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

Rev	Author	Line No.	Line
2287	-	1	using GMap.NET;
		2	using GMap.NET.MapProviders;
		3	using GMap.NET.WindowsPresentation;
		4	using MKLiveView.GMapCustomMarkers;
		5	using System;
		6	using System.Collections.Generic;
		7	using System.ComponentModel;
		8	using System.Data;
		9	using System.Diagnostics;
		10	using System.IO;
		11	using System.Linq;
		12	using System.Linq.Expressions;
		13	using System.Runtime.InteropServices;
		14	using System.Text;
		15	using System.Threading;
		16	using System.Threading.Tasks;
		17	using System.Windows;
		18	using System.Windows.Controls;
		19	using System.Windows.Data;
		20	using System.Windows.Documents;
		21	using System.Windows.Input;
		22	using System.Windows.Interop;
		23	using System.Windows.Media;
		24	using System.Windows.Media.Animation;
		25	using System.Windows.Media.Imaging;
		26	using System.Windows.Navigation;
		27	using System.Windows.Shapes;
		28	using System.Windows.Threading;
2313	-	29	using System.Globalization;
2324	-	30	using System.Xml;
		31	using System.Xml.Linq;
2287	-	32
		33	namespace MKLiveView
		34	{
		35	/// <summary>
		36	/// Interaktionslogik für MainWindow.xaml
		37	/// </summary>
		38	public partial class MainWindow : Window
		39	{
2304	-	40	#region declarations
		41
2287	-	42	GMapMarker copter;
		43	GMapMarker home;
		44	PointLatLng start;
		45	PointLatLng end;
		46	PointLatLng pHome;
2328	-	47	GMapRoute mRouteWP;
2342	-	48	GMapMarker wpActiveMarker;
2328	-	49	List<PointLatLng> wpList = new List<PointLatLng>();
2324	-	50	#region NC-Errors
2287	-	51	String[] NC_Error = new string[44]
		52	{
		53	"No Error",
		54	"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		55	"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		56	"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		57	"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		58	"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		59	"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		60	"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		61	"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		62	"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		63	"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		64	"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		65	"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		66	"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		67	"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		68	"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		69	"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		70	"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		71	"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		72	"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		73	"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		74	"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		75	"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		76	"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		77	"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		78	"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		79	"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		80	"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		81	"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		82	"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		83	"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		84	"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		85	"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		86	"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		87	"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		88	"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		89	"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		90	"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		91	"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		92	"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		93	"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		94	"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		95	"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		96	"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		97	};
2324	-	98	#endregion NC-Errors
2287	-	99	[FlagsAttribute]
		100	enum NC_HWError0 : short
		101	{
		102	None = 0,
		103	SPI_RX = 1,
		104	COMPASS_RX = 2,
		105	FC_INCOMPATIBLE = 4,
		106	COMPASS_INCOMPATIBLE = 8,
		107	GPS_RX = 16,
		108	COMPASS_VALUE = 32
		109	};
		110	[FlagsAttribute]
		111	enum FC_HWError0 : short
		112	{
		113	None = 0,
		114	GYRO_NICK = 1,
		115	GYRO_ROLL = 2,
		116	GYRO_YAW = 4,
		117	ACC_NICK = 8,
		118	ACC_ROLL = 16,
		119	ACC_TOP = 32,
		120	PRESSURE = 64,
		121	CAREFREE = 128
		122	};
		123	[FlagsAttribute]
		124	enum FC_HWError1 : short
		125	{
		126	None = 0,
		127	I2C = 1,
