true;
		2306	}
		2307	}
		2308	}
		2309	if(_iBLCTRLTempJitter.All(x=>x<12))
		2310	{
		2311	_bVoiceBLCTRLTempActive = false;
		2312	if (stbBLCTRLTempAnim != null && _bAnimBLCTRLTempActive)
		2313	{
		2314	Dispatcher.Invoke(() => stbBLCTRLTempAnim.Stop());
		2315	_bAnimBLCTRLTempActive = false;
		2316	Dispatcher.Invoke(() =>
		2317	{
		2318	for (int k = 0; k < _iMotors; k++)
		2319	{
		2320	dgvMotors1.Items.Refresh();
		2321	dgvMotors1.UpdateLayout();
		2322
		2323	DataGridRow row = (DataGridRow)dgvMotors1.ItemContainerGenerator.ContainerFromIndex(data[k]);
		2324	if (row != null)
		2325	{
		2326	DataGridCell cell = dgvMotors1.Columns[2].GetCellContent(row).Parent as DataGridCell;
		2327	if (cell != null)
		2328	cell.Background = new SolidColorBrush(Colors.Transparent);
		2329	}
		2330	}
		2331	});
		2332	}
		2333	}
		2334	}
		2335	else
		2336	{
		2337	dtMotors.Rows[data[i]].SetField(1, "NA");
		2338	dtMotors.Rows[data[i]].SetField(2, "NA");
		2339	}
		2340	}
		2341	//if (data[i] > 3 && data[i] < 8)
		2342	//{
		2343	// if (bAvailable)
		2344	// {
		2345	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		2346	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		2347	// }
		2348	// else
		2349	// {
		2350	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		2351	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		2352	// }
		2353	//}
		2354	}
		2355	}
		2356	}
		2357	/// <summary>
		2358	/// Navi-Ctrl data 'O'
		2359	/// GPS-Position, capacatiy, flying time...
		2360	/// </summary>
		2361	/// <param name="data">the received byte array to process</param>
		2362
		2363
		2364	byte OSDSTATUSFLAGS1 = 0;
		2365	byte OSDSTATUSFLAGS2 = 0;
		2366	void _processNCDataV2(byte[] data)
		2367	{
		2368	if ((int)data[0] < 17)
		2369	{
		2370	int i_32, i_16, iVal;
		2371	double d;
		2372	OSD_Base_Data_t osd = new OSD_Base_Data_t(data);
		2373	OSDSTATUSFLAGS1 = osd.OSDSTATUSFLAGS1();
		2374	Dispatcher.Invoke(() => { drGPX[2] = osd.Pos().Lng; });
		2375	Dispatcher.Invoke(() => { drGPX[1] = osd.Pos().Lat; });
		2376	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
		2377	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = osd.Speed().ToString("0.0 m/s")));
		2378	if (_Simulate)
		2379	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = osd.Speed().ToString("0.0 m/s")));
		2380
		2381	switch ((int)data[0])
		2382	{
		2383	case 10:
		2384	char[] c = Encoding.ASCII.GetChars(new byte[] { data[13] });
		2385	Dispatcher.Invoke((Action)(() => tbCamCtrl.Text = c[0].ToString()));
		2386	break;
		2387	case 11:
		2388	OSDSTATUSFLAGS2 = osd.OSDSTATUSFLAGS2();
		2389	//---------------NC-Flags--------------------------
		2390	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[14] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2391	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[14] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2392	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[14] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2393	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[14] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2394	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[14] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2395	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[14] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2396	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[14] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
		2397
		2398	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[14] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		2399	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
		2400	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
		2401	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
		2402
		2403	//--------------- NC Error ------------------------
		2404	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[16].ToString())); //NC Errornumber
		2405	if (data[16] > 0)
		2406	_readNCError();
		2407	if (data[16] > 0 & data[16] < 44)
		2408	ErrorLog(LogMsgType.Error, " NC Error [" + data[16].ToString() + "]: ", NC_Error_Link[data[16]], NC_Error[data[16]]);
		2409
		2410	break;
		2411	case 12:
		2412	//--------------- RC quality ------------------------
		2413	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[23].ToString()));
		2414	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[23].ToString()));
		2415
		2416	if (data[23] > _iThresholdRC)
		2417	{
		2418	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2419	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2420	{
		2421	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2422	_bAnimRCLevelActive = false;
		2423	}
		2424	}
		2425	else
		2426	{
		2427	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2428	if (_iRCLevelJitter == 20)
		2429	{
		2430	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2431	{
		2432	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2433	_bAnimRCLevelActive = true;
		2434	}
		2435	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2436	{
		2437	_bVoiceRCLevelActive = true;
		2438	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\RCLevel.mp3");
		2439	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2440	//th.Start();
		2441	}
		2442	_iRCLevelJitter++;
		2443	}
		2444	}
		2445	break;
		2446	case 13:
		2447	//-------------------------Waypoint max range (by license)------------------------------
		2448	i_32 = data[24];
		2449	iVal = i_32 << 8;
		2450	iVal += data[23];
		2451
		2452	if (dWPMaxRange != iVal)
		2453	{
		2454	dWPMaxRange = iVal;
		2455	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2456	{
		2457	if (cWPBound != null && cWPBound.Tag != null)
		2458	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2459
		2460	createCircle(home.Position, dWPMaxRange);
		2461	Dispatcher.Invoke(() =>
		2462	{
		2463	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2464	{
		2465	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2466	cWPBound.setColor(s);
		2467	}
		2468	});
		2469	}
		2470	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = iVal.ToString() + " m"));
		2471	}
		2472	//--------------- LiPoCell count ------------------------
		2473	Dispatcher.Invoke((Action)(() => tbLiPoCells.Text = data[25].ToString()));
		2474	Dispatcher.Invoke((Action)(() => {
		2475	if (_bLiPoAutoDetect == true)
		2476	{
		2477	if(data[25] > 2 && data[25] < 7 && _LipoCells != data[25])
		2478	{
		2479	cBoxLiPoCells.SelectedIndex = data[25] - 3;
		2480	_LipoCells = data[25];
		2481	_LipoMinMax();
		2482	}
		2483	}
		2484	}));
		2485
		2486	break;
		2487
		2488	case 14:
		2489	//--------------- Flying time ------------------------
		2490	i_16 = data[14];
		2491	i_16 = (Int16)(i_16 << 8);
		2492	iVal = data[13] + i_16;
		2493	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2494	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2495	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2496	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		2497
		2498	//--------------------------------Distance HP------------------------------------
		2499	i_16 = data[16];
		2500	i_16 = (Int16)(i_16 << 8);
		2501	iVal = data[15] + i_16;
		2502	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2503
		2504	//--------------------------Distance to next WP--------------------------------
		2505	i_16 = data[19];
		2506	i_16 = (Int16)(i_16 << 8);
		2507	iVal = data[18] + i_16;
		2508	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2509	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
		2510	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2511
		2512	//-------------------Satellites----------------------------------
		2513	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[23].ToString()));
		2514
		2515	if (data[23] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		2516	{
		2517	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
		2518	if (_bAutoHome && !_bFirstSatFix)
		2519	{
		2520	if (_iFirstSatFix < 3)
		2521	_iFirstSatFix++;
		2522	else
		2523	{
		2524	_bFirstSatFix = true;
		2525	Dispatcher.Invoke(() => _setHomePos());
		2526	}
		2527	}
		2528	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2529	{
		2530	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2531	_bAnimSatFixActive = false;
		2532	}
		2533	if (!_bFollowCopter)
		2534	{
		2535	_setCopterData(osd.Pos());
		2536	if (!MainMap.ViewArea.Contains(osd.Pos()))
		2537	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2538
		2539	}
		2540	else
		2541	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2542	}
		2543	else
		2544	{
		2545	if (_bSatFix)
		2546	{
		2547	if (data[23] == _iSatsLast)
		2548	{
		2549	if (_iSatsJitter < 20) _iSatsJitter++;
		2550	}
		2551	else
		2552	{
		2553	_iSatsJitter = 0;
		2554	_iSatsLast = data[23];
		2555	}
		2556
		2557	if (_iSatsJitter == 20)
		2558	{
		2559	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2560	{
		2561	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2562	_bAnimSatFixActive = true;
		2563	}
		2564	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2565	{
		2566	_bVoiceSatFixActive = true;
		2567	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\SatFixLost.mp3");
		2568	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2569	//th.Start();
		2570	}
		2571
		2572	_bSatFix = false;
		2573	}
		2574	}
		2575	}
		2576
		2577	break;
		2578
		2579	case 15:
		2580	//--------------------------------Waypoint index------------------------------------
		2581	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[13].ToString()));
		2582	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[13].ToString()));
		2583	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[13].ToString()));
		2584	if (data[13] > 0 && _wpIndex != data[13] - 1 && wpList.Count > data[13] - 1)
		2585	{
		2586	_setActiveWP(data[13] - 1);
		2587	if ((OSDSTATUSFLAGS2 & 2) == 2)
		2588	Dispatcher.Invoke(() =>
		2589	{
		2590	DataGridRow row;
		2591	if (_wpIndex > -1)
		2592	{
		2593	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2594	row.Background = new SolidColorBrush(Colors.Transparent);
		2595	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2596	row.BorderThickness = new Thickness(0);
		2597	}
		2598
		2599	_wpIndex = data[13] - 1;
		2600	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2601	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2602	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		2603	row.BorderThickness = new Thickness(2);
		2604	dgvWP.UpdateLayout();
		2605	});
		2606	_wpIndex = data[13] - 1;
		2607	}
		2608	else
		2609	{
		2610	if ((data[13] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
		2611	{
		2612	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
		2613	Dispatcher.Invoke(() =>
		2614	{
		2615	DataGridRow row;
		2616	if (_wpIndex > -1 && data[13] == 0 && wpList.Count > _wpIndex)
		2617	{
		2618	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2619	row.Background = new SolidColorBrush(Colors.Transparent);
		2620	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2621	row.BorderThickness = new Thickness(0);
		2622	_wpIndex = -1;
		2623	}
		2624	});
		2625
		2626	}
		2627	}
		2628	//----------------Waypoints count----------------------
		2629	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[14].ToString())); //Waypoints count
		2630	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[14].ToString())); //Waypoints count
		2631	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[14].ToString())); //Waypoints count
		2632	_wpCount = data[14];
		2633	if(_wpCount > dtWaypoints.Rows.Count)
		2634	{
		2635	Log(LogMsgType.Warning, "The copter reports more waypoints than there are in the local list!");
		2636	}
		2637
		2638	//---------------------------------Target hold time------------------------------
		2639	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[15].ToString() + " s"));
		2640	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[15].ToString() + " s"));
		2641
		2642	break;
		2643
		2644	case 16:
		2645	//--------------- Capacity used ------------------------
		2646	i_16 = data[18];
		2647	i_16 = (Int16)(i_16 << 8);
		2648	iVal = data[17] + i_16;
		2649	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2650	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		2651
		2652	//--------------- Heading compass ------------------------
		2653	i_16 = data[21];
		2654	iVal = 2 * i_16;
		2655	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
		2656	if (_Simulate)
		2657	{
		2658	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2659	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2660	}
		2661
		2662	break;
		2663	case 17:
		2664
		2665	break;
		2666	case 18:
		2667
		2668	break;
		2669	default:
		2670	break;
		2671	}
		2672	//--------------------------------------------------------------------------------
		2673	//-----------------------------FC Status Flags-------------------------------
		2674	//--------------------------------------------------------------------------------
		2675	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2676	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((OSDSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2677	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((OSDSTATUSFLAGS1 & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2678	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((OSDSTATUSFLAGS2 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2679	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2680	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((OSDSTATUSFLAGS1 & 32) == 32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2681
		2682	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2683	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2684	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((OSDSTATUSFLAGS2 & 4) == 4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2685	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((OSDSTATUSFLAGS1 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2686	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((OSDSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2687	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
		2688	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((OSDSTATUSFLAGS2 & 64) == 64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2689	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((OSDSTATUSFLAGS2 & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2690
		2691	//Sidebar StatusSymbols
		2692	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2693	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
		2694	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
		2695
		2696	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2697	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Foreground = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		2698	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.BorderBrush = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		2699
		2700	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2701	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
		2702	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
		2703
		2704	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2705	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
		2706	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
		2707
		2708	_bAirborne = (OSDSTATUSFLAGS2 & 2) == 2 ? true : false;
		2709	}
		2710	}
		2711	public class OSD_Base_Data_t
		2712	{
		2713	byte[] data;
		2714
		2715	public OSD_Base_Data_t(byte [] _data)
		2716	{
		2717	data = _data;
		2718	}
		2719
		2720	public PointLatLng Pos()
		2721	{
		2722	PointLatLng p = new PointLatLng();
		2723	int i_32, iVal;
		2724	double d;
		2725
		2726	i_32 = data[4];
		2727	iVal = i_32 << 24;
		2728	i_32 = data[3];
		2729	iVal += i_32 << 16;
		2730	i_32 = data[2];
		2731	iVal += i_32 << 8;
		2732	iVal += data[1];
		2733	d = (double)iVal / Math.Pow(10, 7);
		2734	p.Lng = d;
		2735
		2736	i_32 = data[8];
		2737	iVal = i_32 << 24;
		2738	i_32 = data[7];
		2739	iVal += i_32 << 16;
		2740	i_32 = data[6];
		2741	iVal += i_32 << 8;
		2742	iVal += data[5];
		2743	d = (double)iVal / Math.Pow(10, 7);
		2744	p.Lat = d;
		2745
		2746	return p;
		2747
		2748	}
		2749
		2750	public int Height()
		2751	{
		2752	int i_32, iVal;
		2753	i_32 = data[10];
		2754	iVal = i_32 << 8;
		2755	iVal += data[9];
		2756
		2757	return iVal;
		2758	}
		2759
		2760	public double Speed()
		2761	{
		2762	if (data.Length > 11)
		2763	return (double)data[11]/10;
		2764	else return 0;
		2765	}
		2766
		2767	public byte OSDSTATUSFLAGS1()
		2768	{
		2769	if (data.Length > 12)
		2770	return data[12];
		2771	else return 0;
		2772	}
		2773	public byte OSDSTATUSFLAGS2()
		2774	{
		2775	if (data.Length > 13)
		2776	return data[13];
		2777	else return 0;
		2778	}
		2779	}
		2780	void _processNCData(byte[] data)
		2781	{
		2782	int i_32, i_16, iVal;
		2783	double d;
		2784
		2785	//----------------------------POSITION------------------------------------
		2786	i_32 = data[4];
		2787	iVal = i_32 << 24;
		2788	i_32 = data[3];
		2789	iVal += i_32 << 16;
		2790	i_32 = data[2];
		2791	iVal += i_32 << 8;
		2792	iVal += data[1];
		2793	d = (double)iVal / Math.Pow(10, 7);
		2794	Dispatcher.Invoke(() => { drGPX[2] = d; });
		2795
		2796	PointLatLng p = new PointLatLng();
		2797
		2798	p.Lng = d;
		2799	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		2800	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		2801
		2802	i_32 = data[8];
		2803	iVal = i_32 << 24;
		2804	i_32 = data[7];
		2805	iVal += i_32 << 16;
		2806	i_32 = data[6];
		2807	iVal += i_32 << 8;
		2808	iVal += data[5];
		2809	d = (double)iVal / Math.Pow(10, 7);
		2810	Dispatcher.Invoke(() => { drGPX[1] = d; });
		2811	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
		2812	p.Lat = d;
		2813
		2814	//---------------------------SATS-------------------------------------------------
		2815	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		2816	{
		2817	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
		2818	if(_bAutoHome && !_bFirstSatFix)
		2819	{
		2820	if (_iFirstSatFix < 3)
		2821	_iFirstSatFix++;
		2822	else
		2823	{
		2824	_bFirstSatFix = true;
		2825	Dispatcher.Invoke(() => _setHomePos());
		2826	}
		2827	}
		2828	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2829	{
		2830	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2831	_bAnimSatFixActive = false;
		2832	}
		2833	if (!_bFollowCopter)
		2834	{
		2835	_setCopterData(p);
		2836	if (!MainMap.ViewArea.Contains(p))
		2837	Dispatcher.Invoke(() => MainMap.Position = p);
		2838
		2839	}
		2840	else
		2841	Dispatcher.Invoke(() => MainMap.Position = p);
		2842	}
		2843	else
		2844	{
		2845	if(_bSatFix)
		2846	{
		2847	if (data[50] == _iSatsLast)
		2848	{
		2849	if (_iSatsJitter < 20) _iSatsJitter++;
		2850	}
		2851	else
		2852	{
		2853	_iSatsJitter = 0;
		2854	_iSatsLast = data[50];
		2855	}
		2856
		2857	if (_iSatsJitter == 20)
		2858	{
		2859	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2860	{
		2861	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2862	_bAnimSatFixActive = true;
		2863	}
		2864	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2865	{
		2866	_bVoiceSatFixActive = true;
		2867	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\SatFixLost.mp3");
		2868	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2869	//th.Start();
		2870	}
		2871
		2872	_bSatFix = false;
		2873	}
		2874	}
