WebSVN - Projects - Blame - Rev 2545 - /MKLiveView/v1.0/Source/MKLiveView/MainWindow.xaml.cs

Rev	Author	Line No.	Line
2545	-	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[] _UILanguage = new string[] { "en-EN","de-DE"};
		284	string[] _colors = new string[] { "red", "green", "blue", "yellow", "pink" };
		285
		286	string[] _voiceLanguage = new string[] { "EN","DE"};
		287	int _iVoiceIndex = 0;
		288
		289	bool _bSatFix = false;
		290	Storyboard stbSatFixLostAnim;
		291	bool _bAnimSatFixActive = false;
		292	bool _bVoiceSatFixActive = false;
		293	bool _bVoiceSatFixPlay = true;
		294	int _iSatsLast = 0;
		295	int _iSatsJitter = 0;
		296
		297	bool _bMagneticFieldOK = false;
		298	Storyboard stbMagneticFieldAnim;
		299	bool _bAnimMagneticFieldActive = false;
		300	bool _bVoiceMagneticFieldActive = false;
		301	bool _bVoiceMagneticFieldPlay = true;
		302	int _iMagneticFieldLast = 0;
		303	int _iMagneticFieldJitter = 0;
		304
		305	int _iThresholdBLCTRLTempWarn = 80;
		306	Storyboard stbBLCTRLTempAnim;
		307	bool _bAnimBLCTRLTempActive = false;
		308	bool _bVoiceBLCTRLTempActive = false;
		309	bool _bVoiceBLCTRLTempPlay = true;
		310	int[] _iBLCTRLTempLast = new int[12];
		311	int[] _iBLCTRLTempJitter = new int[12];
		312
		313	bool _bRCLevelOK = false;
		314	Storyboard stbRCLevelAnim;
		315	bool _bAnimRCLevelActive = false;
		316	bool _bVoiceRCLevelActive = false;
		317	bool _bVoiceRCLevelPlay = true;
		318	int _iRCLevelLast = 0;
		319	int _iRCLevelJitter = 0;
		320
		321	int _iMotors = 4;
		322	int _LipoCells = 3;
		323	bool _bLiPoAutoDetect = true;
		324
		325	double _dLipoVMax = 16.88;
		326	double _dLipoVMin = 12;
		327	double _dThresholdVoltageWarn = 0;
		328	double _dThresholdVoltageCrit = 0;
		329	Storyboard stbVoltageCritAnim;
		330	bool _bCritAnimVoltActive = false;
		331	bool _bCritVoiceVoltActive = false;
		332	bool _bWarnVoiceVoltActive = false;
		333	bool _bVoiceVoltPlay = true;
		334	double _dVoltLast = 0;
		335	int _iVoltJitter = 0;
		336
		337	double _dThresholdDistanceWarn = 100;
		338	Storyboard stbDistanceWarnAnim;
		339	bool _bAnimDistanceActive = false;
		340	bool _bVoiceDistanceActive = false;
		341	bool _bVoiceDistancePlay = true;
		342	double _dDistanceLast = 0;
		343	int _iDistanceJitter = 0;
		344
		345	double _dThresholdDistanceMax = 1000;
		346	int _iThresholdRC = 160;
		347	int _iThresholdMagField = 15;
		348
		349	bool _bAutoHome = true;
		350	bool _bFirstSatFix = false;
		351	int _iFirstSatFix = 0;
		352
		353	double _dTopHeight = 36;
		354
		355	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		356	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		357	string[] serChanTitle = new string[12];
		358
		359	string[] sAnalogLabel = new string[32];
		360	string[] sAnalogData = new string[32];
		361	int[] iAnalogData = new int[32];
		362
		363	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 };
		364	int[] iMotors = new int[] { 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 };
		365	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		366	/// <summary>
		367	/// interval for sending debugdata (multiplied by 10ms)
		368	/// </summary>
		369	byte debugInterval = 10; //(=> 100ms)
		370	/// <summary>
		371	/// interval for sending BL-CTRL status (multiplied by 10ms)
		372	/// </summary>
		373	byte blctrlInterval = 75;
		374	/// <summary>
		375	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		376	/// </summary>
		377	byte navctrlInterval = 20;
		378	/// <summary>
		379	/// interval for sending OSD page update (multiplied by 10ms)
		380	/// </summary>
		381	byte OSDInterval = 85;
		382	/// <summary>
		383	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		384	/// </summary>
		385	DataTable dtAnalog = new DataTable();
		386	/// <summary>
		387	/// datatable for motordata (current,temp)
		388	/// </summary>
		389	DataTable dtMotors = new DataTable();
		390
		391	DataTable dtWaypoints = new DataTable();
		392	static volatile int _iWPCount = -1;
		393	static volatile int _iWPIndex = -1;
		394	int _iWPTimeout = 1000;
		395	bool _bGetWP = false;
		396	bool _bShowWPRoute = true;
		397	bool _bAutoWPEdit = true;
		398	static volatile bool _bGetWPCount = false;
		399	DataTable dtGPX = new DataTable();
		400	DataRow drGPX;
		401	bool _bAirborne = false;
		402	int _wpIndex = -1, _wpCount = 0, _wpEdit = -1;
		403
		404	string _wpDefPrefix = "P";
		405	int _wpDefAltitude = 20;
		406	int _wpDefHeading = 0;
		407	int _wpDefCBoxHeading = 0;
		408	int _wpDefSpeed = 10;
		409	int _wpDefCBoxSpeed = 0;
		410	int _wpDefClimb = 10;
		411	int _wpDefCBoxClimb = 0;
		412	int _wpDefRadius = 5;
		413	int _wpDefHoldtime = 5;
		414	int _wpDefAutotrig = 0;
		415	int _wpDefCamangle = 0;
		416	int _wpDefCBoxCamangle = 0;
		417	int _wpDefOut1 = 0;
		418
		419	bool _wpAddCopterHeight = true;
		420	bool _wpAddCopterHeading = true;
		421
		422	DispatcherTimer timer = new DispatcherTimer();
		423	DispatcherTimer camTimer = new DispatcherTimer();
		424	BitmapSource _camImageSource;
		425	Storyboard stbCamActiveAnim;
		426	bool _bCamAnim;
		427	/// <summary>
		428	/// stuff for enabeling touch zoom for the map
		429	/// </summary>
		430	Point pTouch1 = new Point(0, 0), pTouch2 = new Point(0, 0);
		431	int iFirstStylusID = -1;
		432
		433	WinState winState = new WinState();
		434	int _iUILanguage = 0;
		435	#endregion declarations
		436	public MainWindow()
		437	{
		438	String path = Environment.ExpandEnvironmentVariables("%SystemRoot%") + "\\System32\\VCRUNTIME140.DLL";
		439	if (!File.Exists(path))
		440	{
		441	MessageBoxResult dr = MessageBox.Show("Visual C++ Redistributable for Visual Studio 2015 seems not to be installed..." +
		442	Environment.NewLine + "Please download the file for x86 (32bit) @ https://www.microsoft.com/de-de/download/details.aspx?id=48145" +
		443	Environment.NewLine + Environment.NewLine + "Do You want me to take You there, now?", "Visual C++ Redistributable for Visual Studio 2015 missing ...",
		444	MessageBoxButton.YesNo,
		445	MessageBoxImage.Stop,MessageBoxResult.No, MessageBoxOptions.DefaultDesktopOnly);
		446
		447	if (dr == MessageBoxResult.Yes)
		448	System.Diagnostics.Process.Start("https://www.microsoft.com/de-de/download/details.aspx?id=48145");
		449
		450	Application.Current.Shutdown();
		451	}
		452	InitializeComponent();
		453	_initForm();
		454	_dataTablesInit();
		455	_setupMap();
		456	_init = false;
		457	timer.Tick += new EventHandler(timerEvent);
		458	timer.Interval = new TimeSpan(0, 0, 1);
		459	timer.Start();
		460	camTimer.Tick += new EventHandler(camTimer_Tick);
		461	camTimer.Interval = new TimeSpan(0, 0, 0, 0, 5);
		462	// camTimer.Start();
		463	}
		464
		465	#region init
		466	void _initForm()
		467	{
		468	_readIni();
		469	if (_bSaveWinStateNormal)
		470	_setScaleSliders(false);
		471	cBoxTimingsDebug.ItemsSource =
		472	cBoxTimingsNav.ItemsSource =
		473	cBoxTimingsBl.ItemsSource =
		474	cBoxTimingsOSD.ItemsSource =
		475	iTimings;
		476	cBoxLiPoCells.ItemsSource = sLiPoCells;
		477	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		478	_LipoMinMax();
		479	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		480	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		481	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
		482	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		483	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		484	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		485	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		486	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
		487	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		488	sliderThresholdBLCtrlTempWarn.Value = _iThresholdBLCTRLTempWarn;
		489	checkBoxBLCtrlTempVoice.IsChecked = _bVoiceBLCTRLTempPlay;
		490	comboBoxVoiceLanguage.SelectedIndex = _iVoiceIndex;
		491
		492	cBoxMotors.ItemsSource = iMotors;
		493	cBoxMotors.SelectedItem = _iMotors;
		494
		495	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		496	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		497	serialPortCtrl.DataReceived += processMessage;
		498
		499	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		500	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		501	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		502	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		503	chkbAutoLiPoDetect.IsChecked = _bLiPoAutoDetect;
		504
		505	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		506	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		507	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		508	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
		509	checkBoxAutoSetHP.IsChecked = _bAutoHome;
		510	checkBoxFollowCopter.IsChecked = _bFollowCopter;
		511	checkBoxGPXLog.IsChecked = _bGPXLog;
		512	checkBoxShowWPRoute.IsChecked = _bShowWPRoute;
		513	checkBoxAutoShowWPEdit.IsChecked = _bAutoWPEdit;
		514	checkBoxWPAddUseCopterHeight.IsChecked = _wpAddCopterHeight;
		515	checkBoxWPAddUseCopterHeading.IsChecked = _wpAddCopterHeading;
		516	GridSettings.Visibility = Visibility.Visible;
		517	GridCam.Visibility = GridData.Visibility = GridWP.Visibility = GridWPEdit.Visibility = Visibility.Collapsed;
		518	_initSerialCtrl();
		519	ChangeLanguage(_UILanguage[_iUILanguage]);
		520	cbLang.SelectedIndex = _iUILanguage;
		521	}
		522	/// <summary>
		523	/// initialize the datatables
		524	/// with columnnames etc
		525	/// </summary>
		526	void _dataTablesInit()
		527	{
		528	dtMotors.Columns.Add("#");
		529	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
		530	dtMotors.Columns.Add("Strom");
		531	else
		532	dtMotors.Columns.Add("Current");
		533	dtMotors.Columns.Add("Temp");
		534	dgvMotors1.DataContext = dtMotors.DefaultView;
		535	_initDTMotors();
		536
		537	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5, 0, 5, 0));
		538	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		539	style.Setters.Add(setter);
		540	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		541	style.Setters.Add(setter);
		542	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		543	style.Setters.Add(setter);
		544
		545	dtWaypoints.Columns.Add("Index", typeof(int));
		546	dtWaypoints.Columns.Add("Type", typeof(int));
		547	dtWaypoints.Columns.Add("Name", typeof(string));
		548	dtWaypoints.Columns.Add("Latitude", typeof(double));
		549	dtWaypoints.Columns.Add("Longitude", typeof(double));
		550	dtWaypoints.Columns.Add("Altitude", typeof(string));
		551	dtWaypoints.Columns.Add("Heading", typeof(string));
		552	dtWaypoints.Columns.Add("Speed", typeof(string));
		553	dtWaypoints.Columns.Add("ClimbRate", typeof(string));
		554	dtWaypoints.Columns.Add("Radius", typeof(string));
		555	dtWaypoints.Columns.Add("HoldTime", typeof(string));
		556	dtWaypoints.Columns.Add("AutoTrigger", typeof(string));
		557	dtWaypoints.Columns.Add("CamAngle", typeof(string));
		558	dtWaypoints.Columns.Add("Event", typeof(string));
		559	dtWaypoints.Columns.Add("Out1Timer", typeof(string));
		560	dtWaypoints.Columns.Add("Status", typeof(string));
		561	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		562	dgvWP.ItemsSource = dtWaypoints.DefaultView;
		563	dgvWP.ColumnHeaderStyle = new Style();
		564	dgvWP.ColumnHeaderStyle = style;
		565
		566	dtGPX.Columns.Add("Index", typeof(int));
		567	dtGPX.Columns.Add("Latitude", typeof(double));
		568	dtGPX.Columns.Add("Longitude", typeof(double));
		569	dtGPX.Columns.Add("Elevation", typeof(int));
		570	dtGPX.Columns.Add("Time", typeof(string));
		571	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		572	drGPX = dtGPX.NewRow();
		573
		574	}
		575	/// <summary>
		576	/// initialize the datatable dtMotors for motor values
		577	/// DataGridView dgvMotors1 is bound to dtMotors1
		578	/// </summary>
		579	void _initDTMotors()
		580	{
		581	for (int i = 0; i < 12; i++)
		582	{
		583	if (dtMotors.Rows.Count < 12)
		584	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
		585	else
		586	{
		587	dtMotors.Rows[i].SetField(1, "NA");
		588	dtMotors.Rows[i].SetField(2, "NA");
		589	}
		590	}
		591	}
		592
		593	#endregion init
		594
		595	#region events
		596	private void serialPortCtrl_PortOpened()
		597	{
		598	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		599	_getVersion();
		600	Thread.Sleep(100);
		601	_getLic();
		602	//_OSDMenue(0);
		603	//Thread.Sleep(200);
		604	//_sendSerialData();
		605	_readCont(true);
		606	}
		607	private void serialPortCtrl_PortClosed()
		608	{
		609	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		610	_readCont(false);
		611	}
		612	bool _bToggle = false;
		613	void timerEvent(object sender, EventArgs e)
		614	{
		615	if (bReadContinously)
		616	{
		617	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		618
		619	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		620
		621	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		622	check_HWError = true;
		623	_getVersion();
		624	Thread.Sleep(10);
		625	if (_OSDAutorefresh)
		626	{
		627	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		628	_initOSDCB();
		629	_OSDMenueAutoRefresh();
		630	}
		631	if (_iLifeCounter > 0)
		632	{
		633	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		634	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		635	_iLifeCounter = 0;
		636	_bConnErr = false;
		637	if (_bAirborne && _bGPXLog)
		638	{
		639	drGPX[0] = dtGPX.Rows.Count;
		640	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		641	}
		642	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		643	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		644	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		645	_bToggle = !_bToggle;
		646	}
		647	else
		648	{
		649	if (!_bConnErr)
		650	{
		651	Log(LogMsgType.Error, "No communication to NC/FC!");
		652	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		653	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		654	_bConnErr = true;
		655	}
		656	}
		657	}
		658	}
		659	private void camTimer_Tick(object sender, EventArgs e)
		660	{
		661	if (_camImageSource != null && _frameSource != null && _camImage.Visibility == Visibility.Visible)
		662	_camImage.Source = _camImageSource;
		663	camTimer.IsEnabled = false;
		664	}
		665
		666	#region menues
		667	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		668	{
		669	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		670	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		671	}
		672	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		673	{
		674	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		675	if (GridMotors.IsVisible)
		676	_setMotorGridSize();
		677	}
		678	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		679	{
		680	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		681	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		682	}
		683	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		684	{
		685	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		686	}
		687	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		688	{
		689	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		690	}
		691	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		692	{
		693	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		694	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		695	}
		696	private void labelWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		697	{
		698	GridWPEdit.Visibility = GridWPEdit.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		699	}
		700	private void labelCamera_MouseDown(object sender, MouseButtonEventArgs e)
		701	{
		702	GridCam.Visibility = GridCam.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		703	}
		704	#endregion menues
		705
		706	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		707	{
		708	Thread t = new Thread(new ThreadStart(_getWP));
		709	t.Start();
		710	}
		711	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		712	{
		713	Thread t = new Thread(new ThreadStart(_sendWPList));
		714	t.Start();
		715	}
		716	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		717	{
		718	if (!serialPortCtrl.Port.IsOpen)
		719	serialPortCtrl.Connect(true);
		720	else
		721	_readCont(!bReadContinously);
		722	}
		723	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		724	{
		725	_setHomePos();
		726	}
		727	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		728	{
		729	_clearHomePos();
		730	}
		731	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		732	{
		733	if (home != null && MainMap.Markers.Contains(home))
		734	MainMap.Position = home.Position;
		735	}
		736	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		737	{
		738	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		739	}
		740	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		741	{
		742	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		743	}
		744	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		745	{
		746	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		747	}
		748
		749	#region thresholds
		750	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		751	{
		752	if (!_init)
		753	{
		754	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		755	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		756	}
		757	}
		758	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		759	{
		760	if (!_init)
		761	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		762	}
		763	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		764	{
		765	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		766	}