		128	BL_MISSING = 2,
		129	SPI_RX = 4,
		130	PPM = 8,
		131	MIXER = 16,
		132	RC_VOLTAGE = 32,
		133	ACC_NOT_CAL = 64,
		134	RES3 = 128
		135	};
		136	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		137	// Various colors for logging info
		138	private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red };
		139
		140	bool _bCBInit = true;
		141	bool _init = true;
		142	bool check_HWError = false;
		143
		144	string filePath = Directory.GetCurrentDirectory();
		145	bool bReadContinously = false;
		146	bool _debugDataAutorefresh = true;
		147	bool _navCtrlDataAutorefresh = true;
		148	bool _blctrlDataAutorefresh = true;
		149	bool _OSDAutorefresh = true;
		150	bool _bErrorLog = false;
		151	bool _bConnErr = false;
		152	bool _bFollowCopter = false;
2324	-	153	bool _bGPXLog = false;
2287	-	154
		155	bool _bSaveWinStateNormal = true;
		156	bool _bSaveWinStateFull = true;
		157
		158	double scaleNormalAll = 1;
		159	double scaleNormalTopBar = 1;
		160	double scaleNormalMotors = 1;
		161	double scaleNormalOSD = 1;
		162	double scaleNormalLOG = 1;
		163	double scaleNormalHorizon = 1;
		164
		165	double scaleFullAll = 1;
		166	double scaleFullTopBar = 1;
		167	double scaleFullMotors = 1;
		168	double scaleFullOSD = 1;
		169	double scaleFullLOG = 1;
		170	double scaleFullHorizon = 1;
		171
		172	int _iCtrlAct = 0;
		173	int iOSDPage = 0;
		174	int iOSDMax = 0;
		175	int _iLifeCounter = 0;
		176	int crcError = 0;
		177
2291	-	178	bool _bSatFix = false;
		179	Storyboard stbSatFixLostAnim;
		180	bool _bAnimSatFixActive = false;
		181	bool _bVoiceSatFixActive = false;
		182	bool _bVoiceSatFixPlay = false;
		183	int _iSatsLast = 0;
		184	int _iSatsJitter = 0;
		185
		186	bool _bMagneticFieldOK = false;
		187	Storyboard stbMagneticFieldAnim;
		188	bool _bAnimMagneticFieldActive = false;
		189	bool _bVoiceMagneticFieldActive = false;
		190	bool _bVoiceMagneticFieldPlay = false;
		191	int _iMagneticFieldLast = 0;
		192	int _iMagneticFieldJitter = 0;
		193
		194	bool _bRCLevelOK = false;
		195	Storyboard stbRCLevelAnim;
		196	bool _bAnimRCLevelActive = false;
		197	bool _bVoiceRCLevelActive = false;
		198	bool _bVoiceRCLevelPlay = false;
		199	int _iRCLevelLast = 0;
		200	int _iRCLevelJitter = 0;
		201
2287	-	202	int _iMotors = 4;
		203	int _LipoCells = 4;
		204
		205	double _dLipoVMax = 16.88;
		206	double _dLipoVMin = 12;
		207	double _dThresholdVoltageWarn = 0;
		208	double _dThresholdVoltageCrit = 0;
		209	Storyboard stbVoltageCritAnim;
		210	bool _bCritAnimVoltActive = false;
		211	bool _bCritVoiceVoltActive = false;
2291	-	212	bool _bWarnVoiceVoltActive = false;
2287	-	213	bool _bVoiceVoltPlay = false;
		214	double _dVoltLast = 0;
		215	int _iVoltJitter = 0;
		216
2291	-	217	double _dThresholdDistanceWarn = 100;
		218	Storyboard stbDistanceWarnAnim;
		219	bool _bAnimDistanceActive = false;
		220	bool _bVoiceDistanceActive = false;
		221	bool _bVoiceDistancePlay = false;
		222	double _dDistanceLast = 0;
		223	int _iDistanceJitter = 0;
		224
		225	double _dThresholdDistanceMax = 1000;
		226	int _iThresholdRC = 160;
		227	int _iThresholdMagField = 15;
		228
2295	-	229	bool _bAutoHome = false;
		230	bool _bFirstSatFix = false;
		231	int _iFirstSatFix = 0;
2291	-	232
2287	-	233	double _dTopHeight = 36;
		234
		235	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		236	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		237	string[] serChanTitle = new string[12];
		238
		239	string[] sAnalogLabel = new string[32];
		240	string[] sAnalogData = new string[32];
2324	-	241	int[] iAnalogData = new int[32];
2287	-	242
		243	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 };
		244	int[] iMotors = new int[] {3,4,5,6,7,8,9,10,11,12 };
		245	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		246	/// <summary>
		247	/// interval for sending debugdata (multiplied by 10ms)
		248	/// </summary>
		249	byte debugInterval = 10; //(=> 100ms)
		250	/// <summary>
		251	/// interval for sending BL-CTRL status (multiplied by 10ms)
		252	/// </summary>
		253	byte blctrlInterval = 75;
		254	/// <summary>
		255	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		256	/// </summary>
		257	byte navctrlInterval = 80;
		258	/// <summary>
		259	/// interval for sending OSD page update (multiplied by 10ms)
		260	/// </summary>
		261	byte OSDInterval = 85;
		262	/// <summary>
		263	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		264	/// </summary>
		265	DataTable dtAnalog = new DataTable();
		266	/// <summary>
		267	/// datatable for motordata (current,temp)
		268	/// </summary>
2315	-	269	DataTable dtMotors = new DataTable();
2287	-	270
		271	DataTable dtWaypoints = new DataTable();
2313	-	272	static volatile int _iWPCount = -1;
		273	static volatile int _iWPIndex = -1;
		274	int _iWPTimeout = 1000;
2287	-	275	bool _bGetWP = false;