		2875	}
		2876
		2877	//--------------------------Distance to next WP--------------------------------
		2878	i_16 = data[28];
		2879	i_16 = (Int16)(i_16 << 8);
		2880	iVal = data[27] + i_16;
		2881	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2882	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
		2883	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2884
		2885	//-------------------------Distance to HP set by GPS on----------------------------------
		2886	i_16 = data[45];
		2887	i_16 = (Int16)(i_16 << 8);
		2888	iVal = data[44] + i_16;
		2889	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2890
		2891	//--------------------------------Waypoint index------------------------------------
		2892	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString()));
		2893	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
		2894	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString()));
		2895	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
		2896	{
		2897	_setActiveWP(data[48]- 1);
		2898	if((data[67] & 2) == 2)
		2899	Dispatcher.Invoke(() => {
		2900	DataGridRow row;
		2901	if (_wpIndex > -1)
		2902	{
		2903	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2904	row.Background = new SolidColorBrush(Colors.Transparent);
		2905	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2906	row.BorderThickness = new Thickness(0);
		2907	}
		2908
		2909	_wpIndex = data[48] - 1;
		2910	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2911	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2912	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		2913	row.BorderThickness = new Thickness(2);
		2914	dgvWP.UpdateLayout();
		2915	});
		2916	_wpIndex = data[48]- 1;
		2917	}
		2918	else
		2919	{
		2920	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
		2921	{
		2922	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
		2923	Dispatcher.Invoke(() =>
		2924	{
		2925	DataGridRow row;
		2926	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
		2927	{
		2928	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2929	row.Background = new SolidColorBrush(Colors.Transparent);
		2930	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2931	row.BorderThickness = new Thickness(0);
		2932	_wpIndex = -1;
		2933	}
		2934	});
		2935
		2936	}
		2937	}
		2938	//----------------Waypoints count----------------------
		2939	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
		2940	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
		2941	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count
		2942	_wpCount = data[49];
		2943	//-------------------Satellites----------------------------------
		2944	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString()));
		2945
		2946	//--------------- Capacity used ------------------------
		2947	i_16 = data[81];
		2948	i_16 = (Int16)(i_16 << 8);
		2949	iVal = data[80] + i_16;
		2950	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2951	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		2952
		2953	//--------------- Ground speed ------------------------
		2954	i_16 = data[59];
		2955	i_16 = (Int16)(i_16 << 8);
		2956	iVal = data[58] + i_16;
		2957	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		2958	if(_Simulate)
		2959	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		2960
		2961	//--------------- Heading north ------------------------
		2962	//i_16 = data[61];
		2963	//i_16 = (Int16)(i_16 << 8);
		2964	//iVal = data[60] + i_16;
		2965	//Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
		2966
		2967	//--------------- Heading compass ------------------------
		2968	i_16 = data[63];
		2969	i_16 = (Int16)(i_16 << 8);
		2970	iVal = data[62] + i_16;
		2971	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
		2972	if (_Simulate)
		2973	{
		2974	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2975	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2976	}
		2977	//--------------- Flying time ------------------------
		2978	i_16 = data[56];
		2979	i_16 = (Int16)(i_16 << 8);
		2980	iVal = data[55] + i_16;
		2981	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2982	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2983	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2984	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		2985
		2986	//--------------- RC quality ------------------------
		2987	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		2988	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		2989
		2990	if(data[66] > _iThresholdRC)
		2991	{
		2992	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2993	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2994	{
		2995	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2996	_bAnimRCLevelActive = false;
		2997	}
		2998	}
		2999	else
		3000	{
		3001	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		3002	if (_iRCLevelJitter == 20)
		3003	{
		3004	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		3005	{
		3006	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		3007	_bAnimRCLevelActive = true;
		3008	}
		3009	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		3010	{
		3011	_bVoiceRCLevelActive = true;
		3012	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\MagneticField.mp3");
		3013	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		3014	//th.Start();
		3015	}
		3016	_iRCLevelJitter++;
		3017	}
		3018	}
		3019
		3020	//-------------------------Waypoint max range (by license)------------------------------
		3021	if(dWPMaxRange != (double)data[70])
		3022	{
		3023	dWPMaxRange = (double)data[70];
		3024	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		3025	{
		3026	if (cWPBound != null && cWPBound.Tag != null)
		3027	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		3028
		3029	createCircle(home.Position, dWPMaxRange);
		3030	Dispatcher.Invoke(() =>
		3031	{
		3032	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		3033	{
		3034	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		3035	cWPBound.setColor(s);
		3036	}
		3037	});
		3038	}
		3039	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m"));
		3040	}
		3041	//---------------------------------Target hold time------------------------------
		3042	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
		3043	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s"));
		3044
		3045	//--------------- NC Error ------------------------
		3046	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		3047	if (data[69] > 0)
		3048	_readNCError();
		3049	if (data[69] > 0 & data[69] < 44)
		3050	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		3051	//else
		3052	// if (_bErrorLog) _clearErrorLog("NC Error");
		3053
		3054	//--------------------------------------------------------------------------------
		3055	//-----------------------------FC / NC Status Flags-------------------------------
		3056	//--------------------------------------------------------------------------------
		3057	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		3058	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		3059	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		3060	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		3061	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		3062	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		3063
		3064	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		3065	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		3066	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		3067	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		3068	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		3069	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
		3070	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		3071	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		3072
		3073	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		3074	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		3075	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		3076	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		3077	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		3078	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		3079	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
		3080
		3081	//Sidebar StatusSymbols
		3082	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		3083	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
		3084	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
		3085
		3086	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		3087	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
		3088	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
		3089
		3090	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		3091	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
		3092	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
		3093
		3094	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		3095	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
		3096	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
		3097
		3098	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		3099	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
		3100	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
		3101	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
		3102
		3103	_bAirborne = (data[67] & 2) == 2 ? true : false;
		3104	}
		3105	/// <summary>
		3106	/// Navi-Ctrl WP data struct 'X'
		3107	/// called by index
		3108	/// </summary>
		3109	/// <param name="data">the received byte array to process</param>
		3110	void _processWPData(byte[] data)
		3111	{
		3112	_iWPCount = data[0];
		3113	_bGetWPCount = false;
		3114	if (data.Length >= 28)
		3115	{
		3116	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		3117	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		3118	if (_bGetWP)
		3119	{
		3120	if (data[1] == 1)
		3121	{
		3122	Dispatcher.Invoke(() =>
		3123	{
		3124	wpList.Clear();
		3125	_clearMapMarkers(typeof(CustomMarkerWP));
		3126	if (mRouteWP != null)
		3127	MainMap.Markers.Remove(mRouteWP);
		3128	if (wpActiveMarker != null)
		3129	MainMap.Markers.Remove(wpActiveMarker);
		3130	lblWPRouteDistance.Content = "0 m";
		3131	dtWaypoints.Rows.Clear();
		3132	_wpEdit = -1;_wpIndex = -1;
		3133	wpOffset.Clear();
		3134	});
		3135	}
		3136	DataRow dr = dtWaypoints.NewRow();
		3137	dr = Waypoints.toDataRow(data, dr);
		3138	dtWaypoints.Rows.Add(dr);
		3139	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1],(int)data[1]-1);
		3140	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3141	Dispatcher.Invoke(() => _iWPIndex = data[1]);
		3142	if (data[1] == data[0])
		3143	{
		3144	_bGetWP = false;
		3145	_routeUpdate();
		3146	}
		3147
		3148	}
		3149	}
		3150	else
		3151	{
		3152	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3153	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3154	}
		3155	}
		3156	/// <summary>
		3157	/// OSD Menue 'L'
		3158	/// single page called by pagenumber
		3159	/// no autoupdate
		3160	/// </summary>
		3161	/// <param name="data">the received byte array to process</param>
		3162	void _processOSDSingle(byte[] data)
		3163	{
		3164	if (data.Length == 84)
		3165	{
		3166	string sMessage = "";
		3167	iOSDPage = data[0];
		3168	iOSDMax = data[1];
		3169	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		3170	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		3171	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		3172	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		3173	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		3174	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		3175	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		3176	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		3177
		3178	}
		3179	//else
		3180	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		3181
		3182	}
		3183	/// <summary>
		3184	/// OSD Menue 'H'
		3185	/// called by keys (0x01,0x02,0x03,0x04)
		3186	/// autoupdate
		3187	/// </summary>
		3188	/// <param name="data">the received byte array to process</param>
		3189	void _processOSDAuto(byte[] data)
		3190	{
		3191	if (data.Length == 81)
		3192	{
		3193	string sMessage = "";
		3194	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		3195	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		3196	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		3197	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		3198	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		3199
		3200	}
		3201	//else
		3202	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		3203	}
		3204
		3205	#endregion processing received data
		3206
		3207	#region controller messages
		3208	/// <summary> send message to controller to request data
		3209	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		3210	/// </summary>
		3211	/// <param name="CMDID"> the command ID </param>
		3212	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		3213	private void _sendControllerMessage(char CMDID, byte address)
		3214	{
		3215	if (serialPortCtrl.Port.IsOpen)
		3216	{
		3217	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3218	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		3219	serialStream.Write(bytes, 0, bytes.Length);
		3220
		3221	}
		3222	else
		3223	Log(LogMsgType.Error, "NOT CONNECTED!");
		3224	}
		3225	/// <summary> send message to controller to request data
		3226	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		3227	/// </summary>
		3228	/// <param name="CMDID"> the command ID </param>
		3229	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		3230	/// <param name="data"> additional data for the request</param>
		3231	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		3232	{
		3233	if (serialPortCtrl.Port.IsOpen)
		3234	{
		3235	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3236	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		3237	serialStream.Write(bytes, 0, bytes.Length);
		3238
		3239	}
		3240	else
		3241	Log(LogMsgType.Error, "NOT CONNECTED!");
		3242	}
		3243
		3244	/// <summary>
		3245	/// start/stop continous polling of controller values
		3246	/// </summary>
		3247	/// <param name="b">start/stop switch</param>
		3248	void _readCont(bool b)
		3249	{
		3250	bReadContinously = b;
		3251	if (bReadContinously)
		3252	{
		3253	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		3254	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		3255	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		3256	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		3257	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		3258	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		3259	}
		3260	else
		3261	{
		3262	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		3263	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		3264	_bConnErr = false;
		3265	}
		3266	_iLifeCounter = 0;
		3267	}
		3268
		3269	private void _getVersion()
		3270	{
		3271	_sendControllerMessage('v', 0);
		3272	}
		3273	/// <summary>
		3274	/// get FC version struct via NC
		3275	/// by sending '1' as data (not documented in wiki...)
		3276	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		3277	/// </summary>
		3278	/// <param name="ctrl">controller number 1=FC</param>
		3279	private void _getVersion(byte ctrl)
		3280	{
		3281	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		3282	}
		3283	/// <summary>
		3284	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		3285	/// </summary>
		3286	private void _switchToNC()
		3287	{
		3288	if (serialPortCtrl.Port.IsOpen)
		3289	{
		3290	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3291	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		3292	serialStream.Write(bytes, 0, bytes.Length);
		3293
		3294	Thread.Sleep(100);
		3295	_getVersion();
		3296	Thread.Sleep(100);
		3297	_getLic();
		3298	// _OSDMenue(0);
		3299	}
		3300	else
		3301	Log(LogMsgType.Error, "NOT CONNECTED!");
		3302	}
		3303	/// <summary>
		3304	/// switch to FC
		3305	/// </summary>
		3306	private void _switchToFC()
		3307	{
		3308	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		3309	Thread.Sleep(100);
		3310	_getVersion();
		3311	Thread.Sleep(100);
		3312	// _OSDMenue(0);
		3313	}
		3314	/// <summary>
		3315	/// send RESET signal to FC
		3316	/// </summary>
		3317	private void _resetCtrl()
		3318	{
		3319	_sendControllerMessage('R', 1);
		3320	}
		3321	/// <summary>
		3322	/// poll the debug data (4sec subscription)
		3323	/// </summary>
		3324	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		3325	private void _readDebugData(bool auto)
		3326	{
		3327	byte interval = auto ? debugInterval : (byte)0;
		3328	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		3329	}
		3330	/// <summary>
		3331	/// poll the BL-CTRL status via NC (4sec subscription)
		3332	/// </summary>
		3333	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		3334	private void _readBLCtrl(bool auto)
		3335	{
		3336	byte interval = auto ? blctrlInterval : (byte)0;
		3337	_sendControllerMessage('k', 0, new byte[1] { interval });
		3338	}
		3339	/// <summary>
		3340	/// poll the NC data struct (4sec subscription)
		3341	/// </summary>
		3342	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		3343	private void _readNavData(bool auto)
		3344	{
		3345	byte interval = auto ? navctrlInterval : (byte)0;
		3346	// _sendControllerMessage('o', 2, new byte[1] { interval });
		3347	_sendControllerMessage('o', 2, new byte[3] { interval,4,0 });
		3348	}
		3349	/// <summary>
		3350	/// request the license info
		3351	/// </summary>
		3352	void _getLic()
		3353	{
		3354	if (serialPortCtrl.Port.IsOpen)
		3355	{
		3356	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3357	byte[] bytes = FlightControllerMessage.CreateMessage('m', 2, new byte[1] { (byte)1 });
		3358	serialStream.Write(bytes, 0, bytes.Length);
		3359	}
		3360	else
		3361	Log(LogMsgType.Error, "NOT CONNECTED!");
		3362
		3363	}
		3364	/// <summary>
		3365	/// get the errortext for pending NC error
		3366	/// </summary>
		3367	private void _readNCError()
		3368	{
		3369	_sendControllerMessage('e', 2);
		3370	}
		3371	/// <summary>
		3372	/// request the Waypoint at index
		3373	/// </summary>
		3374	/// <param name="index"></param>
		3375	void _getpWP(int index)
		3376	{
		3377	if (serialPortCtrl.Port.IsOpen)
		3378	{
		3379	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3380	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		3381	serialStream.Write(bytes, 0, bytes.Length);
		3382	}
		3383	else
		3384	Log(LogMsgType.Error, "NOT CONNECTED!");
		3385
		3386	}
		3387	void _getWP()
		3388	{
		3389	int iTimeout = 0;
		3390	_bGetWPCount = true;
		3391	_getpWP(1); //get the itemscount of wp
		3392	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		3393	{
		3394	Thread.Sleep(10);
		3395	iTimeout++;
		3396	}
		3397	if (_iWPCount > 0 & !_bGetWPCount)
		3398	_getWPList();
		3399	}
		3400	void _getWPList()
		3401	{
		3402	_bGetWP = true;
		3403	int iTimeout=0;
		3404	for (int j = 0; j < _iWPCount; j++)
		3405	{
		3406	_getpWP(j + 1);
		3407	iTimeout = 0;
		3408	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		3409	{
		3410	Thread.Sleep(1);
		3411	iTimeout++;
		3412	}
		3413	}
		3414	Dispatcher.Invoke(() =>
		3415	{
		3416	// MainMap.ZoomAndCenterMarkers(null);
		3417	MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]);
		3418	MainMap.Zoom = 19;
		3419	});
		3420	}
		3421	/// <summary>
		3422	/// Wrapper for _clearCopterWPList()
		3423	/// necessary, cause it is called by threadnew which does not like return values...