		767
		768	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		769	{
		770	if (!_init)
		771	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		772	}
		773	private void sliderThresholdBLCtrlTempWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		774	{
		775	if (!_init)
		776	_iThresholdBLCTRLTempWarn = (int)sliderThresholdBLCtrlTempWarn.Value;
		777	}
		778	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		779	{
		780	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		781	}
		782
		783	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		784	{
		785	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		786	}
		787	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		788	{
		789	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		790	}
		791	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		792	{
		793	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		794	}
		795	private void checkBoxBLCtrlTempVoice_Click(object sender, RoutedEventArgs e)
		796	{
		797	_bVoiceBLCTRLTempPlay = (bool)checkBoxBLCtrlTempVoice.IsChecked;
		798	}
		799	private void comboBoxVoiceLanguage_DropDownClosed(object sender, EventArgs e)
		800	{
		801	if (comboBoxVoiceLanguage.SelectedIndex > -1)
		802	{
		803	_iVoiceIndex = comboBoxVoiceLanguage.SelectedIndex;
		804	}
		805	}
		806	#endregion thresholds
		807
		808	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		809	{
		810	_switchToNC();
		811	}
		812
		813	private void Window_Loaded(object sender, RoutedEventArgs e)
		814	{
		815	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
		816	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		817	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		818	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		819	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
		820	stbCamActiveAnim = TryFindResource("CamActiveAnim") as Storyboard;
		821	stbBLCTRLTempAnim = TryFindResource("BLCtrlCritAnim") as Storyboard;
		822	_setMotorGridSize();
		823	// Refresh the list of available cameras
		824	comboBoxCameras.Items.Clear();
		825
		826	foreach (Camera cam in CameraService.AvailableCameras)
		827	comboBoxCameras.Items.Add(cam);
		828
		829	if (comboBoxCameras.Items.Count > 0)
		830	comboBoxCameras.SelectedIndex = 0;
		831	}
		832	private void Window_Closing(object sender, CancelEventArgs e)
		833	{
		834	_writeIni();
		835	if (_bGPXLog && dtGPX.Rows.Count > 0)
		836	_saveGPXLog();
		837	thrashOldCamera();
		838	}
		839	private void Window_Closed(object sender, EventArgs e)
		840	{
		841	Application.Current.Shutdown();
		842	}
		843
		844	#region contextmenue add point
		845	Point pWPAdd;
		846	private void GridGMapControl_PreviewMouseLeftButtonDown(object sender, MouseButtonEventArgs e)
		847	{
		848	if(e.ClickCount == 2)
		849	{
		850	double x = 0, y = 0;
		851	var titleHeight = SystemParameters.WindowCaptionHeight + SystemParameters.ResizeFrameHorizontalBorderHeight;
		852
		853	pWPAdd = new Point(e.GetPosition(this).X, e.GetPosition(this).Y);
		854	if (pWPAdd.X + canvasAddPoint.Width > Width)
		855	x = pWPAdd.X - canvasAddPoint.Width;
		856	else
		857	x = pWPAdd.X;
		858	if (pWPAdd.Y + canvasAddPoint.Height > Height - titleHeight)
		859	y = pWPAdd.Y - canvasAddPoint.Height;
		860	else
		861	y = pWPAdd.Y;
		862
		863	canvasAddPoint.Margin = new Thickness(x, y, canvasAddPoint.Margin.Left, canvasAddPoint.Margin.Bottom);
		864	canvasAddPoint.Visibility = Visibility.Visible;
		865	}
		866
		867	}
		868	private void canvasAddPoint_LostFocus(object sender, RoutedEventArgs e)
		869	{
		870	canvasAddPoint.Visibility = Visibility.Collapsed;
		871	}
		872	private void canvasAddPoint_MouseLeave(object sender, MouseEventArgs e)
		873	{
		874	canvasAddPoint.Visibility = Visibility.Collapsed;
		875	}
		876	private void btnCmAddWP_Click(object sender, RoutedEventArgs e)
		877	{
		878	if (pWPAdd != null)
		879	{
		880	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		881	_addWP(p,0);
		882	canvasAddPoint.Visibility = Visibility.Collapsed;
		883	}
		884	}
		885	private void btnCmAddPOI_Click(object sender, RoutedEventArgs e)
		886	{
		887	if (pWPAdd != null)
		888	{
		889	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		890	_addWP(p,1);
		891	canvasAddPoint.Visibility = Visibility.Collapsed;
		892	}
		893	}
		894	private void btnCmAddFailsave_Click(object sender, RoutedEventArgs e)
		895	{
		896	if (pWPAdd != null)
		897	{
		898	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		899	_addWP(p,2);
		900	canvasAddPoint.Visibility = Visibility.Collapsed;
		901	}
		902	}
		903	private void btnCmAddLanding_Click(object sender, RoutedEventArgs e)
		904	{
		905	if (pWPAdd != null)
		906	{
		907	PointLatLng p = MainMap.FromLocalToLatLng((int)pWPAdd.X, (int)pWPAdd.Y);
		908	_addWP(p,3);
		909	canvasAddPoint.Visibility = Visibility.Collapsed;
		910	}
		911	}
		912	#endregion contextmenue add point
		913
		914	#endregion events
		915
		916	#region cam
		917	private CameraFrameSource _frameSource;
		918
		919	private void btnCamStart_Click(object sender, RoutedEventArgs e)
		920	{
		921	if (_frameSource != null && _frameSource.Camera == comboBoxCameras.SelectedItem)
		922	return;
		923
		924	thrashOldCamera();
		925	startCapturing();
		926	}
		927	private void btnCamStop_Click(object sender, RoutedEventArgs e)
		928	{
		929	thrashOldCamera();
		930	_camImage.Visibility = Visibility.Collapsed;
		931	if (stbCamActiveAnim != null && _bCamAnim)
		932	{
		933	Dispatcher.Invoke(() => stbCamActiveAnim.Stop());
		934	_bCamAnim = false;
		935	rectCamStart.Visibility = Visibility.Collapsed;
		936	}
		937	}
		938	private void btnCamSettings_Click(object sender, RoutedEventArgs e)
		939	{
		940	if (_frameSource != null && _frameSource.Camera != null)
		941	{
		942	_frameSource.Camera.ShowPropertiesDialog();
		943	}
		944	}
		945	private void btnCamListRefresh_Click(object sender, RoutedEventArgs e)
		946	{
		947	comboBoxCameras.Items.Clear();
		948	CameraService.ClearCameraList();
		949	foreach (Camera cam in CameraService.AvailableCameras)
		950	comboBoxCameras.Items.Add(cam);
		951
		952	if (comboBoxCameras.Items.Count > 0)
		953	comboBoxCameras.SelectedIndex = 0;
		954	//if (_frameSource != null && comboBoxCameras.Items.Count > 0 && comboBoxCameras.Items.Contains(_frameSource.Camera.ToString()))
		955	// comboBoxCameras.SelectedItem = (Camera)_frameSource.Camera;
		956
		957	}
		958
		959	private void lblCam_Click(object sender, RoutedEventArgs e)
		960	{
		961	if (_frameSource != null && _frameSource.Camera != null)
		962	{
		963	_camImage.Visibility = _camImage.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		964	}
		965	}
		966
		967	void _setCamPicStretch(Stretch type)
		968	{
		969	if(_camImage.Stretch == Stretch.None)
		970	_camImageMargin = _camImage.Margin;
		971	if(type != Stretch.None)
		972	_camImage.Margin = new Thickness(0);
		973	_camImage.Stretch = type;
		974	}
		975	private void btnCamPicStretchNone_Click(object sender, RoutedEventArgs e)
		976	{
		977	_setCamPicStretch(Stretch.None);
		978	_camImage.Margin = _camImageMargin;
		979	}
		980	private void btnCamResetZoom_Click(object sender, RoutedEventArgs e)
		981	{
		982	_setCamPicStretch(Stretch.None);
		983	_camImage.Margin = _camImageMargin = new Thickness(0);
		984	SliderCamZoom.Value = 1;
		985	}
		986	private void btnCamPicStretchFill_Click(object sender, RoutedEventArgs e)
		987	{
		988	_setCamPicStretch(Stretch.Fill);
		989	}
		990	private void btnCamPicStretchUniform_Click(object sender, RoutedEventArgs e)
		991	{
		992	_setCamPicStretch(Stretch.Uniform);
		993	}
		994	private void btnCamPicStretchUFill_Click(object sender, RoutedEventArgs e)
		995	{
		996	_setCamPicStretch(Stretch.UniformToFill);
		997	}
		998	private Camera CurrentCamera
		999	{
		1000	get
		1001	{
		1002	return comboBoxCameras.SelectedItem as Camera;
		1003	}
		1004	}
		1005	private void startCapturing()
		1006	{
		1007	try
		1008	{
		1009	Camera c = (Camera)comboBoxCameras.SelectedItem;
		1010	setFrameSource(new CameraFrameSource(c));
		1011	_frameSource.Camera.CaptureWidth = 640;
		1012	_frameSource.Camera.CaptureHeight = 480;
		1013	_frameSource.Camera.Fps = 25;
		1014	_frameSource.NewFrame += OnImageCaptured;
		1015	_frameSource.StartFrameCapture();
		1016	_camImage.Visibility = Visibility.Visible;
		1017	_camImage.Margin = _camImageMargin;
		1018	if (stbCamActiveAnim != null && !_bCamAnim)
		1019	{
		1020	Dispatcher.Invoke(() => stbCamActiveAnim.Begin());
		1021	_bCamAnim = true;
		1022	rectCamStart.Visibility = Visibility.Visible;
		1023	}
		1024	}
		1025	catch (Exception ex)
		1026	{
		1027	comboBoxCameras.Text = "Select A Camera";
		1028	MessageBox.Show(ex.Message);
		1029	}
		1030	}
		1031
		1032	public void OnImageCaptured(Touchless.Vision.Contracts.IFrameSource frameSource, Touchless.Vision.Contracts.Frame frame, double fps)
		1033	{
		1034	_camImageSource = BitmapConversion.ToWpfBitmap(frame.Image);
		1035	camTimer.IsEnabled = true;
		1036	}
		1037	private void setFrameSource(CameraFrameSource cameraFrameSource)
		1038	{
		1039	if (_frameSource == cameraFrameSource)
		1040	return;
		1041
		1042	_frameSource = cameraFrameSource;
		1043	}
		1044	private void thrashOldCamera()
		1045	{
		1046
		1047	// Trash the old camera
		1048	if (_frameSource != null)
		1049	{
		1050	_frameSource.NewFrame -= OnImageCaptured;
		1051	Dispatcher.Invoke(() => {
		1052	_camImage.Source = null;
		1053	_camImage.InvalidateVisual();
		1054	});
		1055	using (Dispatcher.DisableProcessing())
		1056	{
		1057	_frameSource.StopFrameCapture();
		1058	setFrameSource(null);
		1059	Thread.Sleep(10);
		1060	}
		1061	}
		1062	}
		1063
		1064	Point pOffset,mouse_pos;
		1065	Thickness _camImageMargin = new Thickness(0);
		1066	private void _CamImage_MouseMove(object sender, System.Windows.Input.MouseEventArgs e)
		1067	{
		1068	if (e.LeftButton == System.Windows.Input.MouseButtonState.Pressed && _camImage.Stretch == Stretch.None)
		1069	{
		1070	mouse_pos = Mouse.GetPosition(this);
		1071	mouse_pos.Offset(-pOffset.X, -pOffset.Y);
		1072	pOffset = Mouse.GetPosition(this);
		1073	_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);
		1074	}
		1075	}
		1076	private void _CamImage_MouseDown(object sender, MouseButtonEventArgs e)
		1077	{
		1078	if (e.LeftButton == System.Windows.Input.MouseButtonState.Pressed && _camImage.Stretch == Stretch.None)
		1079	pOffset = Mouse.GetPosition(this);
		1080	}
		1081
		1082	#endregion cam
		1083
		1084	#region GMap
		1085	string _mapPosition = "Landshut";
		1086	void _setupMap()
		1087	{
		1088	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		1089	MainMap.MapProvider = GMapProviders.BingHybridMap;
		1090	textBoxGeo.Text = _mapPosition;
		1091	MainMap.SetPositionByKeywords(_mapPosition);
		1092	textBoxLat_currentPos.Text = MainMap.Position.Lat.ToString() + "°";
		1093	textBoxLng_currentPos.Text = MainMap.Position.Lng.ToString() + "°";
		1094	MainMap.MinZoom = 0;
		1095	MainMap.MaxZoom = 24;
		1096	MainMap.Zoom = 16;
		1097	MainMap.ShowCenter = true;
		1098	MainMap.ShowTileGridLines = false;
		1099	sliderMapZoom.Value = 16;
		1100	comboBoxMapType.ItemsSource = providerList;
		1101	comboBoxMapType.DisplayMemberPath = "Name";
		1102	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		1103
		1104	// acccess mode
		1105	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		1106	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		1107
		1108	}
		1109
		1110	/// <summary>
		1111	/// selection of relevant map providers --> if You need more, You can change the line:
		1112	/// comboBoxMapType.ItemsSource = providerList;
		1113	/// to:
		1114	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		1115	/// in _setupMap()
		1116	/// or add items here:
		1117	/// </summary>
		1118	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		1119	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		1120	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		1121	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		1122	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		1123
		1124	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		1125	{
		1126	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		1127	copter = new GMapMarker(MainMap.Position);
		1128
		1129	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"), "red");
		1130	if (comboBoxCopterColor.SelectionBoxItem != null)
		1131	{
		1132	string s = _colors[comboBoxCopterColor.SelectedIndex];
		1133	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
		1134	}
		1135	Dispatcher.Invoke(() => {
		1136	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		1137	{
		1138	string s = _colors[comboBoxCopterHeadingColor.SelectedIndex];
		1139	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		1140	}
		1141	});
		1142	copter.Offset = new System.Windows.Point(-26, -26);
		1143	copter.ZIndex = int.MaxValue;
		1144	MainMap.Markers.Add(copter);
		1145	copter.Position = MainMap.Position;
		1146	_setMapItemsSize("Copter", SliderCopterZoom.Value);
		1147	}
		1148	void _setHomePos()
		1149	{
		1150	pHome = MainMap.Position;
		1151	if (!MainMap.Markers.Contains(home))
		1152	{
		1153	home = new GMapMarker(MainMap.Position);
		1154	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		1155	home.Offset = new System.Windows.Point(-16.5, -16.5);
		1156	// home.ZIndex = int.MaxValue;
		1157	MainMap.Markers.Add(home);
		1158	}
		1159	home.Position = MainMap.Position;
		1160	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		1161	_setMapItemsSize("Home", SliderHPZoom.Value);
		1162	if (checkBoxShowWPMaxRange.IsChecked == true)
		1163	{
		1164	if (cWPBound != null && cWPBound.Tag != null)
		1165	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		1166
		1167	createCircle(home.Position, dWPMaxRange);
		1168	Dispatcher.Invoke(() =>
		1169	{
		1170	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		1171	{
		1172	string s = _colors[comboBoxWPMaxRangeColor.SelectedIndex];
		1173	cWPBound.setColor(s);
		1174	}
		1175	});
		1176	}
		1177
		1178	}
		1179	void _setActiveWP(int iIndex)
		1180	{
		1181	if (iIndex < wpList.Count)
		1182	{
		1183	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
		1184	{
		1185	Dispatcher.Invoke(() =>
		1186	{
		1187	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		1188	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		1189	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		1190	MainMap.Markers.Add(wpActiveMarker);
		1191	});
		1192	}
		1193	else
		1194	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
		1195	}
		1196
		1197	Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m");
		1198	}
		1199	void _clearHomePos()
		1200	{
		1201	MainMap.Markers.Remove(home);
		1202	if (cWPBound != null && cWPBound.Tag != null)
		1203	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		1204	}
		1205	void _clearMapMarkers(Type markerType)
		1206	{
		1207	for (int k = 0; k < MainMap.Markers.Count;)
		1208	{
		1209	GMapMarker p = MainMap.Markers[k];
		1210	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
		1211	MainMap.Markers.Remove(p);
		1212	else
		1213	k++;
		1214	}
		1215	_WPisMouseCaptured = false;
		1216	}
		1217
		1218	GMapMarker _findWPMarker(string name)
		1219	{
		1220	for (int k = 0; k < MainMap.Markers.Count;)
		1221	{
		1222	GMapMarker p = MainMap.Markers[k];
		1223	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
		1224	if (((CustomMarkerWP)p.Shape).WPText == name)
		1225	return p;
		1226	else
		1227	k++;
		1228	else
		1229	k++;
		1230	}
		1231	return null;
		1232	}
		1233	void _clearWPMarker(string name)
		1234	{
		1235	GMapMarker p = _findWPMarker(name);
		1236	if (p != null)
		1237	MainMap.Markers.Remove(p);
		1238	}
		1239	void _renameWPMarker(string s1, string s2)
		1240	{
		1241	GMapMarker p = _findWPMarker(s1);
		1242	if (p != null)
		1243	((CustomMarkerWP)p.Shape).WPText = s2;
		1244	}
		1245	void _WPMarkerSetType(string text, int type)
		1246	{
		1247	GMapMarker p = _findWPMarker(text);
		1248	if (p != null)
		1249	((CustomMarkerWP)p.Shape).WPType = type;
		1250	}
		1251	void _repositionWPMarker(PointLatLng point, string name)
		1252	{
		1253	GMapMarker p = _findWPMarker(name);
		1254	if (p != null)
		1255	p.Position = point;
		1256	}
		1257
		1258	void createCircle(PointLatLng center, double distance)
		1259	{
		1260
		1261	GMapMarker it = new GMapMarker(center);
		1262	it.ZIndex = -1;
		1263
		1264	cWPBound.Center = center;
		1265	cWPBound.Bound = GMap.NET.PureProjection.GetPointFromDistance(center, distance);
		1266	cWPBound.Tag = it;
		1267	cWPBound.IsHitTestVisible = false;
		1268	UpdateCircle(cWPBound);
		1269	it.Shape = cWPBound;
		1270	MainMap.Markers.Add(it);
		1271	}
		1272	// calculates circle radius
		1273	void UpdateCircle(Circle c)
		1274	{
		1275	var pxCenter = MainMap.FromLatLngToLocal(c.Center);
		1276	var pxBounds = MainMap.FromLatLngToLocal(c.Bound);
		1277
		1278	double a = (double)(pxBounds.X - pxCenter.X);
		1279	double b = (double)(pxBounds.Y - pxCenter.Y);
		1280	var pxCircleRadius = Math.Sqrt(a * a + b * b);
		1281
		1282	c.Width = c.Height = pxCircleRadius * 2;
		1283	//c.Width = 55 + pxCircleRadius * 2;
		1284	//c.Height = 55 + pxCircleRadius * 2;
		1285	(c.Tag as GMapMarker).Offset = new System.Windows.Point(-c.Width / 2, -c.Height / 2);
		1286	}
		1287
		1288	// access mode
		1289	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		1290	{