2328	-	276	bool _bShowWPRoute = false;
2287	-	277	static volatile bool _bGetWPCount = false;
2324	-	278	DataTable dtGPX = new DataTable();
		279	DataRow drGPX;
		280	bool _bAirborne = false;
2340	-	281	int _wpIndex = -1, _wpCount = 0;
		282
2287	-	283	DispatcherTimer timer = new DispatcherTimer();
		284
		285	/// <summary>
		286	/// stuff for enabeling touch zoom for the map
		287	/// </summary>
		288	Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0);
		289	int iFirstStylusID = -1;
		290	public string connectButtonText
		291	{
		292	get
		293	{
		294	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		295	}
		296	}
		297
		298	WinState winState = new WinState();
2304	-	299	#endregion declarations
2287	-	300	public MainWindow()
		301	{
		302	InitializeComponent();
		303	_initForm();
		304	_dataTablesInit();
		305	_setupMap();
		306	_init = false;
		307	timer.Tick += new EventHandler(timerEvent);
		308	timer.Interval = new TimeSpan(0, 0, 1);
		309	timer.Start();
		310	}
		311
		312	#region init
		313	void _initForm()
		314	{
		315	_readIni();
		316	if (_bSaveWinStateNormal)
		317	_setScaleSliders(false);
		318	cBoxTimingsDebug.ItemsSource =
		319	cBoxTimingsNav.ItemsSource =
		320	cBoxTimingsBl.ItemsSource =
		321	cBoxTimingsOSD.ItemsSource =
		322	iTimings;
		323	cBoxLiPoCells.ItemsSource = sLiPoCells;
		324	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		325	_LipoMinMax();
		326	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		327	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		328	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
2291	-	329	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		330	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		331	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		332	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		333	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
2287	-	334
2291	-	335	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		336
2287	-	337	cBoxMotors.ItemsSource = iMotors;
		338	cBoxMotors.SelectedItem = _iMotors;
		339
		340	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		341	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		342	serialPortCtrl.DataReceived += processMessage;
		343
		344	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		345	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		346	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		347	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		348
		349	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		350	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		351	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		352	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
2295	-	353	checkBoxAutoSetHP.IsChecked = _bAutoHome;
2287	-	354	checkBoxFollowCopter.IsChecked = _bFollowCopter;
2324	-	355	checkBoxGPXLog.IsChecked = _bGPXLog;
2328	-	356	checkBoxShowWPRoute.IsChecked = _bShowWPRoute;
2287	-	357
		358	}
		359	/// <summary>
		360	/// initialize the datatables
		361	/// with columnnames etc
		362	/// </summary>
		363	void _dataTablesInit()
		364	{
2315	-	365	dtMotors.Columns.Add("#");
2313	-	366	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
2315	-	367	dtMotors.Columns.Add("Strom");
2313	-	368	else
2315	-	369	dtMotors.Columns.Add("Current");
		370	dtMotors.Columns.Add("Temp");
		371	dgvMotors1.DataContext = dtMotors.DefaultView;
2287	-	372	_initDTMotors();
		373
		374	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0));
		375	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		376	style.Setters.Add(setter);
		377	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		378	style.Setters.Add(setter);
		379	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		380	style.Setters.Add(setter);
2313	-	381
		382	dtWaypoints.Columns.Add("Index",typeof(int));
2315	-	383	dtWaypoints.Columns.Add("Type", typeof(int));
2313	-	384	dtWaypoints.Columns.Add("Name",typeof(string));
2315	-	385	dtWaypoints.Columns.Add("Latitude",typeof(double));
		386	dtWaypoints.Columns.Add("Longitude",typeof(double));
2313	-	387	dtWaypoints.Columns.Add("Altitude",typeof(string));
		388	dtWaypoints.Columns.Add("Heading",typeof(string));
		389	dtWaypoints.Columns.Add("Speed",typeof(string));
		390	dtWaypoints.Columns.Add("ClimbRate",typeof(string));
		391	dtWaypoints.Columns.Add("Radius",typeof(string));
		392	dtWaypoints.Columns.Add("HoldTime",typeof(string));
		393	dtWaypoints.Columns.Add("AutoTrigger",typeof(string));
		394	dtWaypoints.Columns.Add("CamAngle",typeof(string));
		395	dtWaypoints.Columns.Add("Event",typeof(string));
		396	dtWaypoints.Columns.Add("Out1Timer",typeof(string));
		397	dtWaypoints.Columns.Add("Status",typeof(string));
		398	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		399	dgvWP.ItemsSource = dtWaypoints.DefaultView;