		3424	/// </summary>
		3425	void clearCopterWPList()
		3426	{
		3427	_clearCopterWPList();
		3428	}
		3429	/// <summary>
		3430	/// clear the WP list of the copter
		3431	/// by sending 'invalid' and index '0'
		3432	/// </summary>
		3433	/// <returns></returns>
		3434	bool _clearCopterWPList()
		3435	{
		3436	int iTimeout = 0;
		3437	if (serialPortCtrl.Port.IsOpen)
		3438	{
		3439	byte[] bData = new byte[30];
		3440	for (int i = 0; i < 30; i++)
		3441	bData[i] = 0;
		3442	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3443	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		3444	serialStream.Write(bytes, 0, bytes.Length);
		3445
		3446	_iWPCount = -1;
		3447	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
		3448	{
		3449	Thread.Sleep(10);
		3450	iTimeout++;
		3451	}
		3452	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
		3453	if (_iWPCount > -1)
		3454	return true;
		3455	else
		3456	Log(LogMsgType.Error, "Timeout while sending list!");
		3457	}
		3458	else
		3459	Log(LogMsgType.Error, "NOT CONNECTED!");
		3460
		3461	return false;
		3462	}
		3463	void _sendWPList()
		3464	{
		3465	_sendWPList(0);
		3466	}
		3467	void _sendWPList(int iStart)
		3468	{
		3469	int iTimeout = 0;
		3470	if (serialPortCtrl.Port.IsOpen)
		3471	{
		3472	if (_clearCopterWPList())
		3473	{
		3474	int k = 1;
		3475	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
		3476	{
		3477	k = iStart > 0 ? k : -1;
		3478	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
		3479
		3480	_iWPCount = -1;
		3481	iTimeout = 0;
		3482	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		3483	{
		3484	Thread.Sleep(10);
		3485	iTimeout++;
		3486	}
		3487	if (_iWPCount == -1)
		3488	{
		3489	Log(LogMsgType.Error, "Timeout while sending list!");
		3490	break;
		3491	}
		3492	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
		3493	k++;
		3494	}
		3495	}
		3496	}
		3497	else
		3498	Log(LogMsgType.Error, "NOT CONNECTED!");
		3499
		3500	}
		3501	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
		3502	{
		3503
		3504	if (serialPortCtrl.Port.IsOpen)
		3505	{
		3506	byte[] bData = new byte[30];
		3507	for (int i = 0; i < 30; i++)
		3508	bData[i] = 0;
		3509	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3510	byte[] bytes;
		3511	int iVal;
		3512	double dVal;
		3513	NumberFormatInfo nfi = new NumberFormatInfo();
		3514	nfi.NumberDecimalSeparator = ",";
		3515
		3516	//longitude
		3517	dVal = Convert.ToDouble(dr[4], nfi);
		3518	iVal = (int)(dVal * Math.Pow(10, 7));
		3519	bData[0] = (byte)(iVal & 0xff);
		3520	bData[1] = (byte)((iVal >> 8) & 0xff);
		3521	bData[2] = (byte)((iVal >> 16) & 0xff);
		3522	bData[3] = (byte)(iVal >> 24);
		3523	//latitude
		3524	dVal = Convert.ToDouble(dr[3], nfi);
		3525	iVal = (int)(dVal * Math.Pow(10, 7));
		3526	bData[4] = (byte)(iVal & 0xff);
		3527	bData[5] = (byte)((iVal >> 8) & 0xff);
		3528	bData[6] = (byte)((iVal >> 16) & 0xff);
		3529	bData[7] = (byte)(iVal >> 24);
		3530	//altitude
		3531	dVal = Convert.ToDouble(dr[5], nfi);
		3532	iVal = (int)(dVal * 10);
		3533	bData[8] = (byte)(iVal & 0xff);
		3534	bData[9] = (byte)((iVal >> 8) & 0xff);
		3535	bData[10] = (byte)((iVal >> 16) & 0xff);
		3536	bData[11] = (byte)(iVal >> 24);
		3537	if(bSim)
		3538	bData[12] = 3; //Status 'SIMULATE'
		3539	//Status 'NEWDATA'
		3540	else
		3541	bData[12] = 1;
		3542	//heading
		3543	iVal = Convert.ToInt16(dr[6]);
		3544	bData[13] = (byte)(iVal & 0xff);
		3545	bData[14] = (byte)((iVal >> 8) & 0xff);
		3546	//ToleranceRadius
		3547	bData[15] = Convert.ToByte(dr[9]);
		3548	//HoldTime
		3549	bData[16] = Convert.ToByte(dr[10]);
		3550	//Event_Flag
		3551	bData[17] = Convert.ToByte(dr[13]);
		3552	//Index
		3553	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
		3554	//Type
		3555	bData[19] = Convert.ToByte(dr[1]);
		3556	//WP_EventChannelValue
		3557	bData[20] = Convert.ToByte(dr[14]);
		3558	//AltitudeRate
		3559	bData[21] = Convert.ToByte(dr[8]);
		3560	//Speed
		3561	bData[22] = Convert.ToByte(dr[7]);
		3562	//CamAngle
		3563	bData[23] = (byte)Convert.ToInt16(dr[12]);
		3564	//Name
		3565	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		3566	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
		3567	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		3568	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		3569	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		3570	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		3571	//Autotrigger
		3572	bData[28] = Convert.ToByte(dr[11]);
		3573
		3574	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
		3575	serialStream.Write(bytes, 0, bytes.Length);
		3576
		3577	return true;
		3578	}
		3579
		3580	return false;
		3581	}
		3582	#region OSD-Menue
		3583
		3584	/// <summary>
		3585	/// one time query of the OSD Menue with pagenumber
		3586	/// </summary>
		3587	/// <param name="iMenue">Menue page</param>
		3588	void _OSDMenue(int iMenue)
		3589	{
		3590	if (serialPortCtrl.Port.IsOpen)
		3591	{
		3592	if (iMenue > iOSDMax)
		3593	iMenue = 0;
		3594	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3595	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		3596	serialStream.Write(bytes, 0, bytes.Length);
		3597	}
		3598	else
		3599	Log(LogMsgType.Error, "NOT CONNECTED!");
		3600
		3601	}
		3602	/// <summary>
		3603	/// call the OSDMenue and start autorefresh
		3604	/// usually by sending a menuekey
		3605	/// 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)
		3606	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		3607	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		3608	/// </summary>
		3609	void _OSDMenueAutoRefresh()
		3610	{
		3611	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		3612	}
		3613	void _OSDMenueAutoRefresh(byte key)
		3614	{
		3615	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		3616	}
		3617	/// <summary>
		3618	/// initialize the OSD menue combobox
		3619	/// combox is filled by numbers from 0 to max pagenumber
		3620	/// </summary>
		3621	void _initOSDCB()
		3622	{
		3623	_bCBInit = true;
		3624	if (iOSDMax == 0)
		3625	{
		3626	_OSDMenue(0);
		3627	Thread.Sleep(10);
		3628	}
		3629	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		3630	for (int i = 0; i <= iOSDMax; i++)
		3631	{
		3632	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		3633	}
		3634	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		3635	_bCBInit = false;
		3636	}
		3637	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		3638	{
		3639	iOSDPage++;
		3640	if (iOSDPage > iOSDMax)
		3641	iOSDPage = 0;
		3642
		3643	_OSDMenue(iOSDPage);
		3644	}
		3645	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		3646	{
		3647	iOSDPage--;
		3648	if (iOSDPage < 0)
		3649	iOSDPage = iOSDMax;
		3650
		3651	_OSDMenue(iOSDPage);
		3652	}
		3653	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		3654	{
		3655	_OSDMenueAutoRefresh(8);
		3656	}
		3657	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		3658	{
		3659	_OSDMenueAutoRefresh(4);
		3660	}
		3661	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		3662	{
		3663	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		3664	_OSDMenue(cbOSD.SelectedIndex);
		3665	}
		3666	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		3667	{
		3668	Dispatcher.Invoke(() =>
		3669	{
		3670	TextRange tr;
		3671	if (bNew)
		3672	{
		3673	rtfOSD.SelectAll();
		3674	rtfOSD.Selection.Text = string.Empty;
		3675	}
		3676	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		3677	tr.Text = msg;
		3678	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		3679	// rtfOSD.AppendText("\r");
		3680	rtfOSD.ScrollToEnd();
		3681
		3682	});
		3683	}
		3684
		3685	#endregion OSD-Menue
		3686
		3687	#endregion controller messages
		3688
		3689	void _mediaPlayer(object file)
		3690	{
		3691	Monitor.TryEnter(lockObj);
		3692	try
		3693	{
		3694	if (File.Exists((string)file))
		3695	{
		3696
		3697	mediaPlayer.Open((string)file);
		3698	mediaPlayer.Play();
		3699	}
		3700	else
		3701	Log(LogMsgType.Warning, "File not found: " + file.ToString());
		3702
		3703	}
		3704	finally
		3705	{
		3706	Monitor.Exit(lockObj);
		3707	}
		3708	}
		3709
		3710	#region ui
		3711	/// <summary>
		3712	/// Switch between fullscreen and normal window mode
		3713	/// save & restore scaling settings
		3714	/// </summary>
		3715	/// <param name="sender"></param>
		3716	/// <param name="e"></param>
		3717	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		3718	{
		3719	if (winState.isMaximized)
		3720	{
		3721	winState.Restore(this);
		3722	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		3723	if(_bSaveWinStateFull)
		3724	_saveScaleSliders(true);
		3725	if(_bSaveWinStateNormal)
		3726	_setScaleSliders(false);
		3727	}
		3728	else
		3729	{
		3730	winState.Maximize(this);
		3731	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		3732	if(_bSaveWinStateNormal)
		3733	_saveScaleSliders(false);
		3734	if(_bSaveWinStateFull)
		3735	_setScaleSliders(true);
		3736	}
		3737	}
		3738
		3739	/// <summary>
		3740	/// reset the scaling of all UI elements to default
		3741	/// </summary>
		3742	/// <param name="sender"></param>
		3743	/// <param name="e"></param>
		3744	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		3745	{
		3746	UIScaleHorizonSlider.Value =
		3747	UIScaleLOGSlider.Value =
		3748	UIScaleMotorsSlider.Value =
		3749	UIScaleOSDSlider.Value =
		3750	UIScaleSlider.Value =
		3751	UIScaleTopSlider.Value = 1;
		3752	}
		3753	/// <summary>
		3754	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		3755	/// </summary>
		3756	/// <param name="sender"></param>
		3757	/// <param name="e"></param>
		3758	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3759	{
		3760	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		3761	if (GridMotors != null)
		3762	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		3763	if (GridSideBar != null)
		3764	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		3765	if (WPStatus != null)
		3766	WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom);
		3767	if (GridOSD != null)
		3768	{
		3769	if(WPStatus.Visibility == Visibility.Visible)
		3770	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3771	else
		3772	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3773	}
		3774	if (GridData != null)
		3775	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		3776	if (GridWP != null)
		3777	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		3778	}
		3779	private void UIScaleOSDSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3780	{
		3781	if (!_init)
		3782	{
		3783	if (WPStatus != null && (WPStatus.Visibility == Visibility.Visible))
		3784	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3785	else
		3786	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3787	}
		3788	}
		3789
		3790	/// <summary>
		3791	/// restore the saved scalings for the fullscreen/normal window mode
		3792	/// </summary>
		3793	/// <param name="bFull">the mode the window is set to</param>
		3794	void _setScaleSliders(bool bFull)
		3795	{
		3796	if(bFull)
		3797	{
		3798	UIScaleSlider.Value = scaleFullAll;
		3799	UIScaleTopSlider.Value = scaleFullTopBar;
		3800	UIScaleMotorsSlider.Value = scaleFullMotors;
		3801	UIScaleOSDSlider.Value = scaleFullOSD;
		3802	UIScaleLOGSlider.Value = scaleFullLOG;
		3803	UIScaleHorizonSlider.Value = scaleFullHorizon;
		3804	}
		3805	else
		3806	{
		3807	UIScaleSlider.Value = scaleNormalAll;
		3808	UIScaleTopSlider.Value = scaleNormalTopBar;
		3809	UIScaleMotorsSlider.Value = scaleNormalMotors;
		3810	UIScaleOSDSlider.Value = scaleNormalOSD;
		3811	UIScaleLOGSlider.Value = scaleNormalLOG;
		3812	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		3813	}
		3814	}
		3815
		3816	/// <summary>
		3817	/// save the scalings for the actual window mode
		3818	/// </summary>
		3819	/// <param name="bFull">the actual window mode</param>
		3820	void _saveScaleSliders(bool bFull)
		3821	{
		3822
		3823	if (bFull)
		3824	{
		3825	scaleFullAll = UIScaleSlider.Value;
		3826	scaleFullTopBar = UIScaleTopSlider.Value;
		3827	scaleFullMotors = UIScaleMotorsSlider.Value;
		3828	scaleFullOSD = UIScaleOSDSlider.Value;
		3829	scaleFullLOG = UIScaleLOGSlider.Value;
		3830	scaleFullHorizon = UIScaleHorizonSlider.Value;
		3831	}
		3832	else
		3833	{
		3834	scaleNormalAll = UIScaleSlider.Value;
		3835	scaleNormalTopBar = UIScaleTopSlider.Value;
		3836	scaleNormalMotors = UIScaleMotorsSlider.Value;
		3837	scaleNormalOSD = UIScaleOSDSlider.Value;
		3838	scaleNormalLOG = UIScaleLOGSlider.Value;
		3839	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		3840	}
		3841	}
		3842	#endregion ui
		3843
		3844	#region ini
		3845	/// <summary>
		3846	/// read settings from ini-file
		3847	/// </summary>
		3848	void _readIni()
		3849	{
		3850	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		3851	_writeIni();
		3852	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3853	ini.path = filePath + "\\MKLiveViewSettings.ini";
		3854	try
		3855	{
		3856
		3857	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		3858	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		3859	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		3860	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		3861	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		3862	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		3863	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		3864	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
		3865
		3866	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		3867	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		3868	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		3869	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		3870	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		3871	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		3872	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		3873	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
		3874
		3875	sVal = ini.IniReadValue("topBar", "voltage");
		3876	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		3877	sVal = ini.IniReadValue("topBar", "capacity");
		3878	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		3879	sVal = ini.IniReadValue("topBar", "current");
		3880	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		3881	sVal = ini.IniReadValue("topBar", "flightTime");
		3882	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		3883	sVal = ini.IniReadValue("topBar", "distanceHP");
		3884	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		3885	sVal = ini.IniReadValue("topBar", "height");
		3886	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		3887	sVal = ini.IniReadValue("topBar", "speed");
		3888	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		3889	sVal = ini.IniReadValue("topBar", "magneticField");
		3890	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		3891	sVal = ini.IniReadValue("topBar", "satellites");
		3892	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		3893	sVal = ini.IniReadValue("topBar", "rc");
		3894	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
		3895
		3896	sVal = ini.IniReadValue("style", "saveFullScreen");
		3897	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		3898	sVal = ini.IniReadValue("style", "saveNormalState");
		3899	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
		3900
		3901	sVal = ini.IniReadValue("style", "scaleNormalAll");
		3902	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		3903	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		3904	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		3905	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		3906	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		3907	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		3908	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		3909	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		3910	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		3911	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		3912	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
		3913
		3914	sVal = ini.IniReadValue("style", "scaleFullAll");
		3915	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		3916	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		3917	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		3918	sVal = ini.IniReadValue("style", "scaleFullMotors");