		1291	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		1292	MainMap.ReloadMap();
		1293	}
		1294	// zoom up
		1295	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		1296	{
		1297	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		1298	}
		1299
		1300	// zoom down
		1301	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		1302	{
		1303	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		1304	}
		1305
		1306	// prefetch
		1307	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		1308	{
		1309	RectLatLng area = MainMap.SelectedArea;
		1310	if (!area.IsEmpty)
		1311	{
		1312	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		1313	{
		1314	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		1315
		1316	if (res == MessageBoxResult.Yes)
		1317	{
		1318	TilePrefetcher obj = new TilePrefetcher();
		1319	obj.Owner = this;
		1320	obj.ShowCompleteMessage = true;
		1321	obj.Start(area, i, MainMap.MapProvider, 100);
		1322	}
		1323	else if (res == MessageBoxResult.No)
		1324	{
		1325	continue;
		1326	}
		1327	else if (res == MessageBoxResult.Cancel)
		1328	{
		1329	break;
		1330	}
		1331	}
		1332	}
		1333	else
		1334	{
		1335	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1336	}
		1337	}
		1338
		1339	// goto by geocoder
		1340	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		1341	{
		1342	_goto_byGeoCoder();
		1343	}
		1344	// goto by geocoder
		1345	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		1346	{
		1347	if (e.Key == System.Windows.Input.Key.Enter)
		1348	_goto_byGeoCoder();
		1349	}
		1350	void _goto_byGeoCoder()
		1351	{
		1352	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		1353	_mapPosition = textBoxGeo.Text;
		1354	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		1355	{
		1356	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1357	}
		1358	}
		1359	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		1360	{
		1361	try
		1362	{
		1363	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		1364	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		1365
		1366	MainMap.Position = new PointLatLng(lat, lng);
		1367	}
		1368	catch (Exception ex)
		1369	{
		1370	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		1371	}
		1372
		1373	}
		1374
		1375	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		1376	{
		1377	MainMap.ReloadMap();
		1378	}
		1379
		1380	private void MainMap_OnPositionChanged(PointLatLng point)
		1381	{
		1382	if (_bFollowCopter)
		1383	_setCopterData(MainMap.Position);
		1384	}
		1385
		1386	private void MainMap_OnMapZoomChanged()
		1387	{
		1388	if (_bFollowCopter)
		1389	_setCopterData(MainMap.Position);
		1390	if ((int)sliderMapZoom.Value != MainMap.Zoom)
		1391	sliderMapZoom.Value = MainMap.Zoom;
		1392	if (cWPBound != null && cWPBound.Tag != null)
		1393	UpdateCircle(cWPBound);
		1394	}
		1395
		1396	void _setCopterData(PointLatLng p)
		1397	{
		1398	Dispatcher.Invoke(() =>
		1399	{
		1400	copter.Position = p;
		1401	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		1402	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		1403	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		1404	});
		1405	if (home != null && MainMap.Markers.Contains(home))
		1406	{
		1407	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		1408	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		1409	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
		1410
		1411	if (d * 1000 < _dThresholdDistanceWarn)
		1412	{
		1413	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		1414	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		1415	{
		1416	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		1417	_bAnimDistanceActive = false;
		1418	}
		1419	}
		1420	else
		1421	{
		1422	if (_iDistanceJitter < 20)
		1423	{ _iDistanceJitter++; }
		1424	if (_iDistanceJitter == 20)
		1425	{
		1426	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		1427	{
		1428	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		1429	_bAnimDistanceActive = true;
		1430	}
		1431	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		1432	{
		1433	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\Distance.mp3");
		1434	//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		1435	//t.Start();
		1436	_bVoiceDistanceActive = true;
		1437	}
		1438	_iDistanceJitter++;
		1439	}
		1440	}
		1441	}
		1442	}
		1443
		1444	void _setMapItemsSize(string item, double value)
		1445	{
		1446	ScaleTransform scaleTransform = new ScaleTransform();
		1447	scaleTransform.ScaleY = value;
		1448	scaleTransform.ScaleX = value;
		1449	TransformGroup transformGroup = new TransformGroup();
		1450	transformGroup.Children.Add(scaleTransform);
		1451
		1452	switch (item)
		1453	{
		1454	case "Copter":
		1455	if (copter != null && copter.Shape != null)
		1456	{
		1457	((ScaleTransform)transformGroup.Children[0]).CenterX = 26;
		1458	((ScaleTransform)transformGroup.Children[0]).CenterY = 26;
		1459	copter.Shape.RenderTransform = transformGroup;
		1460	}
		1461	break;
		1462	case "Home":
		1463	if (home != null && MainMap.Markers.Contains(home))
		1464	{
		1465	((ScaleTransform)transformGroup.Children[0]).CenterX = 16.5;
		1466	((ScaleTransform)transformGroup.Children[0]).CenterY = 16.5;
		1467	home.Shape.RenderTransform = transformGroup;
		1468	home.Shape.InvalidateVisual();
		1469	}
		1470	break;
		1471	case "WP":
		1472	Dispatcher.Invoke(() =>
		1473	{
		1474	((ScaleTransform)transformGroup.Children[0]).CenterX = 11.5;
		1475	((ScaleTransform)transformGroup.Children[0]).CenterY = 11.5;
		1476	for (int k = 0; k < MainMap.Markers.Count;)
		1477	{
		1478	GMapMarker p = MainMap.Markers[k];
		1479	if (p.Shape != null && (p.Shape.GetType() == typeof(CustomMarkerWP) \|\| p.Shape.GetType() == typeof(CustomMarkerWPActive)))
		1480	{
		1481	((CustomMarkerWP)(p.Shape)).RenderTransform = transformGroup;
		1482	}
		1483	k++;
		1484	}
		1485	});
		1486	break;
		1487	}
		1488
		1489	}
		1490
		1491	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		1492	{
		1493	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		1494	}
		1495
		1496	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1497	{
		1498	if (MainMap.Zoom != sliderMapZoom.Value)
		1499	MainMap.Zoom = (int)sliderMapZoom.Value;
		1500	}
		1501
		1502	private void SliderCopterZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1503	{
		1504	if (copter != null && copter.Shape != null)
		1505	_setMapItemsSize("Copter",SliderCopterZoom.Value);
		1506	}
		1507	private void SliderWPZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1508	{
		1509	if (MainMap.Markers.Count > 2)
		1510	_setMapItemsSize("WP",SliderWPZoom.Value);
		1511	}
		1512	private void SliderHomeZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1513	{
		1514	if (home != null && MainMap.Markers.Contains(home))
		1515	_setMapItemsSize("Home",SliderHPZoom.Value);
		1516	}
		1517
		1518
		1519
		1520	#region Touch zooming hackattack ;)
		1521	/// <summary>
		1522	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		1523	/// </summary>
		1524	bool bFirstAccess = true;
		1525	double dDistance = 0;
		1526	int iZoom;
		1527	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1528	{
		1529	if (!_WPisMouseCaptured)
		1530	{
		1531	var id = e.StylusDevice.Id;
		1532	e.StylusDevice.Capture(MainMap);
		1533	if (iFirstStylusID == -1)
		1534	{
		1535	iFirstStylusID = id;
		1536	}
		1537	else
		1538	{
		1539
		1540	MainMap.CanDragMap = false;
		1541	}
		1542	}
		1543	}
		1544	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1545	{
		1546	MainMap.ReleaseStylusCapture();
		1547	iFirstStylusID = -1;
		1548	bFirstAccess = true;
		1549	MainMap.CanDragMap = true;
		1550	iZoom = 0;
		1551	}
		1552	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1553	{
		1554	var id = e.StylusDevice.Id;
		1555	var tp = e.GetPosition(MainMap);
		1556
		1557	// This is the first Stylus point; just record its position.
		1558	if (id == iFirstStylusID)
		1559	{
		1560	pTouch1.X = tp.X;
		1561	pTouch1.Y = tp.Y;
		1562	}
		1563	else
		1564	if (iFirstStylusID > -1)
		1565	{
		1566	pTouch2.X = tp.X;
		1567	pTouch2.Y = tp.Y;
		1568	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1569	if (!bFirstAccess)
		1570	{
		1571	if (distance > dDistance)
		1572	iZoom++;
		1573	else
		1574	if (distance < dDistance)
		1575	iZoom--;
		1576	}
		1577	if (iZoom > 30)
		1578	{
		1579	iZoom = 0;
		1580	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1581	}
		1582	if (iZoom < -30)
		1583	{
		1584	iZoom = 0;
		1585	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1586	}
		1587	dDistance = distance;
		1588	bFirstAccess = false;
		1589	}
		1590	}
		1591	#endregion Touch zooming hackattack ;)
		1592
		1593	#endregion GMap
		1594
		1595	#region settings
		1596	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1597	{
		1598	if (!_bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		1599	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1600	}
		1601	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1602	{
		1603	if (!_bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		1604	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1605	}
		1606	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1607	{
		1608	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1609	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1610	}
		1611	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1612	{
		1613	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1614	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1615	}
		1616	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1617	{
		1618	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1619	}
		1620	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1621	{
		1622	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1623	}
		1624	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1625	{
		1626	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1627	}
		1628	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1629	{
		1630	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1631	}
		1632
		1633	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1634	{
		1635	if (cBoxLiPoCells.SelectedIndex > -1)
		1636	{
		1637	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1638	_LipoMinMax();
		1639	}
		1640	}
		1641	private void chkbAutoLiPo_Click(object sender, RoutedEventArgs e)
		1642	{
		1643	_bLiPoAutoDetect = (bool)chkbAutoLiPoDetect.IsChecked;
		1644	}
		1645
		1646	void _LipoMinMax()
		1647	{
		1648	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1649	_dLipoVMin = (double)_LipoCells * 3;
		1650	pbTopVoltage.Maximum = _dLipoVMax;
		1651	pbTopVoltage.Minimum = _dLipoVMin;
		1652	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1653	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1654	}
		1655	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1656	{
		1657	if (cBoxMotors.SelectedIndex > -1)
		1658	{
		1659	_iMotors = cBoxMotors.SelectedIndex + 3;
		1660	Dispatcher.Invoke(() =>
		1661	{
		1662	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1663	GridMotors.Height = dgvMotors1.Height + 10;
		1664	});
		1665	}
		1666	}
		1667	void _setMotorGridSize()
		1668	{
		1669	if (dgvMotors1.Columns.Count > 2)
		1670	{
		1671	dgvMotors1.Columns[0].Width = 24;
		1672	dgvMotors1.Columns[1].Width = 50;
		1673	dgvMotors1.Columns[2].Width = 50;
		1674	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1675	GridMotors.Height = dgvMotors1.Height + 10;
		1676	}
		1677
		1678	}
		1679	#endregion settings
		1680
		1681	#region functions
		1682
		1683	#region logging
		1684	/// <summary> Log data to the terminal window. </summary>
		1685	/// <param name="msgtype"> The type of message to be written. </param>
		1686	/// <param name="msg"> The string containing the message to be shown. </param>
		1687	private void Log(LogMsgType msgtype, string msg)
		1688	{
		1689	Dispatcher.Invoke(() =>
		1690	{
		1691	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1692	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1693	// rtfTerminal.AppendText(msg + "\r");
		1694	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd, rtfTerminal.Document.ContentEnd);
		1695	tr.Text = msg;
		1696	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1697	rtfTerminal.AppendText("\r");
		1698	rtfTerminal.ScrollToEnd();
		1699	});
		1700	}
		1701	private void ErrorLog(LogMsgType msgtype, string msg, string linkURL, string linkName)
		1702	{
		1703
		1704	Dispatcher.Invoke(() =>
		1705	{
		1706	Paragraph para = new Paragraph();
		1707	para.Margin = new Thickness(0); // remove indent between paragraphs
		1708
		1709	Hyperlink link = new Hyperlink();
		1710	if (linkURL != "" && linkName != "")
		1711	{
		1712	link.IsEnabled = true;
		1713	link.Inlines.Add(linkName);
		1714	link.NavigateUri = new Uri(linkURL);
		1715	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1716	}
		1717	//msg = DateTime.Now.ToLongTimeString() + msg;
		1718	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1719	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1720	r.Foreground = new SolidColorBrush(Colors.Black);
		1721	para.Inlines.Add(r);
		1722	para.Inlines.Add(msg);
		1723	para.Inlines.Add(link);
		1724	rtfError.Document.Blocks.Add(para);
		1725	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1726	//tr.Text = msg + link;
		1727	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1728	//rtfError.AppendText("\r");
		1729	rtfError.ScrollToEnd();
		1730
		1731	//_bErrorLog = true;
		1732	});
		1733	}
		1734	/// <summary>
		1735	/// Clear the line in the errorlog window
		1736	/// containing the error string when error has ceased
		1737	/// </summary>
		1738	/// <param name="s">substring of errrormessage</param>
		1739	void _clearErrorLog(string s)
		1740	{
		1741	Dispatcher.Invoke((Action)(() =>
		1742	{
		1743	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1744	TextRange foundRange = FindTextInRange(searchRange, s);
		1745
		1746	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1747
		1748
		1749	if (iStart > -1)
		1750	{
		1751	int iLength = 0;
		1752	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1753	if (iEnd > 0)
		1754	{
		1755	iLength = iEnd + 1;
		1756	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1757	if (iHttp == iLength)
		1758	{
		1759	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1760	if (iEnd2 > iLength)
		1761	{
		1762	iLength = iEnd2 + 1;
		1763	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1764
		1765	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1766	rtfError.Selection.Text = string.Empty;
		1767	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1768	}
		1769
		1770	}
		1771	else
		1772	{
		1773	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1774	rtfError.Selection.Text = string.Empty;
		1775	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1776	}
		1777	}
		1778	}
		1779	}));
		1780
		1781	}
		1782	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1783	{
		1784	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1785	if (offset < 0)
		1786	return null; // Not found
		1787
		1788	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1789	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1790
		1791	return result;
		1792	}
		1793	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1794	{
		1795	while (position != null)
		1796	{
		1797	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1798	{
		1799	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1800	if (characterCount <= count)
		1801	{
		1802	return position.GetPositionAtOffset(characterCount);
		1803	}
		1804
		1805	characterCount -= count;
		1806	}
		1807
		1808	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1809	if (nextContextPosition == null)
		1810	return position;
		1811
		1812	position = nextContextPosition;
		1813	}
		1814
		1815	return position;
		1816	}
		1817	#endregion logging
		1818
		1819	#region processing received data
		1820
		1821	private void processMessage(byte[] message)
		1822	{
		1823	if (message.Length > 0)
		1824	{
		1825	_iLifeCounter++;
		1826	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1827	//Log(LogMsgType.Incoming, message.Length.ToString());
		1828	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1829	char cmdID;
		1830	byte adr;
		1831	byte[] data;
		1832	byte[] tmp = null;
		1833	if (message[0] != '#')
		1834	{
		1835	int iFound = -1;
		1836	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1837	{ //so this is a workaround to not spam the log box
		1838	if (message[i] == 35)
		1839	{
		1840	iFound = i;
		1841	break;
		1842	}
		1843	}
		1844	if (iFound > 0)
		1845	{
		1846	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1847	tmp = new byte[message.Length - iFound];
		1848	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1849	}
		1850	s = s.Trim('\0', '\n', '\r');
		1851	if (s.Length > 0)
		1852	Log(LogMsgType.Normal, s);
		1853	if (tmp != null)
		1854	{
		1855	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1856	processMessage(tmp);
		1857	}
		1858	}
		1859	//Debug.Print(s);
		1860	else
		1861	{
		1862	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1863
		1864	if (adr == 255) { crcError++; }
		1865	else crcError = 0;
		1866	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1867	//display the active controller (FC / NC)
		1868	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...???