2287	-	400	dgvWP.ColumnHeaderStyle = new Style();
		401	dgvWP.ColumnHeaderStyle = style;
2313	-	402
2324	-	403	dtGPX.Columns.Add("Index",typeof(int));
		404	dtGPX.Columns.Add("Latitude",typeof(double));
		405	dtGPX.Columns.Add("Longitude",typeof(double));
		406	dtGPX.Columns.Add("Elevation",typeof(int));
		407	dtGPX.Columns.Add("Time",typeof(string));
		408	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		409	drGPX = dtGPX.NewRow();
2313	-	410
2287	-	411	}
		412	/// <summary>
2315	-	413	/// initialize the datatable dtMotors for motor values
2313	-	414	/// DataGridView dgvMotors1 is bound to dtMotors1
2287	-	415	/// </summary>
		416	void _initDTMotors()
		417	{
		418	for (int i = 0; i < 12; i++)
		419	{
2315	-	420	if (dtMotors.Rows.Count < 12)
		421	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
2287	-	422	else
		423	{
2315	-	424	dtMotors.Rows[i].SetField(1, "NA");
		425	dtMotors.Rows[i].SetField(2, "NA");
2287	-	426	}
		427	}
		428	}
		429
		430	#endregion init
		431
		432	#region events
		433	private void serialPortCtrl_PortOpened()
		434	{
		435	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		436	_getVersion();
		437	Thread.Sleep(100);
		438	//_OSDMenue(0);
		439	//Thread.Sleep(200);
		440	//_sendSerialData();
		441	_readCont(true);
		442	}
		443	private void serialPortCtrl_PortClosed()
		444	{
		445	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		446	_readCont(false);
		447	}
2324	-	448	bool _bToggle = false;
2287	-	449	void timerEvent(object sender, EventArgs e)
		450	{
		451	if (bReadContinously)
		452	{
		453	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		454
		455	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		456
		457	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		458	check_HWError = true;
		459	_getVersion();
		460	Thread.Sleep(10);
		461	if (_OSDAutorefresh)
		462	{
		463	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		464	_initOSDCB();
		465	_OSDMenueAutoRefresh();
		466	}
		467	if (_iLifeCounter > 0)
		468	{
		469	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		470	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		471	_iLifeCounter = 0;
		472	_bConnErr = false;
2327	-	473	if(_bAirborne && _bGPXLog)
2324	-	474	{
		475	drGPX[0] = dtGPX.Rows.Count;
		476	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		477	}
2327	-	478	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		479	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		480	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
2324	-	481	_bToggle = !_bToggle;
2287	-	482	}
		483	else
		484	{
		485	if (!_bConnErr)
		486	{
		487	Log(LogMsgType.Error, "No communication to NC/FC!");
		488	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		489	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		490	_bConnErr = true;
		491	}
		492	}
		493	}
		494	}
		495
		496	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		497	{
		498	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		499	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		500	}
		501	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		502	{
		503	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		504	if (GridMotors.IsVisible)
		505	_setMotorGridSize();
		506	}
		507	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		508	{
		509	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		510	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		511	}
		512	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		513	{
		514	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		515	}
		516	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		517	{
		518	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		519	}
		520	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		521	{
		522	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		523	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		524	}
		525
		526	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		527	{
		528	Thread t = new Thread(new ThreadStart(_getWP));
		529	t.Start();
		530	}
		531	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		532	{
2313	-	533	Thread t = new Thread(new ThreadStart(_sendWPList));
		534	t.Start();
2287	-	535	}
		536
		537	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		538	{
		539	if (!serialPortCtrl.Port.IsOpen)
		540	serialPortCtrl.Connect(true);
		541	else
		542	_readCont(!bReadContinously);
		543	}
		544	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		545	{
2347	-	546	_setHomePos();
2287	-	547	}
		548	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		549	{
2347	-	550	_clearHomePos();
2287	-	551	}
		552	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		553	{
		554	if (home != null && MainMap.Markers.Contains(home))
		555	MainMap.Position = home.Position;