		3919	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		3920	sVal = ini.IniReadValue("style", "scaleFullOSD");
		3921	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		3922	sVal = ini.IniReadValue("style", "scaleFullLOG");
		3923	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		3924	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		3925	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
		3926
		3927	sVal = ini.IniReadValue("general", "LiPoCells");
		3928	_LipoCells = Convert.ToInt16(sVal);
		3929	sVal = ini.IniReadValue("general", "LiPoAutoDetect");
		3930	_bLiPoAutoDetect = Convert.ToBoolean(sVal);
		3931	sVal = ini.IniReadValue("general", "Motors");
		3932	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
		3933
		3934	sVal = ini.IniReadValue("map", "followMe");
		3935	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		3936	sVal = ini.IniReadValue("map", "location");
		3937	if (sVal != "") _mapPosition = sVal;
		3938	sVal = ini.IniReadValue("map", "AutoSetHome");
		3939	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
		3940	sVal = ini.IniReadValue("map", "GPXLog");
		3941	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
		3942
		3943	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		3944	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		3945	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		3946	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		3947	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		3948	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		3949	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		3950	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		3951	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		3952	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		3953	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		3954	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		3955	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		3956	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		3957	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		3958	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		3959	sVal = ini.IniReadValue("threshold", "MaxDistance");
		3960	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		3961	sVal = ini.IniReadValue("threshold", "RCThreshold");
		3962	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		3963	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		3964	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
		3965	sVal = ini.IniReadValue("threshold", "BLCtrlTemp");
		3966	if(sVal != "") _iThresholdBLCTRLTempWarn = Convert.ToInt32(sVal);
		3967	sVal = ini.IniReadValue("threshold", "VoiceBLCtrlTempEnable");
		3968	if(sVal != "") _bVoiceBLCTRLTempPlay = Convert.ToBoolean(sVal);
		3969	sVal = ini.IniReadValue("threshold", "VoiceLanguageIndex");
		3970	if(sVal != "") _iVoiceIndex = Convert.ToInt32(sVal);
		3971
		3972	sVal = ini.IniReadValue("waypoints", "wpcolor");
		3973	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		3974	sVal = ini.IniReadValue("waypoints", "poicolor");
		3975	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		3976	sVal = ini.IniReadValue("waypoints", "fscolor");
		3977	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		3978	sVal = ini.IniReadValue("waypoints", "coptercolor");
		3979	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
		3980	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		3981	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
		3982	sVal = ini.IniReadValue("waypoints", "landingcolor");
		3983	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
		3984	sVal = ini.IniReadValue("waypoints", "routecolor");
		3985	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		3986	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		3987	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
		3988	sVal = ini.IniReadValue("waypoints", "autoShowWPEdit");
		3989	if(sVal != "") _bAutoWPEdit = Convert.ToBoolean(sVal);
		3990	sVal = ini.IniReadValue("waypoints", "showWPMaxRange");
		3991	if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal);
		3992	sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor");
		3993	if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal);
		3994	sVal = ini.IniReadValue("waypoints", "WPDefPrefix");
		3995	if(sVal != "") _wpDefPrefix = sVal;
		3996	sVal = ini.IniReadValue("waypoints", "WPDefAltitude");
		3997	if(sVal != "") _wpDefAltitude = Convert.ToInt32(sVal);
		3998	sVal = ini.IniReadValue("waypoints", "WPDefHeading");
		3999	if(sVal != "") _wpDefHeading = Convert.ToInt32(sVal);
		4000	sVal = ini.IniReadValue("waypoints", "WPDefCBoxHeading");
		4001	if(sVal != "") _wpDefCBoxHeading = Convert.ToInt32(sVal);
		4002	sVal = ini.IniReadValue("waypoints", "WPDefSpeed");
		4003	if(sVal != "") _wpDefSpeed = Convert.ToInt32(sVal);
		4004	sVal = ini.IniReadValue("waypoints", "WPDefCBoxSpeed");
		4005	if(sVal != "") _wpDefCBoxSpeed = Convert.ToInt32(sVal);
		4006	sVal = ini.IniReadValue("waypoints", "WPDefClimb");
		4007	if(sVal != "") _wpDefClimb = Convert.ToInt32(sVal);
		4008	sVal = ini.IniReadValue("waypoints", "WPDefCBoxClimb");
		4009	if(sVal != "") _wpDefCBoxClimb = Convert.ToInt32(sVal);
		4010	sVal = ini.IniReadValue("waypoints", "WPDefRadius");
		4011	if(sVal != "") _wpDefRadius = Convert.ToInt32(sVal);
		4012	sVal = ini.IniReadValue("waypoints", "WPDefHoldtime");
		4013	if(sVal != "") _wpDefHoldtime = Convert.ToInt32(sVal);
		4014	sVal = ini.IniReadValue("waypoints", "WPDefAutotrig");
		4015	if(sVal != "") _wpDefAutotrig = Convert.ToInt32(sVal);
		4016	sVal = ini.IniReadValue("waypoints", "WPDefCamangle");
		4017	if(sVal != "") _wpDefCamangle = Convert.ToInt32(sVal);
		4018	sVal = ini.IniReadValue("waypoints", "WPDefCBoxCamangle");
		4019	if(sVal != "") _wpDefCBoxCamangle = Convert.ToInt32(sVal);
		4020	sVal = ini.IniReadValue("waypoints", "WPDefOut1");
		4021	if(sVal != "") _wpDefOut1 = Convert.ToInt32(sVal);
		4022	sVal = ini.IniReadValue("waypoints", "WPAddCopterHeight");
		4023	if (sVal != "") _wpAddCopterHeight = Convert.ToBoolean(sVal);
		4024	sVal = ini.IniReadValue("waypoints", "WPAddCopterHeading");
		4025	if (sVal != "") _wpAddCopterHeading = Convert.ToBoolean(sVal);
		4026	sVal = ini.IniReadValue("waypoints", "CopterSize");
		4027	if (sVal != "") SliderCopterZoom.Value = Convert.ToDouble(sVal);
		4028	sVal = ini.IniReadValue("waypoints", "WPSize");
		4029	if (sVal != "") SliderWPZoom.Value = Convert.ToDouble(sVal);
		4030
		4031	sVal = ini.IniReadValue("cam", "CamImagePosLeft");
		4032	if (sVal != "") _camImageMargin.Left = Convert.ToDouble(sVal);
		4033	sVal = ini.IniReadValue("cam", "CamImagePosTop");
		4034	if (sVal != "") _camImageMargin.Top = Convert.ToDouble(sVal);
		4035	sVal = ini.IniReadValue("cam", "CamImageZoom");
		4036	if (sVal != "") SliderCamZoom.Value = Convert.ToDouble(sVal);
		4037
		4038	for (int i = 0; i < 12; i++)
		4039	{
		4040	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		4041	if (sVal != "")
		4042	serChan[i] = Convert.ToInt16(sVal);
		4043	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		4044	if (sVal != "")
		4045	serChanTitle[i] = sVal;
		4046	for (int y = 0; i < 4 && y < 3; y++)
		4047	{
		4048	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		4049	if (sVal != "")
		4050	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		4051	}
		4052	}
		4053
		4054	}
		4055	catch (Exception e)
		4056	{
		4057
		4058	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		4059	}
		4060
		4061	}
		4062
		4063	/// <summary>
		4064	/// save settings to ini-file
		4065	/// </summary>
		4066	void _writeIni()
		4067	{
		4068
		4069	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		4070	ini.path = filePath + "\\MKLiveViewSettings.ini";
		4071
		4072	try
		4073	{
		4074
		4075	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		4076	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		4077	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		4078	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
		4079
		4080	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		4081	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		4082	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		4083	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
		4084
		4085	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		4086	ini.IniWriteValue("general", "LiPoAutoDetect", _bLiPoAutoDetect.ToString());
		4087	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
		4088
		4089	ini.IniWriteValue("map", "location", _mapPosition);
		4090	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		4091	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
		4092	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
		4093
		4094	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		4095	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		4096	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		4097	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		4098	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		4099	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		4100	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		4101	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		4102	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		4103	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
		4104
		4105	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		4106	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
		4107
		4108	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		4109	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		4110	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		4111	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		4112	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		4113	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
		4114
		4115	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		4116	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		4117	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		4118	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		4119	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		4120	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
		4121
		4122	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		4123
		4124	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		4125	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		4126	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		4127	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		4128	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		4129	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		4130	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		4131	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		4132	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		4133	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		4134	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
		4135	ini.IniWriteValue("threshold", "BLCtrlTemp", _iThresholdBLCTRLTempWarn.ToString());
		4136	ini.IniWriteValue("threshold", "VoiceBLCtrlTempEnable", _bVoiceBLCTRLTempPlay.ToString());
		4137	ini.IniWriteValue("threshold", "VoiceLanguageIndex", _iVoiceIndex.ToString());
		4138
		4139	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		4140	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		4141	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		4142	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
		4143	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
		4144	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
		4145	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		4146	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
		4147	ini.IniWriteValue("waypoints", "showWPMaxRange", ((bool)checkBoxShowWPMaxRange.IsChecked).ToString());
		4148	ini.IniWriteValue("waypoints", "autoShowWPEdit", ((bool)checkBoxAutoShowWPEdit.IsChecked).ToString());
		4149	ini.IniWriteValue("waypoints", "WPMaxRangecolor", comboBoxWPMaxRangeColor.SelectedIndex.ToString());
		4150	ini.IniWriteValue("waypoints", "WPDefPrefix", _wpDefPrefix);
		4151	ini.IniWriteValue("waypoints", "WPDefAltitude", _wpDefAltitude.ToString());
		4152	ini.IniWriteValue("waypoints", "WPDefHeading", _wpDefHeading.ToString());
		4153	ini.IniWriteValue("waypoints", "WPDefCBoxHeading", _wpDefCBoxHeading.ToString());
		4154	ini.IniWriteValue("waypoints", "WPDefSpeed", _wpDefSpeed.ToString());
		4155	ini.IniWriteValue("waypoints", "WPDefCBoxSpeed", _wpDefCBoxSpeed.ToString());
		4156	ini.IniWriteValue("waypoints", "WPDefClimb", _wpDefClimb.ToString());
		4157	ini.IniWriteValue("waypoints", "WPDefCBoxClimb", _wpDefCBoxClimb.ToString());
		4158	ini.IniWriteValue("waypoints", "WPDefRadius", _wpDefRadius.ToString());
		4159	ini.IniWriteValue("waypoints", "WPDefHoldtime", _wpDefHoldtime.ToString());
		4160	ini.IniWriteValue("waypoints", "WPDefAutotrig", _wpDefAutotrig.ToString());
		4161	ini.IniWriteValue("waypoints", "WPDefCamangle", _wpDefCamangle.ToString());
		4162	ini.IniWriteValue("waypoints", "WPDefCBoxCamangle", _wpDefCBoxCamangle.ToString());
		4163	ini.IniWriteValue("waypoints", "WPDefOut1", _wpDefOut1.ToString());
		4164	ini.IniWriteValue("waypoints", "WPAddCopterHeight", _wpAddCopterHeight.ToString());
		4165	ini.IniWriteValue("waypoints", "WPAddCopterHeading", _wpAddCopterHeading.ToString());
		4166	ini.IniWriteValue("waypoints", "CopterSize", SliderCopterZoom.Value.ToString());
		4167	ini.IniWriteValue("waypoints", "WPSize", SliderWPZoom.Value.ToString());
		4168
		4169	ini.IniWriteValue("cam", "CamImagePosLeft", _camImageMargin.Left.ToString());
		4170	ini.IniWriteValue("cam", "CamImagePosTop", _camImageMargin.Top.ToString());
		4171	ini.IniWriteValue("cam", "CamImageZoom", SliderCamZoom.Value.ToString());
		4172
		4173	for (int i = 0; i < 12; i++)
		4174	{
		4175	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		4176	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		4177	for (int y = 0; i < 4 && y < 3; y++)
		4178	{
		4179	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		4180	}
		4181	}
		4182
		4183	}
		4184	catch (Exception e)
		4185	{
		4186
		4187	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);
		4188	}
		4189	}
		4190	#endregion ini
		4191
		4192	#region serial channels
		4193	/// <summary>
		4194	/// Sending the serial channel values
		4195	/// </summary>
		4196	void _sendSerialData()
		4197	{
		4198	byte[] serData = new byte[12];
		4199	for (int i = 0; i < 12; i++)
		4200	{
		4201	serData[i] = unchecked((byte)(serChan[i] - 127));
		4202	}
		4203	_sendControllerMessage('y', 1, serData);
		4204	}
		4205	/// <summary>
		4206	/// init the controls for displaying
		4207	/// and setting serial control channels
		4208	/// </summary>
		4209	void _initSerialCtrl()
		4210	{
		4211	SerChan1ScaleSlider.Value = serChan[0];
		4212	textBoxSerial1.Text = serChanTitle[0];
		4213	SerChan2ScaleSlider.Value = serChan[1];
		4214	textBoxSerial2.Text = serChanTitle[1];
		4215	SerChan3ScaleSlider.Value = serChan[2];
		4216	textBoxSerial3.Text = serChanTitle[2];
		4217	//SerChan4ScaleSlider.Value = serChan[3];
		4218	//textBoxSerial4.Text = serChanTitle[3];
		4219	//trckbarSerial5.Value = serChan[4];
		4220	//textBoxSerial5.Text = serChanTitle[4];
		4221	//trckbarSerial6.Value = serChan[5];
		4222	//textBoxSerial6.Text = serChanTitle[5];
		4223	//trckbarSerial7.Value = serChan[6];
		4224	//textBoxSerial7.Text = serChanTitle[6];
		4225	//trckbarSerial8.Value = serChan[7];
		4226	//textBoxSerial8.Text = serChanTitle[7];
		4227
		4228	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		4229	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		4230	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		4231	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		4232	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		4233	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
		4234	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		4235	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		4236	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
		4237	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		4238	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		4239	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		4240	}
		4241	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		4242	{
		4243	if (!_init)
		4244	{