		1869	{
		1870	_iCtrlAct = adr;
		1871	switch (adr)
		1872	{
		1873	case 1:
		1874	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
		1875	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1876	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1877	// _setFieldsNA(); //display fields NA for FC
		1878	break;
		1879	case 2:
		1880	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1881	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1882	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1883	break;
		1884	//case 3:
		1885	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1886	// break;
		1887	//case 4:
		1888	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1889	// break;
		1890	default:
		1891	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1892	break;
		1893	}
		1894	// _loadLabelNames();
		1895	}
		1896	// else
		1897	// Debug.Print("Address == 0?");
		1898
		1899	if (data != null && data.Length > 0)
		1900	{
		1901	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1902	s = s.Trim('\0', '\n');
		1903
		1904	switch (cmdID)
		1905	{
		1906	//case 'A': //Label names
		1907	// _processLabelNames(s);
		1908	// break;
		1909
		1910	case 'D': //Debug data
		1911	_processDebugVals(adr, data);
		1912	break;
		1913
		1914	case 'V': //Version
		1915	_processVersion(adr, data);
		1916	break;
		1917
		1918	case 'K'://BL-CTRL data
		1919	_processBLCtrl(data);
		1920	break;
		1921
		1922	case 'M'://License info
		1923	_processLicense(data);
		1924	break;
		1925
		1926	case 'O': //NC Data
		1927	if (data[0] < 10)
		1928	_processNCData(data);
		1929	else
		1930	_processNCDataV2(data);
		1931	break;
		1932
		1933	//case 'E': //NC error-string
		1934	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1935	// break;
		1936
		1937	case 'L': //OSD Menue (called by pagenumber)
		1938	_processOSDSingle(data);
		1939	break;
		1940
		1941	case 'H': //OSD Menue (with autoupdate - called by Key)
		1942	_processOSDAuto(data);
		1943	break;
		1944
		1945	case 'X': //Waypoint data
		1946	_processWPData(data);
		1947	break;
		1948
		1949	case 'W': //return new Waypoint items count after sending waypoint to copter
		1950	_iWPCount = data[0];
		1951	break;
		1952	//default:
		1953	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1954	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1955	// break;
		1956	}
		1957	}
		1958	//else
		1959	//{
		1960	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1961	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1962	//}
		1963	}
		1964	}
		1965	}
		1966	/// <summary>
		1967	/// Analog label names 'A'
		1968	/// each label name is returned as a single string
		1969	/// and added to string array sAnalogLabel[]
		1970	/// and the datatable dtAnalog
		1971	/// </summary>
		1972	/// <param name="s">the label name</param>
		1973	void _processLabelNames(string s)
		1974	{
		1975	//if (iLableIndex < 32)
		1976	//{
		1977	// sAnalogLabel[iLableIndex] = s;
		1978	// if (dtAnalog.Rows.Count < 32)
		1979	// dtAnalog.Rows.Add(s, "");
		1980	// else
		1981	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1982
		1983	// // _getAnalogLabels(iLableIndex + 1);
		1984	//}
		1985	//Debug.Print(s);
		1986	}
		1987	/// <summary>
		1988	/// Debug values 'D'
		1989	/// </summary>
		1990	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1991	/// <param name="data">the received byte array to process</param>
		1992	void _processDebugVals(byte adr, byte[] data)
		1993	{
		1994	if (data.Length == 66)
		1995	{
		1996
		1997	double v;
		1998	int index = 0;
		1999	Int16 i16 = 0;
		2000	double dTemp = 0;
		2001	for (int i = 2; i < 66; i += 2)
		2002	{
		2003	i16 = data[i + 1];
		2004	i16 = (Int16)(i16 << 8);
		2005	iAnalogData[index] = data[i] + i16;
		2006	sAnalogData[index] = (data[i] + i16).ToString();
		2007	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		2008
		2009	if (adr == 2) //NC
		2010	{
		2011	switch (index)
		2012	{
		2013	case 0: //pitch (German: nick)
		2014	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		2015	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		2016	break;
		2017	case 1: //roll
		2018	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		2019	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		2020	break;
		2021	case 4: //altitude
		2022	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		2023	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		2024	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
		2025	break;
		2026	case 7: //Voltage
		2027	v = (double)iAnalogData[index] / (double)10;
		2028	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		2029	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		2030	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		2031	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		2032	{
		2033	if (v == _dVoltLast)
		2034	if (_iVoltJitter < 20) _iVoltJitter++;
		2035	else
		2036	{
		2037	_iVoltJitter = 0;
		2038	_dVoltLast = v;
		2039	}
		2040	_dVoltLast = v;
		2041	if (_iVoltJitter == 20)
		2042	{
		2043	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		2044
		2045	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		2046	{
		2047	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		2048	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		2049	{
		2050	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		2051	_bCritAnimVoltActive = true;
		2052	}
		2053	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		2054	{
		2055	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\CriticalBattery.mp3");
		2056	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		2057	//t.Start();
		2058	_bCritVoiceVoltActive = true;
		2059	}
		2060	}
		2061	else
		2062	{
		2063	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		2064	{
		2065	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		2066	_bCritAnimVoltActive = false;
		2067	}
		2068	_bCritVoiceVoltActive = false;
		2069
		2070	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
		2071	{
		2072	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\LowBattery.mp3");
		2073	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		2074	//t.Start();
		2075	_bWarnVoiceVoltActive = true;
		2076	}
		2077	}
		2078	}
		2079	}
		2080	else
		2081	{
		2082	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		2083	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		2084	{
		2085	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		2086	_bCritAnimVoltActive = false;
		2087	}
		2088	_bCritVoiceVoltActive = false;
		2089	_bWarnVoiceVoltActive = false;
		2090	_iVoltJitter = 0;
		2091	}
		2092	break;
		2093	case 8: // Current
		2094	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		2095	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		2096	break;
		2097	case 10: //heading
		2098	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
		2099	if (!_Simulate) //use NavData for simulation
		2100	{
		2101	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		2102	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		2103	}
		2104	break;
		2105	case 12: // SPI error
		2106	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
		2107	break;
		2108	case 14: //i2c error
		2109	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
		2110	break;
		2111	case 20: //Earthmagnet field
		2112	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		2113	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		2114
		2115	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		2116	{
		2117	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		2118	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		2119	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		2120	{
		2121	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		2122	_bAnimMagneticFieldActive = false;
		2123	}
		2124	}
		2125	else
		2126	{
		2127	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		2128	if (_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		2129	{
		2130	if (_iMagneticFieldJitter < 20)
		2131	_iMagneticFieldJitter++;
		2132	}
		2133	else
		2134	{
		2135	_iMagneticFieldJitter = 0;
		2136	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		2137	}
		2138	if (_iMagneticFieldJitter == 20)
		2139	{
		2140	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		2141	{
		2142	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		2143	_bAnimMagneticFieldActive = true;
		2144	}
		2145	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		2146	{
		2147	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\MagneticField.mp3");
		2148	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		2149	//t.Start();
		2150	_bVoiceMagneticFieldActive = true;
		2151	}
		2152	}
		2153	}
		2154	break;
		2155	case 21: //GroundSpeed
		2156	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		2157	if (!_Simulate)
		2158	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		2159	break;
		2160
		2161	///******** needs testing --> not sure what position this is *************
		2162	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		2163	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		2164	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		2165	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		2166	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		2167	dTemp = Math.Sqrt(dTemp) / (double)10;
		2168	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		2169	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		2170	break;
		2171
		2172	case 31: //Sats used
		2173	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		2174	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		2175	break;
		2176	}
		2177	}
		2178	index++;
		2179	}
		2180	}
		2181	else
		2182	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		2183	}
		2184	/// <summary>
		2185	/// Version string 'V'
		2186	/// </summary>
		2187	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		2188	/// <param name="data">the received byte array to process</param>
		2189	void _processVersion(byte adr, byte[] data)
		2190	{
		2191	if (data.Length == 12)
		2192	{
		2193	if (!check_HWError)
		2194	{
		2195	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		2196	string sVersion = "";
		2197	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		2198	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		2199	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		2200	Log(LogMsgType.Incoming, sVersion);
		2201	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		2202	Log(LogMsgType.Incoming, sVersion);
		2203	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		2204	}
		2205	if (data[5] > 0) //error0
		2206	{
		2207	if (adr == 1)
		2208	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(), "", "");
		2209	if (adr == 2)
		2210	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(), "", "");
		2211	}
		2212	if (data[6] > 0) //error1
		2213	{
		2214	if (adr == 1)
		2215	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(), "", "");
		2216	if (adr == 2)
		2217	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(), "", ""); //@moment NC has only one error field
		2218	}
		2219	//if ((data[5] + data[6] == 0) && _bErrorLog)
		2220	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		2221
		2222	}
		2223	check_HWError = false;
		2224	}
		2225
		2226	void _processLicense(byte[] data)
		2227	{
		2228	if (data.Length > 480)
		2229	{
		2230	Dispatcher.Invoke(() => {
		2231	tbDataLicenseUser.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 1, 127));
		2232	tbDataLicenseMail.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 129, 127));
		2233	tbDataLicenseFeature.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 257, 127));
		2234	tbDataLicenseExpire.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 385, 11));
		2235	tbDataLicenseLicense.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 397, 16));
		2236	});
		2237	}
		2238	}
		2239	/// <summary>
		2240	/// BL-Ctrl data 'K'
		2241	/// for FC you have to use a customized firmware
		2242	/// </summary>
		2243	/// <param name="data">the received byte array to process</param>
		2244	void _processBLCtrl(byte[] data)
		2245	{
		2246	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		2247	{
		2248	bool bAvailable = false;
		2249	bool bTempError = false;
		2250	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		2251	{
		2252
		2253	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		2254	bAvailable = true;
		2255	else
		2256	bAvailable = false;
		2257
		2258	if (data[i] < _iMotors)
		2259	{
		2260	if (bAvailable)
		2261	{
		2262	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		2263	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
		2264	int temp = data[i + 2];
		2265	if (temp < _iThresholdBLCTRLTempWarn)
		2266	{
		2267	_iBLCTRLTempJitter[data[i]] = 0;
		2268	}
		2269	else
		2270	{
		2271	if (_iBLCTRLTempLast[data[i]] > _iThresholdBLCTRLTempWarn)
		2272	{
		2273	if (_iBLCTRLTempJitter[data[i]] < 12)
		2274	_iBLCTRLTempJitter[data[i]]++;
		2275	}
		2276	else
		2277	{
		2278	_iBLCTRLTempJitter[data[i]] = 0;
		2279	}
		2280	_iBLCTRLTempLast[data[i]] = temp;
		2281	if (_iBLCTRLTempJitter[data[i]] == 12)
		2282	{
		2283	bTempError = true;
		2284	Dispatcher.Invoke(() =>
		2285	{
		2286	DataGridRow row = (DataGridRow)dgvMotors1.ItemContainerGenerator.ContainerFromIndex(data[i]);
		2287	if (row != null)
		2288	{
		2289	DataGridCell cell = dgvMotors1.Columns[2].GetCellContent(row).Parent as DataGridCell;
		2290	if(cell != null)
		2291	cell.Background = new SolidColorBrush(Colors.Red);
		2292	}
		2293	});
		2294	if (stbBLCTRLTempAnim != null && !_bAnimBLCTRLTempActive)
		2295	{
		2296	Dispatcher.Invoke(() => stbBLCTRLTempAnim.Begin());
		2297	_bAnimBLCTRLTempActive = true;
		2298	}
		2299	if (_bVoiceBLCTRLTempPlay && !_bVoiceBLCTRLTempActive)
		2300	{
		2301	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\BLCtrlTemp.mp3");
		2302	_bVoiceBLCTRLTempActive = true;
		2303	}
		2304	}
		2305	}
		2306	if(_iBLCTRLTempJitter.All(x=>x<12))
		2307	{
		2308	_bVoiceBLCTRLTempActive = false;
		2309	if (stbBLCTRLTempAnim != null && _bAnimBLCTRLTempActive)
		2310	{
		2311	Dispatcher.Invoke(() => stbBLCTRLTempAnim.Stop());
		2312	_bAnimBLCTRLTempActive = false;
		2313	Dispatcher.Invoke(() =>
		2314	{
		2315	for (int k = 0; k < _iMotors; k++)
		2316	{
		2317	dgvMotors1.Items.Refresh();
		2318	dgvMotors1.UpdateLayout();
		2319
		2320	DataGridRow row = (DataGridRow)dgvMotors1.ItemContainerGenerator.ContainerFromIndex(data[k]);
		2321	if (row != null)
		2322	{
		2323	DataGridCell cell = dgvMotors1.Columns[2].GetCellContent(row).Parent as DataGridCell;
		2324	if (cell != null)
		2325	cell.Background = new SolidColorBrush(Colors.Transparent);
		2326	}
		2327	}
		2328	});
		2329	}
		2330	}
		2331	}
		2332	else
		2333	{
		2334	dtMotors.Rows[data[i]].SetField(1, "NA");
		2335	dtMotors.Rows[data[i]].SetField(2, "NA");
		2336	}
		2337	}
		2338	//if (data[i] > 3 && data[i] < 8)
		2339	//{
		2340	// if (bAvailable)
		2341	// {
		2342	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		2343	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		2344	// }
		2345	// else
		2346	// {
		2347	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		2348	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		2349	// }
		2350	//}
		2351	}
		2352	}
		2353	}
		2354	/// <summary>
		2355	/// Navi-Ctrl data 'O'
		2356	/// GPS-Position, capacatiy, flying time...