		556	}
2295	-	557	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		558	{
		559	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		560	}
2287	-	561	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		562	{
		563	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		564	}
		565	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		566	{
		567	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		568	}
		569
2291	-	570	#region thresholds
2287	-	571	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		572	{
		573	if(!_init)
		574	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		575	}
		576	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		577	{
		578	if(!_init)
		579	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		580	}
		581	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		582	{
		583	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		584	}
2291	-	585
		586	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		587	{
		588	if(!_init)
		589	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		590	}
		591	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		592	{
		593	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		594	}
		595
		596	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		597	{
		598	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		599	}
		600	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		601	{
		602	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		603	}
		604	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		605	{
		606	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		607	}
		608	#endregion thresholds
		609
2287	-	610	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		611	{
		612	_switchToNC();
		613	}
		614
		615	private void Window_Loaded(object sender, RoutedEventArgs e)
		616	{
		617	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
2291	-	618	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		619	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		620	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		621	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
2287	-	622	_setMotorGridSize();
		623	}
2310	-	624	private void Window_Closing(object sender, CancelEventArgs e)
		625	{
		626	_writeIni();
2324	-	627	if(_bGPXLog && dtGPX.Rows.Count > 0)
		628	_saveGPXLog();
2310	-	629	}
2287	-	630	#endregion events
		631
		632	#region GMap
		633
		634	void _setupMap()
		635	{
		636	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		637	MainMap.MapProvider = GMapProviders.BingHybridMap;
		638	MainMap.SetPositionByKeywords("Landshut");
		639	MainMap.MinZoom = 0;
		640	MainMap.MaxZoom = 24;
		641	MainMap.Zoom = 16;
		642	MainMap.ShowCenter = true;
		643	MainMap.ShowTileGridLines = false;
		644	sliderMapZoom.Value = 16;
		645	comboBoxMapType.ItemsSource = providerList;
		646	comboBoxMapType.DisplayMemberPath = "Name";
		647	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		648
		649	// acccess mode
		650	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		651	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		652
		653	}
		654
		655	/// <summary>
		656	/// selection of relevant map providers --> if You need more, You can change the line:
		657	/// comboBoxMapType.ItemsSource = providerList;
		658	/// to:
		659	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		660	/// in _setupMap()
		661	/// or add items here:
		662	/// </summary>
		663	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		664	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		665	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		666	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		667	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		668
		669	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		670	{
		671	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		672	copter = new GMapMarker(MainMap.Position);
2318	-	673
		674	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"),"red");
		675	if (comboBoxCopterColor.SelectionBoxItem != null)
		676	{
		677	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		678	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		679	}
2287	-	680	copter.Offset = new System.Windows.Point(-18, -18);
		681	copter.ZIndex = int.MaxValue;
		682	MainMap.Markers.Add(copter);
		683	copter.Position = MainMap.Position;
		684	}
2347	-	685	void _setHomePos()
2287	-	686	{
		687	pHome = MainMap.Position;
		688	if (!MainMap.Markers.Contains(home))
		689	{
		690	home = new GMapMarker(MainMap.Position);
		691	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		692	home.Offset = new System.Windows.Point(-18, -18);
		693	// home.ZIndex = int.MaxValue;
		694	MainMap.Markers.Add(home);
		695	}
		696	home.Position = MainMap.Position;
		697	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		698	}