		4245	serChan[0] = (int)SerChan1ScaleSlider.Value;
		4246	_sendSerialData();
		4247	}
		4248	}
		4249	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		4250	{
		4251	if (!_init)
		4252	{
		4253	serChanTitle[0] = textBoxSerial1.Text;
		4254	}
		4255	}
		4256	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		4257	{
		4258	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		4259	{
		4260	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		4261	}
		4262	}
		4263	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		4264	{
		4265	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		4266	{
		4267	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		4268	}
		4269	}
		4270	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		4271	{
		4272	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		4273	{
		4274	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		4275	}
		4276	}
		4277	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		4278	{
		4279	if (textBoxSerial1_val1.Text.Length > 0)
		4280	{
		4281	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		4282	}
		4283	}
		4284	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		4285	{
		4286	SerChan1ScaleSlider.Value = 0;
		4287	}
		4288	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		4289	{
		4290	SerChan1ScaleSlider.Value = 127;
		4291	}
		4292	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		4293	{
		4294	SerChan1ScaleSlider.Value = 254;
		4295	}
		4296	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		4297	{
		4298	if (textBoxSerial1_val2.Text.Length > 0)
		4299	{
		4300	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		4301	}
		4302	}
		4303	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		4304	{
		4305	if (textBoxSerial1_val3.Text.Length > 0)
		4306	{
		4307	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		4308	}
		4309	}
		4310
		4311	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		4312	{
		4313	if (!_init)
		4314	{
		4315	serChan[1] = (int)SerChan2ScaleSlider.Value;
		4316	_sendSerialData();
		4317	}
		4318	}
		4319	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		4320	{
		4321	if (!_init)
		4322	{
		4323	serChanTitle[1] = textBoxSerial2.Text;
		4324	}
		4325	}
		4326	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		4327	{
		4328	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		4329	{
		4330	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		4331	}
		4332	}
		4333	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		4334	{
		4335	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		4336	{
		4337	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		4338	}
		4339	}
		4340	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		4341	{
		4342	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		4343	{
		4344	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		4345	}
		4346	}
		4347	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		4348	{
		4349	SerChan2ScaleSlider.Value = 0;
		4350	}
		4351	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		4352	{
		4353	SerChan2ScaleSlider.Value = 127;
		4354	}
		4355	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		4356	{
		4357	SerChan2ScaleSlider.Value = 254;
		4358	}
		4359	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		4360	{
		4361	if (textBoxSerial2_val1.Text.Length > 0)
		4362	{
		4363	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		4364	}
		4365	}
		4366	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		4367	{
		4368	if (textBoxSerial2_val2.Text.Length > 0)
		4369	{
		4370	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		4371	}
		4372	}
		4373	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		4374	{
		4375	if (textBoxSerial2_val3.Text.Length > 0)
		4376	{
		4377	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		4378	}
		4379	}
		4380
		4381	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		4382	{
		4383	if (!_init)
		4384	{
		4385	serChan[2] = (int)SerChan3ScaleSlider.Value;
		4386	_sendSerialData();
		4387	}
		4388	}
		4389	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		4390	{
		4391	if (!_init)
		4392	{
		4393	serChanTitle[2] = textBoxSerial3.Text;
		4394	}
		4395	}
		4396	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		4397	{
		4398	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		4399	{
		4400	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		4401	}
		4402	}
		4403	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		4404	{
		4405	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		4406	{
		4407	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		4408	}
		4409	}
		4410	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		4411	{
		4412	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		4413	{
		4414	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		4415	}
		4416	}
		4417	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		4418	{
		4419	SerChan3ScaleSlider.Value = 0;
		4420	}
		4421	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		4422	{
		4423	SerChan3ScaleSlider.Value = 127;
		4424	}
		4425	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		4426	{
		4427	SerChan3ScaleSlider.Value = 254;
		4428	}
		4429	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		4430	{
		4431	if (textBoxSerial3_val1.Text.Length > 0)
		4432	{
		4433	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		4434	}
		4435	}
		4436	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		4437	{
		4438	if (textBoxSerial3_val2.Text.Length > 0)
		4439	{
		4440	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		4441	}
		4442	}
		4443	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		4444	{
		4445	if (textBoxSerial3_val3.Text.Length > 0)
		4446	{
		4447	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		4448	}
		4449	}
		4450	/// <summary>
		4451	/// checks the input of a textbox
		4452	/// for valid data
		4453	/// in this case values 0-254
		4454	/// </summary>
		4455	/// <param name="sender"></param>
		4456	/// <param name="e"></param>
		4457	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		4458	{
		4459	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		4460	e.Handled = true;
		4461	else
		4462	if ("\b".IndexOf(e.Key.ToString()) < 0)
		4463	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		4464	e.Handled = true;
		4465	else
		4466	{
		4467	int i = -1;
		4468	switch (((TextBox)sender).Name)
		4469	{
		4470	case "textBoxSerial1_val1":
		4471	i = 0;
		4472	break;
		4473	case "textBoxSerial1_val2":
		4474	i = 1;
		4475	break;
		4476	case "textBoxSerial1_val3":
		4477	i = 2;
		4478	break;
		4479	case "textBoxSerial2_val1":
		4480	i = 3;
		4481	break;
		4482	case "textBoxSerial2_val2":
		4483	i = 4;
		4484	break;
		4485	case "textBoxSerial2_val3":
		4486	i = 5;
		4487	break;
		4488	case "textBoxSerial3_val1":
		4489	i = 6;
		4490	break;
		4491	case "textBoxSerial3_val2":
		4492	i = 7;
		4493	break;
		4494	case "textBoxSerial3_val3":
		4495	i = 8;
		4496	break;
		4497	case "textBoxSerial4_val1":
		4498	i = 9;
		4499	break;
		4500	case "textBoxSerial4_val2":
		4501	i = 10;
		4502	break;
		4503	case "textBoxSerial4_val3":
		4504	i = 11;
		4505	break;
		4506	}
		4507	if (i > -1)
		4508	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		4509	}
		4510	}
		4511
		4512	#endregion serial channels
		4513	#region WP
		4514	void _readWPLFile()
		4515	{
		4516	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4517	fd.Filter = "Waypointlists \| *.wpl";
		4518	fd.Multiselect = false;
		4519	if (fd.ShowDialog().Value)
		4520	{
		4521	string file = fd.SafeFileName;
		4522	IniFile ini = new IniFile(fd.SafeFileName);
		4523	ini.path = fd.FileName;
		4524
		4525	try
		4526	{
		4527	string sVal = ini.IniReadValue("General", "FileVersion");
		4528	if (sVal == "")
		4529	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4530	else
		4531	{
		4532	if (Convert.ToInt16(sVal) < 3)
		4533	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4534	else
		4535	{
		4536	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		4537	if (sVal == "")
		4538	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		4539	else
		4540	{
		4541	int wpnum = Convert.ToInt16(sVal);
		4542	string wp;
		4543	int i;
		4544	NumberFormatInfo nfi = new NumberFormatInfo();
		4545	nfi.NumberDecimalSeparator = ".";
		4546	dtWaypoints.Rows.Clear();
		4547	_wpEdit = -1;_wpIndex = -1;
		4548	wpOffset.Clear();
		4549	_clearMapMarkers(typeof(CustomMarkerWP));
		4550	_clearMapMarkers(typeof(CustomMarkerWPActive));
		4551	wpList.Clear();
		4552	if (mRouteWP != null)
		4553	MainMap.Markers.Remove(mRouteWP);
		4554	//if (wpActiveMarker != null)
		4555	// MainMap.Markers.Remove(wpActiveMarker);
		4556	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		4557
		4558	for (int k = 1; k <= wpnum; k++)
		4559	{
		4560	DataRow dr = dtWaypoints.NewRow();
		4561	dr.ItemArray = new object[16];
		4562	object[] o = new object[16];
		4563	i = 0;
		4564	wp = "Point" + k.ToString();
		4565	o[i] = k;
		4566	i++;
		4567	sVal = ini.IniReadValue(wp, "Type");
		4568	if (sVal != "")
		4569	o[i] = Convert.ToInt16(sVal) - 1;
		4570	i++;
		4571	sVal = ini.IniReadValue(wp, "Prefix");
		4572	if (sVal != "")
		4573	o[i] = sVal + k.ToString();
		4574	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
		4575	i++;
		4576	sVal = ini.IniReadValue(wp, "Latitude");
		4577	if (sVal != "")
		4578	o[i] = Convert.ToDouble(sVal, nfi);
		4579	i++;
		4580	sVal = ini.IniReadValue(wp, "Longitude");
		4581	if (sVal != "")
		4582	o[i] = Convert.ToDouble(sVal, nfi);
		4583	i++;
		4584	sVal = ini.IniReadValue(wp, "Altitude");
		4585	if (sVal != "")
		4586	o[i] = Convert.ToDouble(sVal, nfi);
		4587	i++;
		4588	sVal = ini.IniReadValue(wp, "Heading");
		4589	if (sVal != "")
		4590	o[i] = Convert.ToInt16(sVal);
		4591	i++;
		4592	sVal = ini.IniReadValue(wp, "Speed");
		4593	if (sVal != "")
		4594	o[i] = Convert.ToInt16(sVal);
		4595	i++;
		4596	sVal = ini.IniReadValue(wp, "ClimbRate");
		4597	if (sVal != "")
		4598	o[i] = Convert.ToInt16(sVal);
		4599	i++;
		4600	sVal = ini.IniReadValue(wp, "Radius");
		4601	if (sVal != "")
		4602	o[i] = Convert.ToInt16(sVal);
		4603	i++;
		4604	sVal = ini.IniReadValue(wp, "DelayTime");
		4605	if (sVal != "")
		4606	o[i] = Convert.ToInt16(sVal);
		4607	i++;
		4608	sVal = ini.IniReadValue(wp, "AutoTrigger");
		4609	if (sVal != "")
		4610	o[i] = Convert.ToInt16(sVal); ;
		4611	i++;
		4612	sVal = ini.IniReadValue(wp, "CAM-Nick");
		4613	if (sVal != "")
		4614	o[i] = Convert.ToInt16(sVal);
		4615	i++;
		4616	o[i] = 0;
		4617	i++;
		4618	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		4619	if (sVal != "")
		4620	o[i] = Convert.ToInt16(sVal);
		4621	i++;
		4622	o[i] = "New";
		4623
		4624	dr.ItemArray = o;
		4625	dtWaypoints.Rows.Add(dr);
		4626	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1], (int)o[0]-1);
		4627
		4628	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		4629	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		4630	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4631	Thread.Sleep(1);
		4632	}
		4633	Dispatcher.Invoke(() => MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]));
		4634	Dispatcher.Invoke(() => MainMap.Zoom = 19);
		4635	// Dispatcher.Invoke(() => MainMap.ZoomAndCenterMarkers(null));
		4636	Dispatcher.Invoke(() => _routeUpdate());
		4637	}
		4638	}
		4639	}
		4640
		4641	}
		4642	catch (Exception e)
		4643	{
		4644
		4645	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		4646	}
		4647
		4648	}
		4649	}
		4650	void _saveWPLFile()
		4651	{
		4652	if (dtWaypoints.Rows.Count > 0)
		4653	{
		4654	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		4655	fd.Filter = "Waypointlists \| *.wpl";
		4656	fd.AddExtension = true;
		4657	if (fd.ShowDialog().Value)
		4658	{
		4659	string file = fd.SafeFileName;
		4660	IniFile ini = new IniFile(fd.SafeFileName);
		4661	ini.path = fd.FileName;
		4662	NumberFormatInfo nfi = new NumberFormatInfo();
		4663	nfi.NumberDecimalSeparator = ".";
		4664
		4665	try
		4666	{
		4667	ini.IniWriteValue("General", "FileVersion", "3");
		4668	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		4669	ini.IniWriteValue("General", "Mapfile", "");
		4670	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		4671	{
		4672	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		4673	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		4674	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		4675	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		4676	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		4677	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		4678	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		4679	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		4680	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		4681	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		4682	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		4683	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));
		4684	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		4685	}
		4686	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		4687	}
		4688	catch { }
		4689	}
		4690	}
		4691	else
		4692	MessageBox.Show("Nothing to save...");
		4693	}
		4694	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		4695	{
		4696	_saveWPLFile();
		4697	}
		4698	/// <summary>
		4699	/// set the selected color for the route
		4700	/// </summary>
		4701	/// <param name="color"></param>
		4702	/// <returns></returns>
		4703	Brush _getBrush(string color)
		4704	{
		4705	switch (color)
		4706	{
		4707	case "red":
		4708	return Brushes.Red;
		4709	case "green":
		4710	return Brushes.Lime;
		4711	case "blue":
		4712	return Brushes.Aqua;
		4713	case "pink":
		4714	return Brushes.Magenta;
		4715	case "yellow":
		4716	return Brushes.Yellow;
		4717	default:
		4718	return Brushes.Magenta;
		4719	}
		4720	}
		4721	void _routeUpdate()
		4722	{
		4723	Dispatcher.Invoke(() =>
		4724	{
		4725	if (comboBoxRouteColor.SelectionBoxItem != null)
		4726	{
		4727	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4728	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4729	}
		4730	else
		4731	mRouteWP = new GMapRoute(wpList, null);
		4732
		4733	if (_bShowWPRoute)
		4734	MainMap.Markers.Add(mRouteWP);
		4735	});
		4736
		4737	MapRoute mr = new MapRoute(wpList, "WPList");
		4738	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		4739	}
		4740	GMapMarker _createWP(PointLatLng p, string name, int type, int index)
		4741	{
		4742	GMapMarker wpMarker = new GMapMarker(p);
		4743	Dispatcher.Invoke(()=>
		4744	{
		4745	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
		4746	wpMarker.Tag = name;
		4747	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		4748	wpMarker.ZIndex = 100;
		4749	_setMarkerColor(wpMarker, type);
		4750	MainMap.Markers.Add(wpMarker);
		4751	if (type == 0 \|\| type == 3)
		4752	{
		4753	wpList.Add(p);
		4754	wpOffset.Add(index);
		4755	}
		4756	((CustomMarkerWP)wpMarker.Shape).positionChanged += _updateDTWPPos;
		4757	((CustomMarkerWP)wpMarker.Shape).newPosition += _updateDTWPPosFin;
		4758	((CustomMarkerWP)wpMarker.Shape).mouseCaptured += _WPMouseCaptured;
		4759	_setMapItemsSize("WP", SliderWPZoom.Value);
		4760	});
		4761	return wpMarker;
		4762	}
		4763	bool _WPisMouseCaptured = false;
		4764	void _WPMouseCaptured(bool isCaptured)
		4765	{
		4766	_WPisMouseCaptured = isCaptured;
		4767	MainMap.CanDragMap = !isCaptured;
		4768	}
		4769	void _updateDTWPPos(CustomMarkerWP wp)
		4770	{
		4771	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4772	int index = Convert.ToInt16(sIndex) -1;
		4773	GMapMarker p = ((GMapMarker)wp.DataContext);
		4774	if (p != null && index < dtWaypoints.Rows.Count)
		4775	{
		4776	//Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4777	if(wp.WPType == 0 \| wp.WPType == 3)
		4778	{
		4779	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		4780	int wpListIndex = wpList.IndexOf(x);
		4781	if (wpListIndex > -1)
		4782	{
		4783	wpList[wpListIndex] = p.Position;
		4784	MainMap.Markers.Remove(mRouteWP);
		4785	_routeUpdate();
		4786	}
		4787	}
		4788	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4789	dtWaypoints.Rows[index][4] = p.Position.Lng;
		4790	}
		4791	}
		4792	void _updateDTWPPosFin(CustomMarkerWP wp)
		4793	{
		4794	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4795	int index = Convert.ToInt16(sIndex) -1;