		2357	/// </summary>
		2358	/// <param name="data">the received byte array to process</param>
		2359
		2360
		2361	byte OSDSTATUSFLAGS1 = 0;
		2362	byte OSDSTATUSFLAGS2 = 0;
		2363	void _processNCDataV2(byte[] data)
		2364	{
		2365	if ((int)data[0] < 17)
		2366	{
		2367	int i_32, i_16, iVal;
		2368	double d;
		2369	OSD_Base_Data_t osd = new OSD_Base_Data_t(data);
		2370	OSDSTATUSFLAGS1 = osd.OSDSTATUSFLAGS1();
		2371	Dispatcher.Invoke(() => { drGPX[2] = osd.Pos().Lng; });
		2372	Dispatcher.Invoke(() => { drGPX[1] = osd.Pos().Lat; });
		2373	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
		2374	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = osd.Speed().ToString("0.0 m/s")));
		2375	if (_Simulate)
		2376	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = osd.Speed().ToString("0.0 m/s")));
		2377
		2378	switch ((int)data[0])
		2379	{
		2380	case 10:
		2381	char[] c = Encoding.ASCII.GetChars(new byte[] { data[13] });
		2382	Dispatcher.Invoke((Action)(() => tbCamCtrl.Text = c[0].ToString()));
		2383	break;
		2384	case 11:
		2385	OSDSTATUSFLAGS2 = osd.OSDSTATUSFLAGS2();
		2386	//---------------NC-Flags--------------------------
		2387	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[14] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2388	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[14] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2389	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[14] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2390	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[14] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2391	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[14] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2392	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[14] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2393	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[14] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
		2394
		2395	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[14] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		2396	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
		2397	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
		2398	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
		2399
		2400	//--------------- NC Error ------------------------
		2401	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[16].ToString())); //NC Errornumber
		2402	if (data[16] > 0)
		2403	_readNCError();
		2404	if (data[16] > 0 & data[16] < 44)
		2405	ErrorLog(LogMsgType.Error, " NC Error [" + data[16].ToString() + "]: ", NC_Error_Link[data[16]], NC_Error[data[16]]);
		2406
		2407	break;
		2408	case 12:
		2409	//--------------- RC quality ------------------------
		2410	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[23].ToString()));
		2411	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[23].ToString()));
		2412
		2413	if (data[23] > _iThresholdRC)
		2414	{
		2415	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2416	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2417	{
		2418	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2419	_bAnimRCLevelActive = false;
		2420	}
		2421	}
		2422	else
		2423	{
		2424	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2425	if (_iRCLevelJitter == 20)
		2426	{
		2427	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2428	{
		2429	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2430	_bAnimRCLevelActive = true;
		2431	}
		2432	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2433	{
		2434	_bVoiceRCLevelActive = true;
		2435	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\RCLevel.mp3");
		2436	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2437	//th.Start();
		2438	}
		2439	_iRCLevelJitter++;
		2440	}
		2441	}
		2442	break;
		2443	case 13:
		2444	//-------------------------Waypoint max range (by license)------------------------------
		2445	i_32 = data[24];
		2446	iVal = i_32 << 8;
		2447	iVal += data[23];
		2448
		2449	if (dWPMaxRange != iVal)
		2450	{
		2451	dWPMaxRange = iVal;
		2452	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2453	{
		2454	if (cWPBound != null && cWPBound.Tag != null)
		2455	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2456
		2457	createCircle(home.Position, dWPMaxRange);
		2458	Dispatcher.Invoke(() =>
		2459	{
		2460	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2461	{
		2462	string s = _colors[comboBoxWPMaxRangeColor.SelectedIndex];
		2463	cWPBound.setColor(s);
		2464	}
		2465	});
		2466	}
		2467	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = iVal.ToString() + " m"));
		2468	}
		2469	//--------------- LiPoCell count ------------------------
		2470	Dispatcher.Invoke((Action)(() => tbLiPoCells.Text = data[25].ToString()));
		2471	Dispatcher.Invoke((Action)(() => {
		2472	if (_bLiPoAutoDetect == true)
		2473	{
		2474	if(data[25] > 2 && data[25] < 7 && _LipoCells != data[25])
		2475	{
		2476	cBoxLiPoCells.SelectedIndex = data[25] - 3;
		2477	_LipoCells = data[25];
		2478	_LipoMinMax();
		2479	}
		2480	}
		2481	}));
		2482
		2483	break;
		2484
		2485	case 14:
		2486	//--------------- Flying time ------------------------
		2487	i_16 = data[14];
		2488	i_16 = (Int16)(i_16 << 8);
		2489	iVal = data[13] + i_16;
		2490	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2491	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2492	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2493	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		2494
		2495	//--------------------------------Distance HP------------------------------------
		2496	i_16 = data[16];
		2497	i_16 = (Int16)(i_16 << 8);
		2498	iVal = data[15] + i_16;
		2499	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2500
		2501	//--------------------------Distance to next WP--------------------------------
		2502	i_16 = data[19];
		2503	i_16 = (Int16)(i_16 << 8);
		2504	iVal = data[18] + i_16;
		2505	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2506	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
		2507	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2508
		2509	//-------------------Satellites----------------------------------
		2510	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[23].ToString()));
		2511
		2512	if (data[23] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		2513	{
		2514	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
		2515	if (_bAutoHome && !_bFirstSatFix)
		2516	{
		2517	if (_iFirstSatFix < 3)
		2518	_iFirstSatFix++;
		2519	else
		2520	{
		2521	_bFirstSatFix = true;
		2522	Dispatcher.Invoke(() => _setHomePos());
		2523	}
		2524	}
		2525	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2526	{
		2527	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2528	_bAnimSatFixActive = false;
		2529	}
		2530	if (!_bFollowCopter)
		2531	{
		2532	_setCopterData(osd.Pos());
		2533	if (!MainMap.ViewArea.Contains(osd.Pos()))
		2534	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2535
		2536	}
		2537	else
		2538	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2539	}
		2540	else
		2541	{
		2542	if (_bSatFix)
		2543	{
		2544	if (data[23] == _iSatsLast)
		2545	{
		2546	if (_iSatsJitter < 20) _iSatsJitter++;
		2547	}
		2548	else
		2549	{
		2550	_iSatsJitter = 0;
		2551	_iSatsLast = data[23];
		2552	}
		2553
		2554	if (_iSatsJitter == 20)
		2555	{
		2556	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2557	{
		2558	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2559	_bAnimSatFixActive = true;
		2560	}
		2561	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2562	{
		2563	_bVoiceSatFixActive = true;
		2564	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\SatFixLost.mp3");
		2565	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2566	//th.Start();
		2567	}
		2568
		2569	_bSatFix = false;
		2570	}
		2571	}
		2572	}
		2573
		2574	break;
		2575
		2576	case 15:
		2577	//--------------------------------Waypoint index------------------------------------
		2578	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[13].ToString()));
		2579	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[13].ToString()));
		2580	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[13].ToString()));
		2581	if (data[13] > 0 && _wpIndex != data[13] - 1 && wpList.Count > data[13] - 1)
		2582	{
		2583	_setActiveWP(data[13] - 1);
		2584	if ((OSDSTATUSFLAGS2 & 2) == 2)
		2585	Dispatcher.Invoke(() =>
		2586	{
		2587	DataGridRow row;
		2588	if (_wpIndex > -1)
		2589	{
		2590	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2591	row.Background = new SolidColorBrush(Colors.Transparent);
		2592	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2593	row.BorderThickness = new Thickness(0);
		2594	}
		2595
		2596	_wpIndex = data[13] - 1;
		2597	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2598	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2599	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		2600	row.BorderThickness = new Thickness(2);
		2601	dgvWP.UpdateLayout();
		2602	});
		2603	_wpIndex = data[13] - 1;
		2604	}
		2605	else
		2606	{
		2607	if ((data[13] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
		2608	{
		2609	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
		2610	Dispatcher.Invoke(() =>
		2611	{
		2612	DataGridRow row;
		2613	if (_wpIndex > -1 && data[13] == 0 && wpList.Count > _wpIndex)
		2614	{
		2615	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2616	row.Background = new SolidColorBrush(Colors.Transparent);
		2617	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2618	row.BorderThickness = new Thickness(0);
		2619	_wpIndex = -1;
		2620	}
		2621	});
		2622
		2623	}
		2624	}
		2625	//----------------Waypoints count----------------------
		2626	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[14].ToString())); //Waypoints count
		2627	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[14].ToString())); //Waypoints count
		2628	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[14].ToString())); //Waypoints count
		2629	_wpCount = data[14];
		2630	if(_wpCount > dtWaypoints.Rows.Count)
		2631	{
		2632	Log(LogMsgType.Warning, "The copter reports more waypoints than there are in the local list!");
		2633	}
		2634
		2635	//---------------------------------Target hold time------------------------------
		2636	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[15].ToString() + " s"));
		2637	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[15].ToString() + " s"));
		2638
		2639	break;
		2640
		2641	case 16:
		2642	//--------------- Capacity used ------------------------
		2643	i_16 = data[18];
		2644	i_16 = (Int16)(i_16 << 8);
		2645	iVal = data[17] + i_16;
		2646	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2647	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		2648
		2649	//--------------- Heading compass ------------------------
		2650	i_16 = data[21];
		2651	iVal = 2 * i_16;
		2652	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
		2653	if (_Simulate)
		2654	{
		2655	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2656	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2657	}
		2658
		2659	break;
		2660	case 17:
		2661
		2662	break;
		2663	case 18:
		2664
		2665	break;
		2666	default:
		2667	break;
		2668	}
		2669	//--------------------------------------------------------------------------------
		2670	//-----------------------------FC Status Flags-------------------------------
		2671	//--------------------------------------------------------------------------------
		2672	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2673	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((OSDSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2674	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((OSDSTATUSFLAGS1 & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2675	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((OSDSTATUSFLAGS2 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2676	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2677	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((OSDSTATUSFLAGS1 & 32) == 32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2678
		2679	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2680	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2681	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((OSDSTATUSFLAGS2 & 4) == 4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2682	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((OSDSTATUSFLAGS1 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2683	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((OSDSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2684	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
		2685	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((OSDSTATUSFLAGS2 & 64) == 64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2686	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((OSDSTATUSFLAGS2 & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2687
		2688	//Sidebar StatusSymbols
		2689	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2690	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
		2691	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
		2692
		2693	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2694	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Foreground = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		2695	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.BorderBrush = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		2696
		2697	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2698	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
		2699	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
		2700
		2701	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2702	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
		2703	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
		2704
		2705	_bAirborne = (OSDSTATUSFLAGS2 & 2) == 2 ? true : false;
		2706	}
		2707	}
		2708	public class OSD_Base_Data_t
		2709	{
		2710	byte[] data;
		2711
		2712	public OSD_Base_Data_t(byte [] _data)
		2713	{
		2714	data = _data;
		2715	}
		2716
		2717	public PointLatLng Pos()
		2718	{
		2719	PointLatLng p = new PointLatLng();
		2720	int i_32, iVal;
		2721	double d;
		2722
		2723	i_32 = data[4];
		2724	iVal = i_32 << 24;
		2725	i_32 = data[3];
		2726	iVal += i_32 << 16;
		2727	i_32 = data[2];
		2728	iVal += i_32 << 8;
		2729	iVal += data[1];
		2730	d = (double)iVal / Math.Pow(10, 7);
		2731	p.Lng = d;
		2732
		2733	i_32 = data[8];
		2734	iVal = i_32 << 24;
		2735	i_32 = data[7];
		2736	iVal += i_32 << 16;
		2737	i_32 = data[6];
		2738	iVal += i_32 << 8;
		2739	iVal += data[5];
		2740	d = (double)iVal / Math.Pow(10, 7);
		2741	p.Lat = d;
		2742
		2743	return p;
		2744
		2745	}
		2746
		2747	public int Height()
		2748	{
		2749	int i_32, iVal;
		2750	i_32 = data[10];
		2751	iVal = i_32 << 8;
		2752	iVal += data[9];
		2753
		2754	return iVal;
		2755	}
		2756
		2757	public double Speed()
		2758	{
		2759	if (data.Length > 11)
		2760	return (double)data[11]/10;
		2761	else return 0;
		2762	}
		2763
		2764	public byte OSDSTATUSFLAGS1()
		2765	{
		2766	if (data.Length > 12)
		2767	return data[12];
		2768	else return 0;
		2769	}
		2770	public byte OSDSTATUSFLAGS2()
		2771	{
		2772	if (data.Length > 13)
		2773	return data[13];
		2774	else return 0;
		2775	}
		2776	}
		2777	void _processNCData(byte[] data)
		2778	{
		2779	int i_32, i_16, iVal;
		2780	double d;
		2781
		2782	//----------------------------POSITION------------------------------------
		2783	i_32 = data[4];
		2784	iVal = i_32 << 24;
		2785	i_32 = data[3];
		2786	iVal += i_32 << 16;
		2787	i_32 = data[2];
		2788	iVal += i_32 << 8;
		2789	iVal += data[1];
		2790	d = (double)iVal / Math.Pow(10, 7);
		2791	Dispatcher.Invoke(() => { drGPX[2] = d; });
		2792
		2793	PointLatLng p = new PointLatLng();
		2794
		2795	p.Lng = d;
		2796	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		2797	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		2798
		2799	i_32 = data[8];
		2800	iVal = i_32 << 24;
		2801	i_32 = data[7];
		2802	iVal += i_32 << 16;
		2803	i_32 = data[6];
		2804	iVal += i_32 << 8;
		2805	iVal += data[5];
		2806	d = (double)iVal / Math.Pow(10, 7);
		2807	Dispatcher.Invoke(() => { drGPX[1] = d; });
		2808	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
		2809	p.Lat = d;
		2810
		2811	//---------------------------SATS-------------------------------------------------
		2812	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		2813	{
		2814	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
		2815	if(_bAutoHome && !_bFirstSatFix)
		2816	{
		2817	if (_iFirstSatFix < 3)
		2818	_iFirstSatFix++;
		2819	else
		2820	{
		2821	_bFirstSatFix = true;
		2822	Dispatcher.Invoke(() => _setHomePos());
		2823	}
		2824	}
		2825	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2826	{
		2827	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2828	_bAnimSatFixActive = false;
		2829	}
		2830	if (!_bFollowCopter)
		2831	{
		2832	_setCopterData(p);
		2833	if (!MainMap.ViewArea.Contains(p))
		2834	Dispatcher.Invoke(() => MainMap.Position = p);
		2835
		2836	}
		2837	else
		2838	Dispatcher.Invoke(() => MainMap.Position = p);
		2839	}
		2840	else
		2841	{
		2842	if(_bSatFix)
		2843	{
		2844	if (data[50] == _iSatsLast)
		2845	{
		2846	if (_iSatsJitter < 20) _iSatsJitter++;
		2847	}
		2848	else
		2849	{
		2850	_iSatsJitter = 0;
		2851	_iSatsLast = data[50];
		2852	}
		2853
		2854	if (_iSatsJitter == 20)
		2855	{
		2856	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2857	{
		2858	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2859	_bAnimSatFixActive = true;
		2860	}
		2861	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2862	{
		2863	_bVoiceSatFixActive = true;
		2864	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\SatFixLost.mp3");
		2865	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2866	//th.Start();
		2867	}
		2868
		2869	_bSatFix = false;
		2870	}
		2871	}
		2872	}
		2873
		2874	//--------------------------Distance to next WP--------------------------------
		2875	i_16 = data[28];
		2876	i_16 = (Int16)(i_16 << 8);
		2877	iVal = data[27] + i_16;
		2878	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2879	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
		2880	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2881
		2882	//-------------------------Distance to HP set by GPS on----------------------------------
		2883	i_16 = data[45];
		2884	i_16 = (Int16)(i_16 << 8);
		2885	iVal = data[44] + i_16;
		2886	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2887
		2888	//--------------------------------Waypoint index------------------------------------
		2889	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString()));
		2890	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
		2891	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString()));
		2892	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
		2893	{
		2894	_setActiveWP(data[48]- 1);
		2895	if((data[67] & 2) == 2)
		2896	Dispatcher.Invoke(() => {
		2897	DataGridRow row;
		2898	if (_wpIndex > -1)
		2899	{
		2900	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2901	row.Background = new SolidColorBrush(Colors.Transparent);
		2902	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2903	row.BorderThickness = new Thickness(0);
		2904	}
		2905
		2906	_wpIndex = data[48] - 1;
		2907	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2908	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2909	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		2910	row.BorderThickness = new Thickness(2);
		2911	dgvWP.UpdateLayout();
		2912	});
		2913	_wpIndex = data[48]- 1;
		2914	}
		2915	else
		2916	{
		2917	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
		2918	{
		2919	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
		2920	Dispatcher.Invoke(() =>
		2921	{
		2922	DataGridRow row;
		2923	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
		2924	{
		2925	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2926	row.Background = new SolidColorBrush(Colors.Transparent);
		2927	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2928	row.BorderThickness = new Thickness(0);
		2929	_wpIndex = -1;
		2930	}
		2931	});
		2932
		2933	}
		2934	}
		2935	//----------------Waypoints count----------------------
		2936	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
		2937	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
		2938	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count
		2939	_wpCount = data[49];
		2940	//-------------------Satellites----------------------------------
		2941	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString()));
		2942
		2943	//--------------- Capacity used ------------------------
		2944	i_16 = data[81];
		2945	i_16 = (Int16)(i_16 << 8);
		2946	iVal = data[80] + i_16;
		2947	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2948	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		2949
		2950	//--------------- Ground speed ------------------------
		2951	i_16 = data[59];
		2952	i_16 = (Int16)(i_16 << 8);
		2953	iVal = data[58] + i_16;
		2954	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		2955	if(_Simulate)
		2956	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		2957
		2958	//--------------- Heading north ------------------------
		2959	//i_16 = data[61];
		2960	//i_16 = (Int16)(i_16 << 8);
		2961	//iVal = data[60] + i_16;
		2962	//Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
		2963
		2964	//--------------- Heading compass ------------------------
		2965	i_16 = data[63];
		2966	i_16 = (Int16)(i_16 << 8);
		2967	iVal = data[62] + i_16;
		2968	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
		2969	if (_Simulate)
		2970	{
		2971	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2972	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2973	}
		2974	//--------------- Flying time ------------------------
		2975	i_16 = data[56];
		2976	i_16 = (Int16)(i_16 << 8);
		2977	iVal = data[55] + i_16;
		2978	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2979	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2980	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2981	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		2982
		2983	//--------------- RC quality ------------------------
		2984	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		2985	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		2986
		2987	if(data[66] > _iThresholdRC)
		2988	{
		2989	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2990	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2991	{
		2992	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2993	_bAnimRCLevelActive = false;
		2994	}
		2995	}
		2996	else
		2997	{
		2998	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2999	if (_iRCLevelJitter == 20)
		3000	{
		3001	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		3002	{
		3003	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		3004	_bAnimRCLevelActive = true;
		3005	}
		3006	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		3007	{
		3008	_bVoiceRCLevelActive = true;
		3009	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\" + _voiceLanguage[_iVoiceIndex] + "\\MagneticField.mp3");
		3010	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		3011	//th.Start();
		3012	}
		3013	_iRCLevelJitter++;
		3014	}
		3015	}
		3016
		3017	//-------------------------Waypoint max range (by license)------------------------------
		3018	if(dWPMaxRange != (double)data[70])
		3019	{
		3020	dWPMaxRange = (double)data[70];
		3021	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		3022	{
		3023	if (cWPBound != null && cWPBound.Tag != null)
		3024	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		3025
		3026	createCircle(home.Position, dWPMaxRange);
		3027	Dispatcher.Invoke(() =>
		3028	{
		3029	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		3030	{
		3031	string s = _colors[comboBoxWPMaxRangeColor.SelectedIndex];
		3032	cWPBound.setColor(s);
		3033	}
		3034	});
		3035	}
		3036	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m"));
		3037	}
		3038	//---------------------------------Target hold time------------------------------
		3039	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
		3040	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s"));
		3041
		3042	//--------------- NC Error ------------------------
		3043	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		3044	if (data[69] > 0)
		3045	_readNCError();
		3046	if (data[69] > 0 & data[69] < 44)
		3047	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		3048	//else
		3049	// if (_bErrorLog) _clearErrorLog("NC Error");
		3050
		3051	//--------------------------------------------------------------------------------
		3052	//-----------------------------FC / NC Status Flags-------------------------------
		3053	//--------------------------------------------------------------------------------
		3054	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		3055	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		3056	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		3057	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		3058	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		3059	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		3060
		3061	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		3062	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		3063	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		3064	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		3065	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		3066	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
		3067	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		3068	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		3069
		3070	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		3071	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		3072	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		3073	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		3074	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		3075	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		3076	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
		3077
		3078	//Sidebar StatusSymbols
		3079	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		3080	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
		3081	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
		3082
		3083	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		3084	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
		3085	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
		3086
		3087	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		3088	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
		3089	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
		3090
		3091	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		3092	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
		3093	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
		3094
		3095	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		3096	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
		3097	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
		3098	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
		3099
		3100	_bAirborne = (data[67] & 2) == 2 ? true : false;
		3101	}
		3102	/// <summary>
		3103	/// Navi-Ctrl WP data struct 'X'
		3104	/// called by index
		3105	/// </summary>
		3106	/// <param name="data">the received byte array to process</param>
		3107	void _processWPData(byte[] data)
		3108	{
		3109	_iWPCount = data[0];
		3110	_bGetWPCount = false;
		3111	if (data.Length >= 28)
		3112	{
		3113	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		3114	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		3115	if (_bGetWP)
		3116	{
		3117	if (data[1] == 1)
		3118	{
		3119	Dispatcher.Invoke(() =>
		3120	{
		3121	wpList.Clear();
		3122	_clearMapMarkers(typeof(CustomMarkerWP));
		3123	if (mRouteWP != null)
		3124	MainMap.Markers.Remove(mRouteWP);
		3125	if (wpActiveMarker != null)
		3126	MainMap.Markers.Remove(wpActiveMarker);
		3127	lblWPRouteDistance.Content = "0 m";
		3128	dtWaypoints.Rows.Clear();
		3129	_wpEdit = -1;_wpIndex = -1;
		3130	wpOffset.Clear();
		3131	});
		3132	}
		3133	DataRow dr = dtWaypoints.NewRow();
		3134	dr = Waypoints.toDataRow(data, dr);
		3135	dtWaypoints.Rows.Add(dr);
		3136	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1],(int)data[1]-1);
		3137	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3138	Dispatcher.Invoke(() => _iWPIndex = data[1]);
		3139	if (data[1] == data[0])
		3140	{
		3141	_bGetWP = false;
		3142	_routeUpdate();
		3143	}
		3144
		3145	}
		3146	}
		3147	else
		3148	{
		3149	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3150	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3151	}
		3152	}
		3153	/// <summary>
		3154	/// OSD Menue 'L'
		3155	/// single page called by pagenumber
		3156	/// no autoupdate
		3157	/// </summary>
		3158	/// <param name="data">the received byte array to process</param>
		3159	void _processOSDSingle(byte[] data)
		3160	{
		3161	if (data.Length == 84)
		3162	{
		3163	string sMessage = "";
		3164	iOSDPage = data[0];
		3165	iOSDMax = data[1];
		3166	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		3167	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		3168	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		3169	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		3170	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		3171	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		3172	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		3173	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		3174
		3175	}
		3176	//else
		3177	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		3178
		3179	}
		3180	/// <summary>
		3181	/// OSD Menue 'H'
		3182	/// called by keys (0x01,0x02,0x03,0x04)
		3183	/// autoupdate
		3184	/// </summary>
		3185	/// <param name="data">the received byte array to process</param>
		3186	void _processOSDAuto(byte[] data)
		3187	{
		3188	if (data.Length == 81)
		3189	{
		3190	string sMessage = "";
		3191	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		3192	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		3193	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		3194	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		3195	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		3196
		3197	}
		3198	//else
		3199	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		3200	}
		3201
		3202	#endregion processing received data
		3203
		3204	#region controller messages
		3205	/// <summary> send message to controller to request data
		3206	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		3207	/// </summary>
		3208	/// <param name="CMDID"> the command ID </param>
		3209	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		3210	private void _sendControllerMessage(char CMDID, byte address)
		3211	{
		3212	if (serialPortCtrl.Port.IsOpen)
		3213	{
		3214	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3215	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		3216	serialStream.Write(bytes, 0, bytes.Length);
		3217
		3218	}
		3219	else
		3220	Log(LogMsgType.Error, "NOT CONNECTED!");
		3221	}
		3222	/// <summary> send message to controller to request data
		3223	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		3224	/// </summary>
		3225	/// <param name="CMDID"> the command ID </param>
		3226	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		3227	/// <param name="data"> additional data for the request</param>
		3228	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		3229	{
		3230	if (serialPortCtrl.Port.IsOpen)
		3231	{
		3232	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3233	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		3234	serialStream.Write(bytes, 0, bytes.Length);
		3235
		3236	}
		3237	else
		3238	Log(LogMsgType.Error, "NOT CONNECTED!");
		3239	}
		3240
		3241	/// <summary>
		3242	/// start/stop continous polling of controller values
		3243	/// </summary>
		3244	/// <param name="b">start/stop switch</param>
		3245	void _readCont(bool b)
		3246	{
		3247	bReadContinously = b;
		3248	if (bReadContinously)
		3249	{
		3250	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		3251	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		3252	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		3253	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		3254	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		3255	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		3256	}
		3257	else
		3258	{
		3259	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		3260	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		3261	_bConnErr = false;
		3262	}
		3263	_iLifeCounter = 0;
		3264	}
		3265
		3266	private void _getVersion()
		3267	{
		3268	_sendControllerMessage('v', 0);
		3269	}
		3270	/// <summary>
		3271	/// get FC version struct via NC
		3272	/// by sending '1' as data (not documented in wiki...)
		3273	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		3274	/// </summary>
		3275	/// <param name="ctrl">controller number 1=FC</param>
		3276	private void _getVersion(byte ctrl)
		3277	{
		3278	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		3279	}
		3280	/// <summary>
		3281	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		3282	/// </summary>
		3283	private void _switchToNC()
		3284	{
		3285	if (serialPortCtrl.Port.IsOpen)
		3286	{
		3287	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3288	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		3289	serialStream.Write(bytes, 0, bytes.Length);
		3290
		3291	Thread.Sleep(100);
		3292	_getVersion();
		3293	Thread.Sleep(100);
		3294	_getLic();
		3295	// _OSDMenue(0);
		3296	}
		3297	else
		3298	Log(LogMsgType.Error, "NOT CONNECTED!");
		3299	}
		3300	/// <summary>
		3301	/// switch to FC
		3302	/// </summary>
		3303	private void _switchToFC()
		3304	{
		3305	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		3306	Thread.Sleep(100);
		3307	_getVersion();
		3308	Thread.Sleep(100);
		3309	// _OSDMenue(0);
		3310	}
		3311	/// <summary>
		3312	/// send RESET signal to FC
		3313	/// </summary>
		3314	private void _resetCtrl()
		3315	{
		3316	_sendControllerMessage('R', 1);
		3317	}
		3318	/// <summary>
		3319	/// poll the debug data (4sec subscription)
		3320	/// </summary>
		3321	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		3322	private void _readDebugData(bool auto)
		3323	{
		3324	byte interval = auto ? debugInterval : (byte)0;
		3325	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		3326	}
		3327	/// <summary>
		3328	/// poll the BL-CTRL status via NC (4sec subscription)
		3329	/// </summary>
		3330	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		3331	private void _readBLCtrl(bool auto)
		3332	{
		3333	byte interval = auto ? blctrlInterval : (byte)0;
		3334	_sendControllerMessage('k', 0, new byte[1] { interval });
		3335	}
		3336	/// <summary>
		3337	/// poll the NC data struct (4sec subscription)
		3338	/// </summary>
		3339	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		3340	private void _readNavData(bool auto)
		3341	{
		3342	byte interval = auto ? navctrlInterval : (byte)0;
		3343	// _sendControllerMessage('o', 2, new byte[1] { interval });
		3344	_sendControllerMessage('o', 2, new byte[3] { interval,4,0 });
		3345	}
		3346	/// <summary>
		3347	/// request the license info
		3348	/// </summary>
		3349	void _getLic()
		3350	{
		3351	if (serialPortCtrl.Port.IsOpen)
		3352	{
		3353	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3354	byte[] bytes = FlightControllerMessage.CreateMessage('m', 2, new byte[1] { (byte)1 });
		3355	serialStream.Write(bytes, 0, bytes.Length);
		3356	}
		3357	else
		3358	Log(LogMsgType.Error, "NOT CONNECTED!");
		3359
		3360	}
		3361	/// <summary>
		3362	/// get the errortext for pending NC error
		3363	/// </summary>
		3364	private void _readNCError()
		3365	{
		3366	_sendControllerMessage('e', 2);
		3367	}
		3368	/// <summary>
		3369	/// request the Waypoint at index
		3370	/// </summary>
		3371	/// <param name="index"></param>
		3372	void _getpWP(int index)
		3373	{
		3374	if (serialPortCtrl.Port.IsOpen)
		3375	{
		3376	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3377	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		3378	serialStream.Write(bytes, 0, bytes.Length);
		3379	}
		3380	else
		3381	Log(LogMsgType.Error, "NOT CONNECTED!");
		3382
		3383	}
		3384	void _getWP()
		3385	{
		3386	int iTimeout = 0;
		3387	_bGetWPCount = true;
		3388	_getpWP(1); //get the itemscount of wp
		3389	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		3390	{
		3391	Thread.Sleep(10);
		3392	iTimeout++;
		3393	}
		3394	if (_iWPCount > 0 & !_bGetWPCount)
		3395	_getWPList();
		3396	}
		3397	void _getWPList()
		3398	{
		3399	_bGetWP = true;
		3400	int iTimeout=0;
		3401	for (int j = 0; j < _iWPCount; j++)
		3402	{
		3403	_getpWP(j + 1);
		3404	iTimeout = 0;
		3405	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		3406	{
		3407	Thread.Sleep(1);
		3408	iTimeout++;
		3409	}
		3410	}
		3411	Dispatcher.Invoke(() =>
		3412	{
		3413	// MainMap.ZoomAndCenterMarkers(null);
		3414	MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]);
		3415	MainMap.Zoom = 19;
		3416	});
		3417	}
		3418	/// <summary>
		3419	/// Wrapper for _clearCopterWPList()
		3420	/// necessary, cause it is called by threadnew which does not like return values...