		4796	GMapMarker p = ((GMapMarker)wp.DataContext);
		4797	if (p != null && index < dtWaypoints.Rows.Count)
		4798	{
		4799	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4800	dtWaypoints.Rows[index][4] = p.Position.Lng;
		4801	Dispatcher.Invoke(() =>
		4802	{
		4803	dgvWP.Items.Refresh();
		4804	dgvWP.SelectedIndex = index;
		4805	_dgvWPselectEditRow();
		4806	});
		4807
		4808	}
		4809
		4810	}
		4811	void _addWP(PointLatLng p,int type)
		4812	{
		4813	object[] o = new object[16];
		4814
		4815	o[0] = dgvWP.ItemContainerGenerator.Items.Count + 1;
		4816	o[1] = type;
		4817	// cbWPEditType.SelectedIndex = 0;
		4818	// tbWPEditPrefix.Text = "P";
		4819	o[2] = _wpDefPrefix + o[0].ToString();
		4820	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4821	o[3] = p.Lat;
		4822	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4823	o[4] = p.Lng;
		4824	// lblWPEditAlt.Content = ((double)iAnalogData[4] / (double)10).ToString();
		4825	o[5] = _wpAddCopterHeight ? iAnalogData[4].ToString(): _wpDefAltitude.ToString();
		4826
		4827	cbWPEditHeading.SelectedIndex = _wpDefCBoxHeading;
		4828	o[6] = _wpAddCopterHeading ? iAnalogData[10].ToString(): _wpDefHeading.ToString();
		4829	//lblWPEditHeading.Content = iAnalogData[10].ToString();
		4830	// tbWPEditHeading.IsReadOnly = false;
		4831
		4832	cbWPEditSpeed.SelectedIndex = _wpDefCBoxSpeed;
		4833	// tbWPEditSpeed.Text = "5.0";
		4834	// tbWPEditSpeed.IsReadOnly = false;
		4835	o[7] = _wpDefSpeed.ToString();
		4836
		4837	cbWPEditClimbrate.SelectedIndex = _wpDefCBoxClimb;
		4838	// lblWPEditClimbrate.Content = "5.0";
		4839	// tbWPEditClimbrate.IsReadOnly = false;
		4840	o[8] = _wpDefClimb.ToString();
		4841
		4842	// lblWPEditRadius.Content = "10";
		4843	o[9] = _wpDefRadius.ToString();
		4844	// lblWPEditHoldtime.Content = "5";
		4845	o[10] = _wpDefHoldtime.ToString();
		4846	// lblWPEditAutoTrigger.Content = "0";
		4847	o[11] = _wpDefAutotrig.ToString();
		4848	cbWPEditCamAngle.SelectedIndex = _wpDefCBoxCamangle;
		4849	// lblWPEditCamAngle.Content = "AUTO";
		4850	// tbWPEditCamAngle.IsReadOnly = true;
		4851	o[12] = _wpDefCamangle.ToString();
		4852
		4853	o[13] = "0";
		4854	// lblWPEditOut1.Content = "0";
		4855	o[14] = _wpDefOut1.ToString();
		4856	o[15] = "0";
		4857
		4858	dtWaypoints.Rows.Add(o);
		4859	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1], (int)o[0] - 1);
		4860	// Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4861	if (mRouteWP != null)
		4862	MainMap.Markers.Remove(mRouteWP);
		4863	_routeUpdate();
		4864	Dispatcher.Invoke(() =>
		4865	{
		4866	dgvWP.Items.Refresh();
		4867	dgvWP.UpdateLayout();
		4868	dgvWP.SelectedIndex = (int)o[0] - 1;
		4869	_dgvWPselectEditRow();
		4870	});
		4871	}
		4872	/// <summary>
		4873	/// find the index of of a wp from datatable in the waypointlist wpList
		4874	/// </summary>
		4875	/// <param name="dtIndex">the index of wp in datatable (0-based)</param>
		4876	/// <returns></returns>
		4877	int _getWPIndexfromList(int dtIndex)
		4878	{
		4879	if ((int)dtWaypoints.Rows[dtIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dtIndex][1] == 3)
		4880	{
		4881	GMapMarker wp = _findWPMarker((string)dtWaypoints.Rows[dtIndex][2]);
		4882	if (wp != null)
		4883	return wpList.IndexOf(wp.Position);
		4884	}
		4885	return -1;
		4886	}
		4887	/// <summary>
		4888	/// find the index of of a wp from datatable in the waypointlist wpList
		4889	/// </summary>
		4890	/// <param name="name">the name of the wp</param>
		4891	/// <returns></returns>
		4892	int _getWPIndexfromList(string name)
		4893	{
		4894	GMapMarker wp = _findWPMarker(name);
		4895	if ((wp != null && wp.Shape != null) && ((CustomMarkerWP)wp.Shape).WPType == 0 \| ((CustomMarkerWP)wp.Shape).WPType == 3)
		4896	return wpList.IndexOf(wp.Position);
		4897	else
		4898	return -1;
		4899	}
		4900	int _getWPListOffset(int index)
		4901	{
		4902	int k = 0;
		4903	for(int i = 0; i < wpOffset.Count;i++)
		4904	{
		4905	if (wpOffset[i] <= index)
		4906	k++;
		4907	}
		4908
		4909	return k;
		4910	}
		4911	void _setMarkerColor(GMapMarker wpMarker,int iType)
		4912	{
		4913	if(wpMarker != null)
		4914	Dispatcher.Invoke(() =>
		4915	{
		4916	switch (iType)
		4917	{
		4918	case 0:
		4919	if (comboBoxWPColor.SelectionBoxItem != null)
		4920	{
		4921	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		4922	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4923	}
		4924	else
		4925	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
		4926	break;
		4927	case 1:
		4928	if (comboBoxPOIColor.SelectionBoxItem != null)
		4929	{
		4930	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		4931	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4932	}
		4933	else
		4934	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
		4935	break;
		4936	case 2:
		4937	if (comboBoxFSColor.SelectionBoxItem != null)
		4938	{
		4939	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		4940	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4941	}
		4942	else
		4943	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4944	break;
		4945	case 3:
		4946	if (comboBoxLandingColor.SelectionBoxItem != null)
		4947	{
		4948	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		4949	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4950	}
		4951	else
		4952	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		4953	break;
		4954	default:
		4955	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4956	break;
		4957	}
		4958	});
		4959
		4960	}
		4961	void _MarkerColorSelection(object sender,int type)
		4962	{
		4963	Dispatcher.Invoke(() =>
		4964	{
		4965	if (((ComboBox)sender).SelectionBoxItem != null)
		4966	{
		4967	for (int k = 0; k < MainMap.Markers.Count; k++)
		4968	{
		4969	GMapMarker p = MainMap.Markers[k];
		4970	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
		4971	{
		4972	if (((CustomMarkerWP)p.Shape).WPType == type)
		4973	{
		4974	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
		4975	((CustomMarkerWP)(p.Shape)).setColor(s);
		4976	}
		4977	}
		4978	}
		4979	}
		4980	});
		4981	}
		4982	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
		4983	{
		4984	_MarkerColorSelection(sender, 0);
		4985	}
		4986	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		4987	{
		4988	_MarkerColorSelection(sender, 1);
		4989	}
		4990	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		4991	{
		4992	_MarkerColorSelection(sender, 2);
		4993	}
		4994	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		4995	{
		4996	_MarkerColorSelection(sender,3);
		4997	}
		4998	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
		4999	{
		5000	Dispatcher.Invoke(() => {
		5001	if (comboBoxCopterColor.SelectionBoxItem != null)
		5002	{
		5003	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		5004	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
		5005	}
		5006	else
		5007	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
		5008	});
		5009	}
		5010	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		5011	{
		5012	Dispatcher.Invoke(() => {
		5013	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		5014	{
		5015	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		5016	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		5017	}
		5018	else
		5019	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		5020	});
		5021	}
		5022	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		5023	{
		5024	Dispatcher.Invoke(() =>
		5025	{
		5026	if (comboBoxRouteColor.SelectionBoxItem != null)
		5027	{
		5028	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		5029	MainMap.Markers.Remove(mRouteWP);
		5030	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		5031	if (_bShowWPRoute)
		5032	MainMap.Markers.Add(mRouteWP);
		5033	}
		5034	});
		5035	}
		5036	private void comboBoxWPMaxRangeColor_DropDownClosed(object sender, EventArgs e)
		5037	{
		5038	Dispatcher.Invoke(() =>
		5039	{
		5040	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		5041	{
		5042	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		5043	{
		5044	if (cWPBound != null && cWPBound.Tag != null)
		5045	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		5046
		5047	createCircle(home.Position, dWPMaxRange);
		5048	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		5049	cWPBound.setColor(s);
		5050
		5051	}
		5052	}
		5053	});
		5054
		5055	}
		5056	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		5057	{
		5058	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		5059	if (_bShowWPRoute)
		5060	{
		5061	if (mRouteWP != null)
		5062	MainMap.Markers.Add(mRouteWP);
		5063	}
		5064	else
		5065	{
		5066	if (mRouteWP != null)
		5067	MainMap.Markers.Remove(mRouteWP);
		5068	}
		5069	}
		5070
		5071	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
		5072	{
		5073	_readWPLFile();
		5074	}
		5075	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		5076	{
		5077	_clearMapMarkers(typeof(CustomMarkerWP));
		5078	_clearMapMarkers(typeof(CustomMarkerWPActive));
		5079	wpList.Clear();
		5080	if (mRouteWP != null)
		5081	MainMap.Markers.Remove(mRouteWP);
		5082	//if (wpActiveMarker != null)
		5083	// MainMap.Markers.Remove(wpActiveMarker);
		5084	dtWaypoints.Rows.Clear();
		5085	_wpEdit = -1;
		5086	_wpIndex = -1;
		5087	wpOffset.Clear();
		5088	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		5089	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		5090	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		5091	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		5092	}
		5093	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		5094	{
		5095	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		5096	t.Start();
		5097	}
		5098	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
		5099	{
		5100	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5101	{
		5102	if (_wpCount > 0)
		5103	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
		5104	else
		5105	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
		5106
		5107	//int index = dgvWP.SelectedIndex;
		5108	//Thread t = new Thread(() => _sendWPList(index));
		5109	//t.Start();
		5110
		5111	Dispatcher.Invoke(() => {
		5112	DataGridRow row;
		5113	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		5114	{
		5115	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		5116	row.Background = new SolidColorBrush(Colors.Transparent);
		5117	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		5118	row.BorderThickness = new Thickness(0);
		5119	dgvWP.UpdateLayout();
		5120	}
		5121	//_wpEdit = dgvWP.SelectedIndex;
		5122	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		5123	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		5124	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		5125	//row.BorderThickness = new Thickness(2);
		5126	});
		5127	}
		5128	}
		5129	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		5130	{
		5131	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5132	{
		5133
		5134	object[] o = new object[16];
		5135	o[0] = dgvWP.SelectedIndex + 1;
		5136	o[1] = cbWPEditType.SelectedIndex;
		5137	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		5138	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		5139	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		5140	o[5] = lblWPEditAlt.Content;
		5141	switch (cbWPEditHeading.SelectedIndex)
		5142	{
		5143	case 0:
		5144	o[6] = "0";
		5145	break;
		5146	case 1:
		5147	o[6] = "-" + lblWPEditHeading.Content;
		5148	break;
		5149	case 2:
		5150	o[6] = lblWPEditHeading.Content;
		5151	break;
		5152	}
		5153	switch (cbWPEditSpeed.SelectedIndex)
		5154	{
		5155	case 0:
		5156	o[7] = "0";
		5157	break;
		5158	case 1:
		5159	o[7] = (System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10).ToString("0");
		5160	break;
		5161	case 2:
		5162	o[7] = (256 - Convert.ToInt16(lblWPEditSpeed.Content)).ToString();
		5163	break;
		5164	}
		5165	switch (cbWPEditClimbrate.SelectedIndex)
		5166	{
		5167	case 0:
		5168	o[8] = "255";
		5169	break;
		5170	case 1:
		5171	o[8] = (System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.', ',')) * 10).ToString("0");
		5172	break;
		5173	}
		5174	o[9] = lblWPEditRadius.Content;
		5175	o[10] = lblWPEditHoldtime.Content;
		5176	o[11] = lblWPEditAutoTrigger.Content;
		5177	switch (cbWPEditCamAngle.SelectedIndex)
		5178	{
		5179	case 0:
		5180	o[12] = "0";
		5181	break;
		5182	case 1:
		5183	o[12] = "255";
		5184	break;
		5185	case 2:
		5186	o[12] = lblWPEditCamAngle.Content;
		5187	break;
		5188	}
		5189	o[13] = 0;
		5190	o[14] = lblWPEditOut1.Content;
		5191	DataRow dr = dtWaypoints.NewRow();
		5192	dr.ItemArray = o;
		5193
		5194	if (_wpCount > 0)
		5195	_sendWayPoint(dr, -1, 'w', false);
		5196	else
		5197	_sendWayPoint(dr, 1, 'w', false);
		5198
		5199	if (_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count)
		5200	_sendWayPoint(dtWaypoints.Rows[wpOffset[_wpIndex]], _wpIndex+1, 's', false);
		5201	}
		5202	}
		5203	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		5204	{
		5205	_Simulate = !_Simulate;
		5206	if (dtWaypoints.Rows.Count > 0)
		5207	{
		5208	DataRow dr = dtWaypoints.Rows[0];
		5209	dr[13] = _Simulate ? 3 : 0;
		5210	_sendWayPoint(dr, 0, 's', true);
		5211	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
		5212	}
		5213	}
		5214
		5215	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		5216	{
		5217	_dgvWPselectEditRow();
		5218	}
		5219	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		5220	{
		5221	}
		5222	void _dgvWPselectEditRow()
		5223	{
		5224	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5225	{
		5226	Dispatcher.Invoke(() => {
		5227	DataGridRow row;
		5228	dgvWP.Items.Refresh();
		5229	dgvWP.UpdateLayout();
		5230	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		5231	{
		5232	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		5233	if (row != null)
		5234	{
		5235	row.Background = new SolidColorBrush(Colors.Transparent);
		5236	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		5237	row.BorderThickness = new Thickness(0);
		5238	}
		5239	}
		5240	_wpEdit = dgvWP.SelectedIndex;
		5241	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		5242	if (row != null)
		5243	{
		5244	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		5245	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		5246	row.BorderThickness = new Thickness(2);
		5247	dgvWP.UpdateLayout();
		5248	}
		5249	if (GridWPEdit.Visibility == Visibility.Collapsed && _bAutoWPEdit)
		5250	GridWPEdit.Visibility = Visibility.Visible;
		5251
		5252	_setWPEditFields(_wpEdit);
		5253	});
		5254	}
		5255	}
		5256	void _setWPEditFields(int index)
		5257	{
		5258	if (GridWPEdit.Visibility == Visibility.Collapsed && _bAutoWPEdit)
		5259	GridWPEdit.Visibility = Visibility.Visible;
		5260
		5261	int iVal;
		5262	lblWPEditIndex.Content = dtWaypoints.Rows[index][0].ToString();
		5263	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		5264	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		5265	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		5266	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		5267
		5268	SliderAlt.Value = Convert.ToInt16(dtWaypoints.Rows[index][5]);
		5269
		5270	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		5271	SliderHeading.Value = Math.Abs(iVal);
		5272	if (iVal == 0)
		5273	{
		5274	cbWPEditHeading.SelectedIndex = 0;
		5275	// lblWPEditHeading.Content = " - - -";
		5276	}
		5277	if (iVal > 0 && iVal < 360)
		5278	{
		5279	cbWPEditHeading.SelectedIndex = 2;
		5280	// lblWPEditHeading.Content = iVal.ToString();
		5281	}
		5282	if (iVal < 0)
		5283	{
		5284	cbWPEditHeading.SelectedIndex = 1;
		5285	// lblWPEditHeading.Content = (Math.Abs(iVal).ToString());
		5286	}
		5287	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		5288	SliderSpeed.Value = (double)iVal * 0.1; //------------!!!!!!!!
		5289	if (iVal == 0)
		5290	{
		5291	cbWPEditSpeed.SelectedIndex = 0;
		5292	// lblWPEditSpeed.Content = "MAX";
		5293	}
		5294	if (iVal > 0 && iVal < 248)
		5295	{
		5296	cbWPEditSpeed.SelectedIndex = 1;
		5297	// lblWPEditSpeed.Content = ((double)iVal * 0.1).ToString();
		5298	}
		5299	if (iVal > 247)
		5300	{
		5301	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		5302	// lblWPEditSpeed.Content = "";
		5303	}
		5304	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		5305	SliderClimbrate.Value = (System.Convert.ToDouble(iVal) / 10); //------------!!!!!!!!