		3421	/// </summary>
		3422	void clearCopterWPList()
		3423	{
		3424	_clearCopterWPList();
		3425	}
		3426	/// <summary>
		3427	/// clear the WP list of the copter
		3428	/// by sending 'invalid' and index '0'
		3429	/// </summary>
		3430	/// <returns></returns>
		3431	bool _clearCopterWPList()
		3432	{
		3433	int iTimeout = 0;
		3434	if (serialPortCtrl.Port.IsOpen)
		3435	{
		3436	byte[] bData = new byte[30];
		3437	for (int i = 0; i < 30; i++)
		3438	bData[i] = 0;
		3439	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3440	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		3441	serialStream.Write(bytes, 0, bytes.Length);
		3442
		3443	_iWPCount = -1;
		3444	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
		3445	{
		3446	Thread.Sleep(10);
		3447	iTimeout++;
		3448	}
		3449	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
		3450	if (_iWPCount > -1)
		3451	return true;
		3452	else
		3453	Log(LogMsgType.Error, "Timeout while sending list!");
		3454	}
		3455	else
		3456	Log(LogMsgType.Error, "NOT CONNECTED!");
		3457
		3458	return false;
		3459	}
		3460	void _sendWPList()
		3461	{
		3462	_sendWPList(0);
		3463	}
		3464	void _sendWPList(int iStart)
		3465	{
		3466	int iTimeout = 0;
		3467	if (serialPortCtrl.Port.IsOpen)
		3468	{
		3469	if (_clearCopterWPList())
		3470	{
		3471	int k = 1;
		3472	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
		3473	{
		3474	k = iStart > 0 ? k : -1;
		3475	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
		3476
		3477	_iWPCount = -1;
		3478	iTimeout = 0;
		3479	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		3480	{
		3481	Thread.Sleep(10);
		3482	iTimeout++;
		3483	}
		3484	if (_iWPCount == -1)
		3485	{
		3486	Log(LogMsgType.Error, "Timeout while sending list!");
		3487	break;
		3488	}
		3489	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
		3490	k++;
		3491	}
		3492	}
		3493	}
		3494	else
		3495	Log(LogMsgType.Error, "NOT CONNECTED!");
		3496
		3497	}
		3498	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
		3499	{
		3500
		3501	if (serialPortCtrl.Port.IsOpen)
		3502	{
		3503	byte[] bData = new byte[30];
		3504	for (int i = 0; i < 30; i++)
		3505	bData[i] = 0;
		3506	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3507	byte[] bytes;
		3508	int iVal;
		3509	double dVal;
		3510	NumberFormatInfo nfi = new NumberFormatInfo();
		3511	nfi.NumberDecimalSeparator = ",";
		3512
		3513	//longitude
		3514	dVal = Convert.ToDouble(dr[4], nfi);
		3515	iVal = (int)(dVal * Math.Pow(10, 7));
		3516	bData[0] = (byte)(iVal & 0xff);
		3517	bData[1] = (byte)((iVal >> 8) & 0xff);
		3518	bData[2] = (byte)((iVal >> 16) & 0xff);
		3519	bData[3] = (byte)(iVal >> 24);
		3520	//latitude
		3521	dVal = Convert.ToDouble(dr[3], nfi);
		3522	iVal = (int)(dVal * Math.Pow(10, 7));
		3523	bData[4] = (byte)(iVal & 0xff);
		3524	bData[5] = (byte)((iVal >> 8) & 0xff);
		3525	bData[6] = (byte)((iVal >> 16) & 0xff);
		3526	bData[7] = (byte)(iVal >> 24);
		3527	//altitude
		3528	dVal = Convert.ToDouble(dr[5], nfi);
		3529	iVal = (int)(dVal * 10);
		3530	bData[8] = (byte)(iVal & 0xff);
		3531	bData[9] = (byte)((iVal >> 8) & 0xff);
		3532	bData[10] = (byte)((iVal >> 16) & 0xff);
		3533	bData[11] = (byte)(iVal >> 24);
		3534	if(bSim)
		3535	bData[12] = 3; //Status 'SIMULATE'
		3536	//Status 'NEWDATA'
		3537	else
		3538	bData[12] = 1;
		3539	//heading
		3540	iVal = Convert.ToInt16(dr[6]);
		3541	bData[13] = (byte)(iVal & 0xff);
		3542	bData[14] = (byte)((iVal >> 8) & 0xff);
		3543	//ToleranceRadius
		3544	bData[15] = Convert.ToByte(dr[9]);
		3545	//HoldTime
		3546	bData[16] = Convert.ToByte(dr[10]);
		3547	//Event_Flag
		3548	bData[17] = Convert.ToByte(dr[13]);
		3549	//Index
		3550	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
		3551	//Type
		3552	bData[19] = Convert.ToByte(dr[1]);
		3553	//WP_EventChannelValue
		3554	bData[20] = Convert.ToByte(dr[14]);
		3555	//AltitudeRate
		3556	bData[21] = Convert.ToByte(dr[8]);
		3557	//Speed
		3558	bData[22] = Convert.ToByte(dr[7]);
		3559	//CamAngle
		3560	bData[23] = (byte)Convert.ToInt16(dr[12]);
		3561	//Name
		3562	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		3563	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
		3564	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		3565	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		3566	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		3567	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		3568	//Autotrigger
		3569	bData[28] = Convert.ToByte(dr[11]);
		3570
		3571	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
		3572	serialStream.Write(bytes, 0, bytes.Length);
		3573
		3574	return true;
		3575	}
		3576
		3577	return false;
		3578	}
		3579	#region OSD-Menue
		3580
		3581	/// <summary>
		3582	/// one time query of the OSD Menue with pagenumber
		3583	/// </summary>
		3584	/// <param name="iMenue">Menue page</param>
		3585	void _OSDMenue(int iMenue)
		3586	{
		3587	if (serialPortCtrl.Port.IsOpen)
		3588	{
		3589	if (iMenue > iOSDMax)
		3590	iMenue = 0;
		3591	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3592	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		3593	serialStream.Write(bytes, 0, bytes.Length);
		3594	}
		3595	else
		3596	Log(LogMsgType.Error, "NOT CONNECTED!");
		3597
		3598	}
		3599	/// <summary>
		3600	/// call the OSDMenue and start autorefresh
		3601	/// usually by sending a menuekey
		3602	/// 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)
		3603	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		3604	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		3605	/// </summary>
		3606	void _OSDMenueAutoRefresh()
		3607	{
		3608	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		3609	}
		3610	void _OSDMenueAutoRefresh(byte key)
		3611	{
		3612	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		3613	}
		3614	/// <summary>
		3615	/// initialize the OSD menue combobox
		3616	/// combox is filled by numbers from 0 to max pagenumber
		3617	/// </summary>
		3618	void _initOSDCB()
		3619	{
		3620	_bCBInit = true;
		3621	if (iOSDMax == 0)
		3622	{
		3623	_OSDMenue(0);
		3624	Thread.Sleep(10);
		3625	}
		3626	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		3627	for (int i = 0; i <= iOSDMax; i++)
		3628	{
		3629	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		3630	}
		3631	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		3632	_bCBInit = false;
		3633	}
		3634	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		3635	{
		3636	iOSDPage++;
		3637	if (iOSDPage > iOSDMax)
		3638	iOSDPage = 0;
		3639
		3640	_OSDMenue(iOSDPage);
		3641	}
		3642	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		3643	{
		3644	iOSDPage--;
		3645	if (iOSDPage < 0)
		3646	iOSDPage = iOSDMax;
		3647
		3648	_OSDMenue(iOSDPage);
		3649	}
		3650	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		3651	{
		3652	_OSDMenueAutoRefresh(8);
		3653	}
		3654	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		3655	{
		3656	_OSDMenueAutoRefresh(4);
		3657	}
		3658	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		3659	{
		3660	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		3661	_OSDMenue(cbOSD.SelectedIndex);
		3662	}
		3663	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		3664	{
		3665	Dispatcher.Invoke(() =>
		3666	{
		3667	TextRange tr;
		3668	if (bNew)
		3669	{
		3670	rtfOSD.SelectAll();
		3671	rtfOSD.Selection.Text = string.Empty;
		3672	}
		3673	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		3674	tr.Text = msg;
		3675	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		3676	// rtfOSD.AppendText("\r");
		3677	rtfOSD.ScrollToEnd();
		3678
		3679	});
		3680	}
		3681
		3682	#endregion OSD-Menue
		3683
		3684	#endregion controller messages
		3685
		3686	void _mediaPlayer(object file)
		3687	{
		3688	Monitor.TryEnter(lockObj);
		3689	try
		3690	{
		3691	if (File.Exists((string)file))
		3692	{
		3693
		3694	mediaPlayer.Open((string)file);
		3695	mediaPlayer.Play();
		3696	}
		3697	else
		3698	Log(LogMsgType.Warning, "File not found: " + file.ToString());
		3699
		3700	}
		3701	finally
		3702	{
		3703	Monitor.Exit(lockObj);
		3704	}
		3705	}
		3706
		3707	#region ui
		3708	/// <summary>
		3709	/// Switch between fullscreen and normal window mode
		3710	/// save & restore scaling settings
		3711	/// </summary>
		3712	/// <param name="sender"></param>
		3713	/// <param name="e"></param>
		3714	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		3715	{
		3716	if (winState.isMaximized)
		3717	{
		3718	winState.Restore(this);
		3719	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		3720	if(_bSaveWinStateFull)
		3721	_saveScaleSliders(true);
		3722	if(_bSaveWinStateNormal)
		3723	_setScaleSliders(false);
		3724	}
		3725	else
		3726	{
		3727	winState.Maximize(this);
		3728	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		3729	if(_bSaveWinStateNormal)
		3730	_saveScaleSliders(false);
		3731	if(_bSaveWinStateFull)
		3732	_setScaleSliders(true);
		3733	}
		3734	}
		3735
		3736	/// <summary>
		3737	/// reset the scaling of all UI elements to default
		3738	/// </summary>
		3739	/// <param name="sender"></param>
		3740	/// <param name="e"></param>
		3741	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		3742	{
		3743	UIScaleHorizonSlider.Value =
		3744	UIScaleLOGSlider.Value =
		3745	UIScaleMotorsSlider.Value =
		3746	UIScaleOSDSlider.Value =
		3747	UIScaleSlider.Value =
		3748	UIScaleTopSlider.Value = 1;
		3749	}
		3750	/// <summary>
		3751	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		3752	/// </summary>
		3753	/// <param name="sender"></param>
		3754	/// <param name="e"></param>
		3755	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3756	{
		3757	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		3758	if (GridMotors != null)
		3759	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		3760	if (GridSideBar != null)
		3761	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		3762	if (WPStatus != null)
		3763	WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom);
		3764	if (GridOSD != null)
		3765	{
		3766	if(WPStatus.Visibility == Visibility.Visible)
		3767	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3768	else
		3769	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3770	}
		3771	if (GridData != null)
		3772	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		3773	if (GridWP != null)
		3774	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		3775	}
		3776	private void UIScaleOSDSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3777	{
		3778	if (!_init)
		3779	{
		3780	if (WPStatus != null && (WPStatus.Visibility == Visibility.Visible))
		3781	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3782	else
		3783	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3784	}
		3785	}
		3786
		3787	/// <summary>
		3788	/// restore the saved scalings for the fullscreen/normal window mode
		3789	/// </summary>
		3790	/// <param name="bFull">the mode the window is set to</param>
		3791	void _setScaleSliders(bool bFull)
		3792	{
		3793	if(bFull)
		3794	{
		3795	UIScaleSlider.Value = scaleFullAll;
		3796	UIScaleTopSlider.Value = scaleFullTopBar;
		3797	UIScaleMotorsSlider.Value = scaleFullMotors;
		3798	UIScaleOSDSlider.Value = scaleFullOSD;
		3799	UIScaleLOGSlider.Value = scaleFullLOG;
		3800	UIScaleHorizonSlider.Value = scaleFullHorizon;
		3801	}
		3802	else
		3803	{
		3804	UIScaleSlider.Value = scaleNormalAll;
		3805	UIScaleTopSlider.Value = scaleNormalTopBar;
		3806	UIScaleMotorsSlider.Value = scaleNormalMotors;
		3807	UIScaleOSDSlider.Value = scaleNormalOSD;
		3808	UIScaleLOGSlider.Value = scaleNormalLOG;
		3809	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		3810	}
		3811	}
		3812
		3813	/// <summary>
		3814	/// save the scalings for the actual window mode
		3815	/// </summary>
		3816	/// <param name="bFull">the actual window mode</param>
		3817	void _saveScaleSliders(bool bFull)
		3818	{
		3819
		3820	if (bFull)
		3821	{
		3822	scaleFullAll = UIScaleSlider.Value;
		3823	scaleFullTopBar = UIScaleTopSlider.Value;
		3824	scaleFullMotors = UIScaleMotorsSlider.Value;
		3825	scaleFullOSD = UIScaleOSDSlider.Value;
		3826	scaleFullLOG = UIScaleLOGSlider.Value;
		3827	scaleFullHorizon = UIScaleHorizonSlider.Value;
		3828	}
		3829	else
		3830	{
		3831	scaleNormalAll = UIScaleSlider.Value;
		3832	scaleNormalTopBar = UIScaleTopSlider.Value;
		3833	scaleNormalMotors = UIScaleMotorsSlider.Value;
		3834	scaleNormalOSD = UIScaleOSDSlider.Value;
		3835	scaleNormalLOG = UIScaleLOGSlider.Value;
		3836	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		3837	}
		3838	}
		3839	#endregion ui
		3840
		3841	#region ini
		3842	/// <summary>
		3843	/// read settings from ini-file
		3844	/// </summary>
		3845	void _readIni()
		3846	{
		3847	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		3848	_writeIni();
		3849	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3850	ini.path = filePath + "\\MKLiveViewSettings.ini";
		3851	try
		3852	{
		3853
		3854	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		3855	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		3856	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		3857	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		3858	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		3859	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		3860	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		3861	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
		3862
		3863	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		3864	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		3865	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		3866	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		3867	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		3868	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		3869	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		3870	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
		3871
		3872	sVal = ini.IniReadValue("topBar", "voltage");
		3873	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		3874	sVal = ini.IniReadValue("topBar", "capacity");
		3875	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		3876	sVal = ini.IniReadValue("topBar", "current");
		3877	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		3878	sVal = ini.IniReadValue("topBar", "flightTime");
		3879	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		3880	sVal = ini.IniReadValue("topBar", "distanceHP");
		3881	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		3882	sVal = ini.IniReadValue("topBar", "height");
		3883	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		3884	sVal = ini.IniReadValue("topBar", "speed");
		3885	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		3886	sVal = ini.IniReadValue("topBar", "magneticField");
		3887	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		3888	sVal = ini.IniReadValue("topBar", "satellites");
		3889	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		3890	sVal = ini.IniReadValue("topBar", "rc");
		3891	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
		3892
		3893	sVal = ini.IniReadValue("style", "saveFullScreen");
		3894	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		3895	sVal = ini.IniReadValue("style", "saveNormalState");
		3896	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
		3897
		3898	sVal = ini.IniReadValue("style", "scaleNormalAll");
		3899	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		3900	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		3901	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		3902	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		3903	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		3904	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		3905	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		3906	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		3907	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		3908	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		3909	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
		3910
		3911	sVal = ini.IniReadValue("style", "scaleFullAll");
		3912	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		3913	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		3914	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		3915	sVal = ini.IniReadValue("style", "scaleFullMotors");
		3916	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		3917	sVal = ini.IniReadValue("style", "scaleFullOSD");
		3918	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		3919	sVal = ini.IniReadValue("style", "scaleFullLOG");
		3920	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		3921	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		3922	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
		3923
		3924	sVal = ini.IniReadValue("general", "LiPoCells");
		3925	_LipoCells = Convert.ToInt16(sVal);
		3926	sVal = ini.IniReadValue("general", "LiPoAutoDetect");
		3927	_bLiPoAutoDetect = Convert.ToBoolean(sVal);
		3928	sVal = ini.IniReadValue("general", "Motors");
		3929	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
		3930	sVal = ini.IniReadValue("general", "UILanguage");
		3931	if (sVal != "") _iUILanguage = Convert.ToInt16(sVal);
		3932
		3933	sVal = ini.IniReadValue("map", "followMe");
		3934	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		3935	sVal = ini.IniReadValue("map", "location");
		3936	if (sVal != "") _mapPosition = sVal;
		3937	sVal = ini.IniReadValue("map", "AutoSetHome");
		3938	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
		3939	sVal = ini.IniReadValue("map", "GPXLog");
		3940	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
		3941
		3942	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		3943	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		3944	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		3945	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		3946	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		3947	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		3948	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		3949	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		3950	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		3951	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		3952	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		3953	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		3954	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		3955	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		3956	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		3957	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		3958	sVal = ini.IniReadValue("threshold", "MaxDistance");
		3959	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		3960	sVal = ini.IniReadValue("threshold", "RCThreshold");
		3961	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		3962	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		3963	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
		3964	sVal = ini.IniReadValue("threshold", "BLCtrlTemp");
		3965	if(sVal != "") _iThresholdBLCTRLTempWarn = Convert.ToInt32(sVal);
		3966	sVal = ini.IniReadValue("threshold", "VoiceBLCtrlTempEnable");
		3967	if(sVal != "") _bVoiceBLCTRLTempPlay = Convert.ToBoolean(sVal);
		3968	sVal = ini.IniReadValue("threshold", "VoiceLanguageIndex");
		3969	if(sVal != "") _iVoiceIndex = Convert.ToInt32(sVal);
		3970
		3971	sVal = ini.IniReadValue("waypoints", "wpcolor");
		3972	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		3973	sVal = ini.IniReadValue("waypoints", "poicolor");
		3974	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		3975	sVal = ini.IniReadValue("waypoints", "fscolor");
		3976	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		3977	sVal = ini.IniReadValue("waypoints", "coptercolor");
		3978	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
		3979	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		3980	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
		3981	sVal = ini.IniReadValue("waypoints", "landingcolor");
		3982	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
		3983	sVal = ini.IniReadValue("waypoints", "routecolor");
		3984	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		3985	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		3986	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
		3987	sVal = ini.IniReadValue("waypoints", "autoShowWPEdit");
		3988	if(sVal != "") _bAutoWPEdit = Convert.ToBoolean(sVal);
		3989	sVal = ini.IniReadValue("waypoints", "showWPMaxRange");
		3990	if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal);
		3991	sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor");
		3992	if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal);
		3993	sVal = ini.IniReadValue("waypoints", "WPDefPrefix");
		3994	if(sVal != "") _wpDefPrefix = sVal;
		3995	sVal = ini.IniReadValue("waypoints", "WPDefAltitude");
		3996	if(sVal != "") _wpDefAltitude = Convert.ToInt32(sVal);
		3997	sVal = ini.IniReadValue("waypoints", "WPDefHeading");
		3998	if(sVal != "") _wpDefHeading = Convert.ToInt32(sVal);
		3999	sVal = ini.IniReadValue("waypoints", "WPDefCBoxHeading");
		4000	if(sVal != "") _wpDefCBoxHeading = Convert.ToInt32(sVal);
		4001	sVal = ini.IniReadValue("waypoints", "WPDefSpeed");
		4002	if(sVal != "") _wpDefSpeed = Convert.ToInt32(sVal);
		4003	sVal = ini.IniReadValue("waypoints", "WPDefCBoxSpeed");
		4004	if(sVal != "") _wpDefCBoxSpeed = Convert.ToInt32(sVal);
		4005	sVal = ini.IniReadValue("waypoints", "WPDefClimb");
		4006	if(sVal != "") _wpDefClimb = Convert.ToInt32(sVal);
		4007	sVal = ini.IniReadValue("waypoints", "WPDefCBoxClimb");
		4008	if(sVal != "") _wpDefCBoxClimb = Convert.ToInt32(sVal);
		4009	sVal = ini.IniReadValue("waypoints", "WPDefRadius");
		4010	if(sVal != "") _wpDefRadius = Convert.ToInt32(sVal);
		4011	sVal = ini.IniReadValue("waypoints", "WPDefHoldtime");
		4012	if(sVal != "") _wpDefHoldtime = Convert.ToInt32(sVal);
		4013	sVal = ini.IniReadValue("waypoints", "WPDefAutotrig");
		4014	if(sVal != "") _wpDefAutotrig = Convert.ToInt32(sVal);
		4015	sVal = ini.IniReadValue("waypoints", "WPDefCamangle");
		4016	if(sVal != "") _wpDefCamangle = Convert.ToInt32(sVal);
		4017	sVal = ini.IniReadValue("waypoints", "WPDefCBoxCamangle");
		4018	if(sVal != "") _wpDefCBoxCamangle = Convert.ToInt32(sVal);
		4019	sVal = ini.IniReadValue("waypoints", "WPDefOut1");
		4020	if(sVal != "") _wpDefOut1 = Convert.ToInt32(sVal);
		4021	sVal = ini.IniReadValue("waypoints", "WPAddCopterHeight");
		4022	if (sVal != "") _wpAddCopterHeight = Convert.ToBoolean(sVal);
		4023	sVal = ini.IniReadValue("waypoints", "WPAddCopterHeading");
		4024	if (sVal != "") _wpAddCopterHeading = Convert.ToBoolean(sVal);
		4025	sVal = ini.IniReadValue("waypoints", "CopterSize");
		4026	if (sVal != "") SliderCopterZoom.Value = Convert.ToDouble(sVal);
		4027	sVal = ini.IniReadValue("waypoints", "WPSize");
		4028	if (sVal != "") SliderWPZoom.Value = Convert.ToDouble(sVal);
		4029
		4030	sVal = ini.IniReadValue("cam", "CamImagePosLeft");
		4031	if (sVal != "") _camImageMargin.Left = Convert.ToDouble(sVal);
		4032	sVal = ini.IniReadValue("cam", "CamImagePosTop");
		4033	if (sVal != "") _camImageMargin.Top = Convert.ToDouble(sVal);
		4034	sVal = ini.IniReadValue("cam", "CamImageZoom");
		4035	if (sVal != "") SliderCamZoom.Value = Convert.ToDouble(sVal);
		4036
		4037	for (int i = 0; i < 12; i++)
		4038	{
		4039	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		4040	if (sVal != "")
		4041	serChan[i] = Convert.ToInt16(sVal);
		4042	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		4043	if (sVal != "")
		4044	serChanTitle[i] = sVal;
		4045	for (int y = 0; i < 4 && y < 3; y++)
		4046	{
		4047	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		4048	if (sVal != "")
		4049	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		4050	}
		4051	}
		4052
		4053	}
		4054	catch (Exception e)
		4055	{
		4056
		4057	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		4058	}
		4059
		4060	}
		4061
		4062	/// <summary>
		4063	/// save settings to ini-file
		4064	/// </summary>
		4065	void _writeIni()
		4066	{
		4067
		4068	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		4069	ini.path = filePath + "\\MKLiveViewSettings.ini";
		4070
		4071	try
		4072	{
		4073
		4074	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		4075	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		4076	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		4077	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
		4078
		4079	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		4080	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		4081	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		4082	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
		4083
		4084	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		4085	ini.IniWriteValue("general", "LiPoAutoDetect", _bLiPoAutoDetect.ToString());
		4086	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
		4087	ini.IniWriteValue("general", "UILanguage", _iUILanguage.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 = _colors[comboBoxRouteColor.SelectedIndex];
		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 = _colors[comboBoxWPColor.SelectedIndex];
		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 = _colors[comboBoxPOIColor.SelectedIndex];
		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 = _colors[comboBoxFSColor.SelectedIndex];
		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 = _colors[comboBoxLandingColor.SelectedIndex];
		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 = _colors[((ComboBox)sender).SelectedIndex];
		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 = _colors[comboBoxCopterColor.SelectedIndex];
		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 = _colors[comboBoxCopterHeadingColor.SelectedIndex];
		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 = _colors[comboBoxRouteColor.SelectedIndex];
		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 = _colors[comboBoxWPMaxRangeColor.SelectedIndex];
		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 = _colors[comboBoxWPMaxRangeColor.SelectedIndex];
		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
		5944	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		5945	{
		5946	_clearMapMarkers(typeof(GMapRoute));
		5947	}
		5948	void _loadGPXLog()
		5949	{
		5950
		5951	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		5952	fd.Filter = "GPX-Logfile \| *.gpx";
		5953	fd.Multiselect = false;
		5954	if (fd.ShowDialog().Value)
		5955	{
		5956	string file = fd.FileName;
		5957	try
		5958	{
		5959	XDocument gpxDoc = XDocument.Load(file);
		5960	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		5961
		5962	NumberFormatInfo nfi = new NumberFormatInfo();
		5963	nfi.NumberDecimalSeparator = ".";
		5964
		5965	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		5966	select new
		5967	{
		5968	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		5969	Segs = (
		5970	from trackpoint in track.Descendants(gpx + "trkpt")
		5971	select new
		5972	{
		5973	Latitude = trackpoint.Attribute("lat").Value,
		5974	Longitude = trackpoint.Attribute("lon").Value,
		5975	Elevation = trackpoint.Element(gpx + "ele") != null ?
		5976	trackpoint.Element(gpx + "ele").Value : null,
		5977	Time = trackpoint.Element(gpx + "time") != null ?
		5978	trackpoint.Element(gpx + "time").Value : null
		5979	}
		5980	)
		5981	};
		5982
		5983	List<PointLatLng> wpl = new List<PointLatLng>();
		5984	foreach(var trk in tracks)
		5985	{
		5986	foreach(var trkseg in trk.Segs)
		5987	{
		5988	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		5989	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		5990	}
		5991
		5992	}
		5993	if(wpl.Count() > 0)
		5994	{
		5995	_clearMapMarkers(typeof(GMapRoute));
		5996	MapRoute mr = new MapRoute(wpl, "flying");
		5997	Dispatcher.Invoke(() =>
		5998	{
		5999	GMapRoute mRoute;
		6000	if (comboBoxRouteColor.SelectionBoxItem != null)
		6001	{
		6002	string s = _colors[comboBoxRouteColor.SelectedIndex];
		6003	mRoute = new GMapRoute(wpl, _getBrush(s));
		6004	}
		6005	else
		6006	mRoute = new GMapRoute(wpl, null);
		6007
		6008	MainMap.Markers.Add(mRoute);
		6009	});
		6010	}
		6011
		6012	}
		6013	catch (Exception e)
		6014	{
		6015	Console.WriteLine("Exception: {0}", e.ToString());
		6016	}
		6017	}
		6018	}
		6019	#endregion GPX
		6020
		6021	/// <summary>
		6022	/// switch language
		6023	/// </summary>
		6024	/// <param name="culture">specific culture</param>
		6025	public void ChangeLanguage(string culture)
		6026	{
		6027	// Alle Woerterbuecher finden
		6028	List<ResourceDictionary> dictionaryList = new List<ResourceDictionary>();
		6029	foreach (ResourceDictionary dictionary in Application.Current.Resources.MergedDictionaries)
		6030	{
		6031	dictionaryList.Add(dictionary);
		6032	}
		6033
		6034	// Woerterbuch waehlen
		6035	string requestedCulture = string.Format("Localize/localization.{0}.xaml", culture);
		6036	ResourceDictionary resourceDictionary = dictionaryList.FirstOrDefault(d => d.Source.OriginalString == requestedCulture);
		6037	if (resourceDictionary == null)
		6038	{
		6039	// Wenn das gewuenschte Woerterbuch nicht gefunden wird,
		6040	// lade Standard-Woerterbuch
		6041	requestedCulture = "Localize/localization.xaml";
		6042	resourceDictionary = dictionaryList.FirstOrDefault(d => d.Source.OriginalString == requestedCulture);
		6043	}
		6044
		6045	// Altes Woerterbuch loeschen und Neues hinzufuegen
		6046	if (resourceDictionary != null)
		6047	{
		6048	Application.Current.Resources.MergedDictionaries.Remove(resourceDictionary);
		6049	Application.Current.Resources.MergedDictionaries.Add(resourceDictionary);
		6050	}
		6051
		6052	// Hauptthread ueber neues Culture informieren
		6053	Thread.CurrentThread.CurrentCulture = CultureInfo.CreateSpecificCulture(culture);
		6054	Thread.CurrentThread.CurrentUICulture = new CultureInfo(culture);
		6055	}
		6056	private void cbLang_DropDownClosed(object sender, EventArgs e)
		6057	{
		6058	if (cbLang.SelectedIndex > -1)
		6059	{
		6060	_iUILanguage = cbLang.SelectedIndex;
		6061	ChangeLanguage(_UILanguage[_iUILanguage]);
		6062	}
		6063	}
		6064
		6065	#endregion functions
		6066	}
		6067
		6068	/// <summary>
		6069	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		6070	/// </summary>
		6071	public class waypointsConverter : IValueConverter
		6072	{
		6073	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		6074	{
		6075	if (value != null)
		6076	{
		6077	switch ((string)parameter)
		6078	{
		6079	case "Latitude":
		6080	return value.ToString() + " °";
		6081	case "Longitude":
		6082	return value.ToString() + " °";
		6083	case "Radius":
		6084	return value.ToString() + " m";
		6085	case "Altitude":
		6086	return value.ToString() + " m";
		6087	case "ClimbRate":
		6088	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		6089	case "DelayTime":
		6090	return value.ToString() + " s";
		6091	case "Heading":
		6092	return Waypoints.Heading(System.Convert.ToInt32(value));
		6093	case "Speed":
		6094	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		6095	case "CamAngle":
		6096	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		6097	case "Type":
		6098	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		6099	case "AutoTrigger":
		6100	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		6101	case "Status":
		6102	return (Waypoints.status)(System.Convert.ToInt16(value));
		6103	}
		6104
		6105	return value.ToString();
		6106	}
		6107	else return value;
		6108	}
		6109
		6110	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		6111	{
		6112	throw new NotImplementedException();
		6113	}
		6114	}
		6115	public class IniFile
		6116	{
		6117	public string path;
		6118
		6119	[DllImport("kernel32")]
		6120	private static extern long WritePrivateProfileString(string section,
		6121	string key, string val, string filePath);
		6122
		6123	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		6124	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		6125	uint nSize, string lpFileName);
		6126
		6127	[DllImport("kernel32")]
		6128	private static extern int GetPrivateProfileString(string section,
		6129	string key, string def, StringBuilder retVal,
		6130	int size, string filePath);
		6131
		6132	public IniFile(string INIPath)
		6133	{
		6134	path = INIPath;
		6135	}
		6136
		6137	public void IniWriteValue(string Section, string Key, string Value)
		6138	{
		6139	WritePrivateProfileString(Section, Key, Value, this.path);
		6140	}
		6141
		6142	public string IniReadValue(string Section, string Key)
		6143	{
		6144	StringBuilder temp = new StringBuilder(255);
		6145	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		6146	return temp.ToString();
		6147	}
		6148	//Ini_sections auslesen in String-Array
		6149	public string[] IniSectionNames()
		6150	{
		6151
		6152	// uint MAX_BUFFER = 32767;
		6153	uint MAX_BUFFER = 8388608;
		6154	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		6155	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		6156	if (bytesReturned == 0)
		6157	{
		6158	Marshal.FreeCoTaskMem(pReturnedString);
		6159	return null;
		6160	}
		6161	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		6162	Marshal.FreeCoTaskMem(pReturnedString);
		6163	//use of Substring below removes terminating null for split
		6164	return local.Substring(0, local.Length - 1).Split('\0');
		6165
		6166
		6167	}
		6168	}
		6169	/// <summary>
		6170	/// Selected Win AI Function Calls
		6171	/// </summary>
		6172	public class WinApi
		6173	{
		6174	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		6175	public static extern int GetSystemMetrics(int which);
		6176	[DllImport("user32.dll")]
		6177	public static extern void
		6178	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		6179	int X, int Y, int width, int height, uint flags);
		6180
		6181	private const int SM_CXSCREEN = 0;
		6182	private const int SM_CYSCREEN = 1;
		6183	private static IntPtr HWND_TOP = IntPtr.Zero;
		6184	private const int SWP_SHOWWINDOW = 64; // 0x0040
		6185
		6186	public static int ScreenX
		6187	{
		6188	get { return GetSystemMetrics(SM_CXSCREEN); }
		6189	}
		6190
		6191	public static int ScreenY
		6192	{
		6193	get { return GetSystemMetrics(SM_CYSCREEN); }
		6194	}
		6195
		6196	public static void SetWinFullScreen(IntPtr hwnd)
		6197	{
		6198	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		6199	}
		6200	}
		6201	/// <summary>
		6202	/// Class used to preserve / restore state of the window
		6203	/// </summary>
		6204	public class WinState
		6205	{
		6206	private WindowState winState;
		6207	private WindowStyle brdStyle;
		6208	private bool topMost;
		6209	private Rect restore;
		6210	private bool IsMaximized = false;
		6211
		6212	public bool isMaximized
		6213	{
		6214	get { return IsMaximized; }
		6215	}
		6216	public void Maximize(Window targetForm)
		6217	{
		6218	if (!IsMaximized)
		6219	{
		6220	IsMaximized = true;
		6221	Save(targetForm);
		6222	targetForm.WindowState = WindowState.Maximized;
		6223	targetForm.WindowStyle = WindowStyle.None;
		6224	targetForm.Topmost = true;
		6225	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		6226	}
		6227	}
		6228
		6229	public void Save(Window targetForm)
		6230	{
		6231	winState = targetForm.WindowState;
		6232	brdStyle = targetForm.WindowStyle;
		6233	topMost = targetForm.Topmost;
		6234	restore = targetForm.RestoreBounds;
		6235	}
		6236	public void Restore(Window targetForm)
		6237	{
		6238	targetForm.WindowState = winState;
		6239	targetForm.WindowStyle = brdStyle;
		6240	targetForm.Topmost = topMost;
		6241
		6242	targetForm.Left = restore.Left;
		6243	targetForm.Top = restore.Top;
		6244	targetForm.Height = restore.Height;
		6245	targetForm.Width = restore.Width;
		6246	IsMaximized = false;
		6247	}
		6248	}
		6249
		6250	public static class BitmapConversion
		6251	{
		6252	public static System.Drawing.Bitmap ToWinFormsBitmap(this BitmapSource bitmapsource)
		6253	{
		6254	using (MemoryStream stream = new MemoryStream())
		6255	{
		6256	BitmapEncoder enc = new BmpBitmapEncoder();
		6257	enc.Frames.Add(BitmapFrame.Create(bitmapsource));
		6258	enc.Save(stream);
		6259	using (var tempBitmap = new System.Drawing.Bitmap(stream))
		6260	{
		6261	// According to MSDN, one "must keep the stream open for the lifetime of the Bitmap."
		6262	// So we return a copy of the new bitmap, allowing us to dispose both the bitmap and the stream.
		6263	return new System.Drawing.Bitmap(tempBitmap);
		6264	}
		6265	}
		6266	}
		6267	public static BitmapSource ToWpfBitmap(this System.Drawing.Bitmap bitmap)
		6268	{
		6269	using (MemoryStream stream = new MemoryStream())
		6270	{
		6271	bitmap.Save(stream, System.Drawing.Imaging.ImageFormat.Bmp); stream.Position = 0;
		6272	BitmapImage result = new BitmapImage();
		6273	result.BeginInit();
		6274	// According to MSDN, "The default OnDemand cache option retains access to the stream until the image is needed."
		6275	// Force the bitmap to load right now so we can dispose the stream.
		6276	result.CacheOption = BitmapCacheOption.OnLoad;
		6277	result.StreamSource = stream;
		6278	result.EndInit();
		6279	result.Freeze();
		6280	return result;
		6281	}
		6282	}
		6283	}
		6284
		6285	}

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(root)/MKLiveView/v1.0/Source/MKLiveView/MainWindow.xaml.cs @ 2554 - Rev 2545