		5306	if (iVal == 255)
		5307	{
		5308	cbWPEditClimbrate.SelectedIndex = 0;
		5309	// lblWPEditClimbrate.Content = "AUTO";
		5310	}
		5311	else
		5312	{
		5313	cbWPEditClimbrate.SelectedIndex = 1;
		5314	// lblWPEditClimbrate.Content = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		5315	}
		5316	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		5317	SliderRadius.Value = iVal;
		5318	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		5319	SliderHoldTime.Value = iVal;
		5320	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		5321	SliderAutoTrigger.Value = iVal;
		5322	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		5323	SliderCamAngle.Value = iVal;
		5324	if (iVal == 0)
		5325	{
		5326	cbWPEditCamAngle.SelectedIndex = 0;
		5327	// lblWPEditCamAngle.Content = " - - - ";
		5328	}
		5329	if (iVal < 0 \| iVal == 255)
		5330	{
		5331	cbWPEditCamAngle.SelectedIndex = 1;
		5332	// lblWPEditCamAngle.Content = "AUTO";
		5333	}
		5334	if (iVal > 0 & iVal < 255)
		5335	{
		5336	cbWPEditCamAngle.SelectedIndex = 2;
		5337	// lblWPEditCamAngle.Content = iVal.ToString();
		5338	}
		5339	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		5340	SliderOut1.Value = iVal;
		5341	}
		5342	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		5343	{
		5344	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5345	{
		5346	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
		5347	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		5348	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		5349	int i = wpList.IndexOf(pOld);
		5350	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		5351	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		5352	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		5353	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		5354	if (i > -1)
		5355	{
		5356	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		5357	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		5358	else
		5359	{
		5360	wpList.Remove(pOld);
		5361	wpOffset.Remove(wpOffset[i]);
		5362	}
		5363	}
		5364	else
		5365	{
		5366	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		5367	{
		5368	int found = 0;
		5369	for (int k = 0; k < dgvWP.SelectedIndex; k++)
		5370	{
		5371	if ((int)dtWaypoints.Rows[k][1] == 0 \|\| (int)dtWaypoints.Rows[k][1] == 3)
		5372	{
		5373	found++;
		5374	}
		5375	}
		5376	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		5377	wpOffset.Insert(found, dgvWP.SelectedIndex);
		5378	}
		5379	}
		5380	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = lblWPEditAlt.Content;
		5381	switch (cbWPEditHeading.SelectedIndex)
		5382	{
		5383	case 0:
		5384	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		5385	break;
		5386	case 1:
		5387	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + lblWPEditHeading.Content;
		5388	break;
		5389	case 2:
		5390	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = lblWPEditHeading.Content;
		5391	break;
		5392	}
		5393	switch (cbWPEditSpeed.SelectedIndex)
		5394	{
		5395	case 0:
		5396	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		5397	break;
		5398	case 1:
		5399	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10).ToString("0");
		5400	break;
		5401	case 2:
		5402	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(lblWPEditSpeed.Content)).ToString();
		5403	break;
		5404	}
		5405	switch (cbWPEditClimbrate.SelectedIndex)
		5406	{
		5407	case 0:
		5408	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		5409	break;
		5410	case 1:
		5411	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.',',')) * 10).ToString("0");
		5412	break;
		5413	}
		5414	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = lblWPEditRadius.Content;
		5415	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = lblWPEditHoldtime.Content;
		5416	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = lblWPEditAutoTrigger.Content;
		5417	switch (cbWPEditCamAngle.SelectedIndex)
		5418	{
		5419	case 0:
		5420	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		5421	break;
		5422	case 1:
		5423	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		5424	break;
		5425	case 2:
		5426	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = lblWPEditCamAngle.Content;
		5427	break;
		5428	}
		5429	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = lblWPEditOut1.Content;
		5430
		5431	// _clearMapMarkers(typeof(CustomMarkerWP));
		5432	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		5433	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
		5434	_clearMapMarkers(typeof(CustomMarkerWPActive));
		5435	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
		5436	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
		5437	// wpList.Clear();
		5438	if (mRouteWP != null)
		5439	MainMap.Markers.Remove(mRouteWP);
		5440
		5441	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		5442	//{
		5443	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		5444	//}
		5445	_routeUpdate();
		5446	dgvWP.Items.Refresh();
		5447
		5448	}
		5449
		5450	}
		5451	private void btnEditWPAdd_Click(object sender, RoutedEventArgs e)
		5452	{
		5453	DataRow dr = dtWaypoints.NewRow();
		5454	dr[0] = dtWaypoints.Rows.Count+1;
		5455	dr[1] = cbWPEditType.SelectedIndex;
		5456	dr[2] = tbWPEditPrefix.Text + dr[0].ToString();
		5457	dr[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ',')) + 0.00000001;
		5458	dr[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ',')) + 0.00000001;
		5459	dr[5] = lblWPEditAlt.Content;
		5460	switch (cbWPEditHeading.SelectedIndex)
		5461	{
		5462	case 0:
		5463	dr[6] = "0";
		5464	break;
		5465	case 1:
		5466	dr[6] = "-" + lblWPEditHeading.Content;
		5467	break;
		5468	case 2:
		5469	dr[6] = lblWPEditHeading.Content;
		5470	break;
		5471	}
		5472	switch (cbWPEditSpeed.SelectedIndex)
		5473	{
		5474	case 0:
		5475	dr[7] = "0";
		5476	break;
		5477	case 1:
		5478	dr[7] = (System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10).ToString("0");
		5479	break;
		5480	case 2:
		5481	dr[7] = (256 - Convert.ToInt16(lblWPEditSpeed.Content)).ToString();
		5482	break;
		5483	}
		5484	switch (cbWPEditClimbrate.SelectedIndex)
		5485	{
		5486	case 0:
		5487	dr[8] = "255";
		5488	break;
		5489	case 1:
		5490	dr[8] = (System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.', ',')) * 10).ToString("0");
		5491	break;
		5492	}
		5493	dr[9] = lblWPEditRadius.Content;
		5494	dr[10] = lblWPEditHoldtime.Content;
		5495	dr[11] = lblWPEditAutoTrigger.Content;
		5496	switch (cbWPEditCamAngle.SelectedIndex)
		5497	{
		5498	case 0:
		5499	dr[12] = "0";
		5500	break;
		5501	case 1:
		5502	dr[12] = "255";
		5503	break;
		5504	case 2:
		5505	dr[12] = lblWPEditCamAngle.Content;
		5506	break;
		5507	}
		5508	dr[13] = "";
		5509	dr[14] = lblWPEditOut1.Content;
		5510	dr[15] = "";
		5511	_createWP(new PointLatLng((double)dr[3], (double)dr[4]),(string) dr[2], (int)dr[1], (int)dr[0]);
		5512	if (mRouteWP != null)
		5513	MainMap.Markers.Remove(mRouteWP);
		5514	_routeUpdate();
		5515	dtWaypoints.Rows.Add(dr);
		5516	dgvWP.Items.Refresh();
		5517	}
		5518	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		5519	{
		5520	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5521	{
		5522	int index = dgvWP.SelectedIndex;
		5523	Dispatcher.Invoke(() => {
		5524	DataGridRow row;
		5525	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		5526	{
		5527	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		5528	row.Background = new SolidColorBrush(Colors.Transparent);
		5529	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		5530	row.BorderThickness = new Thickness(0);
		5531	}
		5532	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
		5533	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
		5534	else
		5535	wpOffset.Remove((int)dtWaypoints.Rows[index][0] + 1);
		5536	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
		5537	if (wpActiveMarker != null)
		5538	MainMap.Markers.Remove(wpActiveMarker);
		5539	dtWaypoints.Rows[index].Delete();
		5540	_wpIndex = -1;
		5541	_wpEdit = -1;
		5542	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		5543	{
		5544	dtWaypoints.Rows[i][0] = i + 1;
		5545	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		5546	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		5547	_renameWPMarker(s1, s2);
		5548	dtWaypoints.Rows[i][2] = s2;
		5549	}
		5550	lblWPCount.Content = dtWaypoints.Rows.Count;
		5551	if (mRouteWP != null)
		5552	MainMap.Markers.Remove(mRouteWP);
		5553	_routeUpdate();
		5554
		5555	dgvWP.UpdateLayout();
		5556	});
		5557	}
		5558	}
		5559	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		5560	{
		5561	_wpWEdit(sender);
		5562	}
		5563	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		5564	{
		5565	_wpWEdit(sender);
		5566	}
		5567	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		5568	{
		5569	_wpWEdit(sender);
		5570	}
		5571	void _wpWEdit(object sender)
		5572	{
		5573	// if (!((TextBox)sender).IsReadOnly)
		5574	{
		5575	KeyPad.Keypad k = new KeyPad.Keypad(this);
		5576
		5577	switch (((TextBox)sender).Name)
		5578	{
		5579	case "tbWPEditLat":
		5580	k.Title = "Latitude";
		5581	k.LENGTH = 17;
		5582	k.MAX = 359.9;
		5583	break;
		5584	case "tbWPEditLon":
		5585	k.Title = "Longitude";
		5586	k.LENGTH = 17;
		5587	k.MAX = 359.9;
		5588	break;
		5589	case "tbWPEditAlt":
		5590	k.Title = "Altitude";
		5591	k.LENGTH = 3;
		5592	k.MAX = 254;
		5593	k.disableDecimal();
		5594	break;
		5595	case "tbWPEditHeading":
		5596	k.Title = "Heading";
		5597	k.LENGTH = 3;
		5598	k.MAX = 359;
		5599	k.MIN = 1;
		5600	k.disableDecimal();
		5601	break;
		5602	case "tbWPEditSpeed":
		5603	k.Title = "Speed";
		5604	k.LENGTH = 4;
		5605	k.MAX = 24.7;
		5606	k.MIN = 0.1;
		5607	break;
		5608	case "tbWPEditClimbrate":
		5609	k.Title = "Climbrate";
		5610	k.LENGTH = 4;
		5611	k.MAX = 25.4;
		5612	k.MIN = 0.1;
		5613	break;
		5614	case "tbWPEditRadius":
		5615	k.Title = "Radius";
		5616	k.LENGTH = 3;
		5617	k.MAX = 254;
		5618	k.disableDecimal();
		5619	break;
		5620	case "tbWPEditHoldtime":
		5621	k.Title = "Holdtime";
		5622	k.LENGTH = 3;
		5623	k.MAX = 254;
		5624	break;
		5625	case "tbWPEditAutoTrigger":
		5626	k.Title = "Autotrigger";
		5627	k.LENGTH = 3;
		5628	k.MAX = 254;
		5629	k.disableDecimal();
		5630	break;
		5631	case "tbWPEditCamAngle":
		5632	k.Title = "Camera angle";
		5633	k.LENGTH = 3;
		5634	k.MAX = 254;
		5635	k.MIN = 1;
		5636	k.disableDecimal();
		5637	break;
		5638	case "tbWPEditOut1":
		5639	k.Title = "OUT1 timer interval";
		5640	k.LENGTH = 3;
		5641	k.MAX = 254;
		5642	k.disableDecimal();
		5643	break;
		5644	}
		5645	k.Result = ((TextBox)sender).Text;
		5646	if (k.ShowDialog() == true && k.Result.Length > 0)
		5647	((TextBox)sender).Text = k.Result;
		5648	}
		5649
		5650	}
		5651	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
		5652	{
		5653	_addWP(new PointLatLng(copter.Position.Lat, copter.Position.Lng),0);
		5654	}
		5655	private void checkBoxWPAddUseCopterHeading_Click(object sender, RoutedEventArgs e)
		5656	{
		5657	_wpAddCopterHeading = (bool)checkBoxWPAddUseCopterHeading.IsChecked;
		5658	}
		5659	private void checkBoxWPAddUseCopterHeight_Click(object sender, RoutedEventArgs e)
		5660	{
		5661	_wpAddCopterHeight = (bool)checkBoxWPAddUseCopterHeight.IsChecked;
		5662	}
		5663	private void btnSaveDefault_Click(object sender, RoutedEventArgs e)
		5664	{
		5665	_wpDefPrefix = tbWPEditPrefix.Text;
		5666	_wpDefAltitude = Convert.ToInt16(lblWPEditAlt.Content);
		5667	switch (cbWPEditHeading.SelectedIndex)
		5668	{
		5669	case 0:
		5670	_wpDefHeading = 0;
		5671	break;
		5672	case 1:
		5673	_wpDefHeading = -Convert.ToInt16(lblWPEditHeading.Content);
		5674	break;
		5675	case 2:
		5676	_wpDefHeading = Convert.ToInt16(lblWPEditHeading.Content);
		5677	break;
		5678	}
		5679	_wpDefCBoxHeading = cbWPEditHeading.SelectedIndex;
		5680	switch (cbWPEditSpeed.SelectedIndex)
		5681	{
		5682	case 0:
		5683	_wpDefSpeed = 0;
		5684	break;
		5685	case 1:
		5686	_wpDefSpeed = (int)(System.Convert.ToDouble(lblWPEditSpeed.Content.ToString().Replace('.', ',')) * 10);
		5687	break;
		5688	case 2:
		5689	_wpDefSpeed = 256 - Convert.ToInt16(lblWPEditSpeed.Content);
		5690	break;
		5691	}
		5692	_wpDefCBoxSpeed = cbWPEditSpeed.SelectedIndex;
		5693	switch (cbWPEditClimbrate.SelectedIndex)
		5694	{
		5695	case 0:
		5696	_wpDefClimb = 255;
		5697	break;
		5698	case 1:
		5699	_wpDefClimb = (int)(System.Convert.ToDouble(lblWPEditClimbrate.Content.ToString().Replace('.', ',')) * 10);
		5700	break;
		5701	}
		5702	_wpDefCBoxClimb = cbWPEditClimbrate.SelectedIndex;
		5703	_wpDefRadius = Convert.ToInt16(lblWPEditRadius.Content);
		5704	_wpDefHoldtime = Convert.ToInt16(lblWPEditHoldtime.Content);
		5705	_wpDefAutotrig = Convert.ToInt16(lblWPEditAutoTrigger.Content);
		5706	switch (cbWPEditCamAngle.SelectedIndex)
		5707	{
		5708	case 0:
		5709	_wpDefCamangle = 0;
		5710	break;
		5711	case 1:
		5712	_wpDefCamangle = 255;
		5713	break;
		5714	case 2:
		5715	_wpDefCamangle = Convert.ToInt16(lblWPEditCamAngle.Content);
		5716	break;
		5717	}
		5718	_wpDefCBoxCamangle = cbWPEditCamAngle.SelectedIndex;
		5719	_wpDefOut1 = Convert.ToInt16(lblWPEditOut1.Content);
		5720	}
		5721
		5722	private void btnWPEditmoveUp_Click(object sender, RoutedEventArgs e)
		5723	{
		5724	if (dgvWP.SelectedIndex > 0 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5725	{
		5726	int index = dgvWP.SelectedIndex;
		5727	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)
		5728	{
		5729	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		5730	int wpListIndex = wpList.IndexOf(x);
		5731	if (wpListIndex > 0)
		5732	{
		5733	wpList.RemoveAt(wpListIndex);
		5734	wpList.Insert(wpListIndex - 1, x);
		5735	MainMap.Markers.Remove(mRouteWP);
		5736	_routeUpdate();
		5737	}
		5738	}
		5739	DataRow dr = dtWaypoints.Rows[index];
		5740	DataRow newRow = dtWaypoints.NewRow();
		5741	newRow.ItemArray = dr.ItemArray;
		5742	dtWaypoints.Rows.Remove(dr);
		5743	dtWaypoints.Rows.InsertAt(newRow, index - 1);
		5744	dtWaypoints.Rows[index][0] = 100;
		5745	dtWaypoints.Rows[index - 1][0] = index;
		5746	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index - 1][2].ToString());
		5747	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5748	dtWaypoints.Rows[index - 1][2] = dtWaypoints.Rows[index - 1][2].ToString().Substring(0, 1) + index.ToString();
		5749	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index - 1][2].ToString();
		5750	dtWaypoints.Rows[index][0] = index + 1;
		5751	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5752	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5753	dgvWP.Items.Refresh();
		5754	dgvWP.SelectedIndex = index - 1;
		5755	_dgvWPselectEditRow();
		5756	if (wpOffset.Contains(index)) // calculating offset for wpList (index is 0-based - offset starts with index 1)
		5757	{
		5758	int iOffset = wpOffset.IndexOf(index);
		5759	if (iOffset > 0) // if not first element
		5760	{
		5761	if (wpOffset[iOffset - 1] < index-1) //if previous element is not immediately before actual offset
		5762	wpOffset[iOffset] = index-1; //then decrease offset value by one
		5763	}
		5764	else
		5765	wpOffset[iOffset] = index-1; //if first element, decrease offset by one
		5766	}
		5767	else //selected line is POI
		5768	{
		5769	if (wpOffset.Contains(index - 1)) // if next point is WP
		5770	{
		5771	int iOffset = wpOffset.IndexOf(index - 1);
		5772	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5773	}
		5774	}
		5775
		5776	}
		5777	}
		5778	private void btnWPEditmoveDown_Click(object sender, RoutedEventArgs e)
		5779	{
		5780	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count - 1)
		5781	{
		5782	int index = dgvWP.SelectedIndex;
		5783	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)
		5784	{
		5785	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		5786	int wpListIndex = wpList.IndexOf(x);
		5787	if (wpListIndex > -1)
		5788	{
		5789	wpList.RemoveAt(wpListIndex);
		5790	if (wpList.Count > wpListIndex)
		5791	wpList.Insert(wpListIndex + 1, x);
		5792	else
		5793	wpList.Add(x);
		5794	MainMap.Markers.Remove(mRouteWP);
		5795	_routeUpdate();
		5796	}
		5797	}
		5798	DataRow dr = dtWaypoints.Rows[index];
		5799	DataRow newRow = dtWaypoints.NewRow();
		5800	newRow.ItemArray = dr.ItemArray;
		5801	dtWaypoints.Rows.Remove(dr);
		5802	dtWaypoints.Rows.InsertAt(newRow, index + 1);
		5803	dtWaypoints.Rows[index][0] = 100;
		5804	dtWaypoints.Rows[index + 1][0] = index + 2;
		5805	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index + 1][2].ToString());
		5806	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5807	dtWaypoints.Rows[index + 1][2] = dtWaypoints.Rows[index + 1][2].ToString().Substring(0, 1) + (index+2).ToString();
		5808	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index + 1][2].ToString();
		5809	dtWaypoints.Rows[index][0] = index + 1;
		5810	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5811	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5812	dgvWP.Items.Refresh();
		5813	dgvWP.SelectedIndex = index + 1;
		5814	_dgvWPselectEditRow();
		5815	if(wpOffset.Contains(index)) // If selected line is WP
		5816	{
		5817	int iOffset = wpOffset.IndexOf(index);
		5818	if(iOffset < wpOffset.Count -1) // if not last element
		5819	{
		5820	if (wpOffset[iOffset + 1] > index + 1) //if next element is not immediately after actual offset
		5821	wpOffset[iOffset] = index + 1; //then increase offset value by one
		5822	}
		5823	else
		5824	wpOffset[iOffset] = index + 1; //if last element increase offset by one
		5825	}
		5826	else //selected line is POI
		5827	{
		5828	if (wpOffset.Contains(index + 1)) // if next point is WP
		5829	{
		5830	int iOffset = wpOffset.IndexOf(index + 1);
		5831	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5832	}
		5833	}
		5834	}
		5835
		5836	}
		5837
		5838	private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e)
		5839	{
		5840	if (WPStatus.Visibility == Visibility.Visible)
		5841	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5842	else
		5843	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5844	}
		5845	private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e)
		5846	{
		5847	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		5848	{
		5849	if (cWPBound != null && cWPBound.Tag != null)
		5850	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		5851
		5852	createCircle(home.Position, dWPMaxRange);
		5853	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		5854	{
		5855	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		5856	cWPBound.setColor(s);
		5857	}
		5858	}
		5859
		5860	if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null))
		5861	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		5862	}
		5863	private void checkBoxAutoShowWPEdit_Click(object sender, RoutedEventArgs e)
		5864	{
		5865	_bAutoWPEdit = (bool)checkBoxAutoShowWPEdit.IsChecked;
		5866	}
		5867
		5868	#endregion WP
		5869	#region GPX
		5870	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		5871	{
		5872	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		5873	}
		5874	void _gpxAdd(double lat,double lon, int elevation)
		5875	{
		5876	DataRow dr = dtGPX.NewRow();
		5877	dr[0] = dtGPX.Rows.Count - 1;
		5878	dr[1] = lat;
		5879	dr[2] = lon;
		5880	dr[3] = elevation;
		5881	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		5882	dtGPX.Rows.Add(dr);
		5883	}
		5884
		5885	void _saveGPXLog()
		5886	{
		5887	if (!Directory.Exists("GPXLog"))
		5888	Directory.CreateDirectory("GPXLog");
		5889	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		5890	XmlTextWriter myXmlTextWriter = null;
		5891	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		5892	NumberFormatInfo nfi = new NumberFormatInfo();
		5893	nfi.NumberDecimalSeparator = ".";
		5894
		5895	try
		5896	{
		5897	myXmlTextWriter.Formatting = Formatting.Indented;
		5898
		5899	myXmlTextWriter.WriteStartDocument();
		5900
		5901	myXmlTextWriter.WriteStartElement("gpx");
		5902
		5903	myXmlTextWriter.WriteAttributeString("version", "1.0");
		5904	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		5905	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		5906	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		5907	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		5908
		5909	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		5910
		5911	myXmlTextWriter.WriteStartElement("trk");
		5912	myXmlTextWriter.WriteStartElement("trkseg");
		5913	for(int i = 0; i< dtGPX.Rows.Count;i++)
		5914	{
		5915	myXmlTextWriter.WriteStartElement("trkpt");
		5916	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		5917	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		5918	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		5919	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		5920	myXmlTextWriter.WriteEndElement();
		5921	}
		5922	myXmlTextWriter.WriteEndElement();
		5923	myXmlTextWriter.WriteEndElement();
		5924	myXmlTextWriter.WriteEndElement();
		5925	}
		5926	catch (Exception e)
		5927	{
		5928	Console.WriteLine("Exception: {0}", e.ToString());
		5929	}
		5930	finally
		5931	{
		5932	if (myXmlTextWriter != null)
		5933	{
		5934	myXmlTextWriter.Close();
		5935	}
		5936	}
		5937	}
		5938
		5939	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		5940	{
		5941	_loadGPXLog();
		5942	}
		5943	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		5944	{
		5945	_clearMapMarkers(typeof(GMapRoute));
		5946	}
		5947	void _loadGPXLog()
		5948	{
		5949
		5950	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		5951	fd.Filter = "GPX-Logfile \| *.gpx";
		5952	fd.Multiselect = false;
		5953	if (fd.ShowDialog().Value)
		5954	{
		5955	string file = fd.FileName;
		5956	try
		5957	{
		5958	XDocument gpxDoc = XDocument.Load(file);
		5959	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		5960
		5961	NumberFormatInfo nfi = new NumberFormatInfo();
		5962	nfi.NumberDecimalSeparator = ".";
		5963
		5964	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		5965	select new
		5966	{
		5967	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		5968	Segs = (
		5969	from trackpoint in track.Descendants(gpx + "trkpt")
		5970	select new
		5971	{
		5972	Latitude = trackpoint.Attribute("lat").Value,
		5973	Longitude = trackpoint.Attribute("lon").Value,
		5974	Elevation = trackpoint.Element(gpx + "ele") != null ?
		5975	trackpoint.Element(gpx + "ele").Value : null,
		5976	Time = trackpoint.Element(gpx + "time") != null ?
		5977	trackpoint.Element(gpx + "time").Value : null
		5978	}
		5979	)
		5980	};
		5981
		5982	List<PointLatLng> wpl = new List<PointLatLng>();
		5983	foreach(var trk in tracks)
		5984	{
		5985	foreach(var trkseg in trk.Segs)
		5986	{
		5987	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		5988	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		5989	}
		5990
		5991	}
		5992	if(wpl.Count() > 0)
		5993	{
		5994	_clearMapMarkers(typeof(GMapRoute));
		5995	MapRoute mr = new MapRoute(wpl, "flying");
		5996	Dispatcher.Invoke(() =>
		5997	{
		5998	GMapRoute mRoute;
		5999	if (comboBoxRouteColor.SelectionBoxItem != null)
		6000	{
		6001	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		6002	mRoute = new GMapRoute(wpl, _getBrush(s));
		6003	}
		6004	else
		6005	mRoute = new GMapRoute(wpl, null);
		6006
		6007	MainMap.Markers.Add(mRoute);
		6008	});
		6009	}
		6010
		6011	}
		6012	catch (Exception e)
		6013	{
		6014	Console.WriteLine("Exception: {0}", e.ToString());
		6015	}
		6016	}
		6017	}
		6018	#endregion GPX
		6019	#endregion functions
		6020	}
		6021
		6022	/// <summary>
		6023	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		6024	/// </summary>
		6025	public class waypointsConverter : IValueConverter
		6026	{
		6027	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		6028	{
		6029	if (value != null)
		6030	{
		6031	switch ((string)parameter)
		6032	{
		6033	case "Latitude":
		6034	return value.ToString() + " °";
		6035	case "Longitude":
		6036	return value.ToString() + " °";
		6037	case "Radius":
		6038	return value.ToString() + " m";
		6039	case "Altitude":
		6040	return value.ToString() + " m";
		6041	case "ClimbRate":
		6042	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		6043	case "DelayTime":
		6044	return value.ToString() + " s";
		6045	case "Heading":
		6046	return Waypoints.Heading(System.Convert.ToInt32(value));
		6047	case "Speed":
		6048	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		6049	case "CamAngle":
		6050	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		6051	case "Type":
		6052	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		6053	case "AutoTrigger":
		6054	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		6055	case "Status":
		6056	return (Waypoints.status)(System.Convert.ToInt16(value));
		6057	}
		6058
		6059	return value.ToString();
		6060	}
		6061	else return value;
		6062	}
		6063
		6064	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		6065	{
		6066	throw new NotImplementedException();
		6067	}
		6068	}
		6069	public class IniFile
		6070	{
		6071	public string path;
		6072
		6073	[DllImport("kernel32")]
		6074	private static extern long WritePrivateProfileString(string section,
		6075	string key, string val, string filePath);
		6076
		6077	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		6078	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		6079	uint nSize, string lpFileName);
		6080
		6081	[DllImport("kernel32")]
		6082	private static extern int GetPrivateProfileString(string section,
		6083	string key, string def, StringBuilder retVal,
		6084	int size, string filePath);
		6085
		6086	public IniFile(string INIPath)
		6087	{
		6088	path = INIPath;
		6089	}
		6090
		6091	public void IniWriteValue(string Section, string Key, string Value)
		6092	{
		6093	WritePrivateProfileString(Section, Key, Value, this.path);
		6094	}
		6095
		6096	public string IniReadValue(string Section, string Key)
		6097	{
		6098	StringBuilder temp = new StringBuilder(255);
		6099	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		6100	return temp.ToString();
		6101	}
		6102	//Ini_sections auslesen in String-Array
		6103	public string[] IniSectionNames()
		6104	{
		6105
		6106	// uint MAX_BUFFER = 32767;
		6107	uint MAX_BUFFER = 8388608;
		6108	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		6109	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		6110	if (bytesReturned == 0)
		6111	{
		6112	Marshal.FreeCoTaskMem(pReturnedString);
		6113	return null;
		6114	}
		6115	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		6116	Marshal.FreeCoTaskMem(pReturnedString);
		6117	//use of Substring below removes terminating null for split
		6118	return local.Substring(0, local.Length - 1).Split('\0');
		6119
		6120
		6121	}
		6122	}
		6123	/// <summary>
		6124	/// Selected Win AI Function Calls
		6125	/// </summary>
		6126	public class WinApi
		6127	{
		6128	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		6129	public static extern int GetSystemMetrics(int which);
		6130	[DllImport("user32.dll")]
		6131	public static extern void
		6132	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		6133	int X, int Y, int width, int height, uint flags);
		6134
		6135	private const int SM_CXSCREEN = 0;
		6136	private const int SM_CYSCREEN = 1;
		6137	private static IntPtr HWND_TOP = IntPtr.Zero;
		6138	private const int SWP_SHOWWINDOW = 64; // 0x0040
		6139
		6140	public static int ScreenX
		6141	{
		6142	get { return GetSystemMetrics(SM_CXSCREEN); }
		6143	}
		6144
		6145	public static int ScreenY
		6146	{
		6147	get { return GetSystemMetrics(SM_CYSCREEN); }
		6148	}
		6149
		6150	public static void SetWinFullScreen(IntPtr hwnd)
		6151	{
		6152	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		6153	}
		6154	}
		6155	/// <summary>
		6156	/// Class used to preserve / restore state of the window
		6157	/// </summary>
		6158	public class WinState
		6159	{
		6160	private WindowState winState;
		6161	private WindowStyle brdStyle;
		6162	private bool topMost;
		6163	private Rect restore;
		6164	private bool IsMaximized = false;
		6165
		6166	public bool isMaximized
		6167	{
		6168	get { return IsMaximized; }
		6169	}
		6170	public void Maximize(Window targetForm)
		6171	{
		6172	if (!IsMaximized)
		6173	{
		6174	IsMaximized = true;
		6175	Save(targetForm);
		6176	targetForm.WindowState = WindowState.Maximized;
		6177	targetForm.WindowStyle = WindowStyle.None;
		6178	targetForm.Topmost = true;
		6179	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		6180	}
		6181	}
		6182
		6183	public void Save(Window targetForm)
		6184	{
		6185	winState = targetForm.WindowState;
		6186	brdStyle = targetForm.WindowStyle;
		6187	topMost = targetForm.Topmost;
		6188	restore = targetForm.RestoreBounds;
		6189	}
		6190	public void Restore(Window targetForm)
		6191	{
		6192	targetForm.WindowState = winState;
		6193	targetForm.WindowStyle = brdStyle;
		6194	targetForm.Topmost = topMost;
		6195
		6196	targetForm.Left = restore.Left;
		6197	targetForm.Top = restore.Top;
		6198	targetForm.Height = restore.Height;
		6199	targetForm.Width = restore.Width;
		6200	IsMaximized = false;
		6201	}
		6202	}
		6203
		6204	public static class BitmapConversion
		6205	{
		6206	public static System.Drawing.Bitmap ToWinFormsBitmap(this BitmapSource bitmapsource)
		6207	{
		6208	using (MemoryStream stream = new MemoryStream())
		6209	{
		6210	BitmapEncoder enc = new BmpBitmapEncoder();
		6211	enc.Frames.Add(BitmapFrame.Create(bitmapsource));
		6212	enc.Save(stream);
		6213	using (var tempBitmap = new System.Drawing.Bitmap(stream))
		6214	{
		6215	// According to MSDN, one "must keep the stream open for the lifetime of the Bitmap."
		6216	// So we return a copy of the new bitmap, allowing us to dispose both the bitmap and the stream.
		6217	return new System.Drawing.Bitmap(tempBitmap);
		6218	}
		6219	}
		6220	}
		6221	public static BitmapSource ToWpfBitmap(this System.Drawing.Bitmap bitmap)
		6222	{
		6223	using (MemoryStream stream = new MemoryStream())
		6224	{
		6225	bitmap.Save(stream, System.Drawing.Imaging.ImageFormat.Bmp); stream.Position = 0;
		6226	BitmapImage result = new BitmapImage();
		6227	result.BeginInit();
		6228	// According to MSDN, "The default OnDemand cache option retains access to the stream until the image is needed."
		6229	// Force the bitmap to load right now so we can dispose the stream.
		6230	result.CacheOption = BitmapCacheOption.OnLoad;
		6231	result.StreamSource = stream;
		6232	result.EndInit();
		6233	result.Freeze();
		6234	return result;
		6235	}
		6236	}
		6237	}
		6238
		6239	}

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(root)/MKLiveView/v1.0/Source/MKLiveView/MainWindow.xaml.cs @ 2537 - Rev