2347	-	699	void _setActiveWP(int iIndex)
2287	-	700	{
2347	-	701	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
		702	{
		703	Dispatcher.Invoke(() =>
		704	{
		705	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		706	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		707	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		708	MainMap.Markers.Add(wpActiveMarker);
		709	});
		710	}
		711	else
		712	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
		713
		714	}
		715	void _clearHomePos()
		716	{
2287	-	717	MainMap.Markers.Remove(home);
		718	}
2335	-	719	void _clearMapMarkers(Type markerType)
		720	{
		721	for (int k = 0; k < MainMap.Markers.Count;)
		722	{
		723	GMapMarker p = MainMap.Markers[k];
2340	-	724	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	725	MainMap.Markers.Remove(p);
		726	else
		727	k++;
		728	}
2287	-	729
2335	-	730	}
		731
2287	-	732	// access mode
		733	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		734	{
		735	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		736	MainMap.ReloadMap();
		737	}
		738	// zoom up
		739	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		740	{
		741	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		742	}
		743
		744	// zoom down
		745	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		746	{
		747	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		748	}
		749
		750	// prefetch
		751	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		752	{
		753	RectLatLng area = MainMap.SelectedArea;
		754	if (!area.IsEmpty)
		755	{
		756	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		757	{
		758	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		759
		760	if (res == MessageBoxResult.Yes)
		761	{
		762	TilePrefetcher obj = new TilePrefetcher();
		763	obj.Owner = this;
		764	obj.ShowCompleteMessage = true;
		765	obj.Start(area, i, MainMap.MapProvider, 100);
		766	}
		767	else if (res == MessageBoxResult.No)
		768	{
		769	continue;
		770	}
		771	else if (res == MessageBoxResult.Cancel)
		772	{
		773	break;
		774	}
		775	}
		776	}
		777	else
		778	{
		779	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		780	}
		781	}
		782
		783	// goto by geocoder
		784	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		785	{
		786	_goto_byGeoCoder();
		787	}
		788	// goto by geocoder
		789	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		790	{
		791	if (e.Key == System.Windows.Input.Key.Enter)
		792	_goto_byGeoCoder();
		793	}
		794	void _goto_byGeoCoder()
		795	{
		796	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		797	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		798	{
		799	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		800	}
		801	}
		802	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		803	{
		804	try
		805	{
		806	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		807	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		808
		809	MainMap.Position = new PointLatLng(lat, lng);
		810	}
		811	catch (Exception ex)
		812	{
		813	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		814	}
		815
		816	}
		817
		818	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		819	{
		820	MainMap.ReloadMap();
		821	}
		822
		823	private void MainMap_OnPositionChanged(PointLatLng point)
		824	{
		825	if (_bFollowCopter)
		826	_setCopterData(MainMap.Position);
		827	}
		828
		829	private void MainMap_OnMapZoomChanged()
		830	{
		831	if (_bFollowCopter)
		832	_setCopterData(MainMap.Position);
		833	if((int)sliderMapZoom.Value != MainMap.Zoom)
		834	sliderMapZoom.Value = MainMap.Zoom;
		835	}
		836
		837	void _setCopterData(PointLatLng p)
		838	{
		839	Dispatcher.Invoke(() =>
		840	{
		841	copter.Position = p;
		842	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		843	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		844	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		845	});
		846	if (home != null && MainMap.Markers.Contains(home))
		847	{
		848	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		849	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		850	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	851
		852	if(d*1000 < _dThresholdDistanceWarn)
		853	{
		854	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		855	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		856	{
		857	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		858	_bAnimDistanceActive = false;
		859	}
		860	}
		861	else
		862	{
		863	if (_iDistanceJitter < 20)
		864	{ _iDistanceJitter++; }
		865	if (_iDistanceJitter == 20)
		866	{
		867	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		868	{
		869	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		870	_bAnimDistanceActive = true;
		871	}
		872	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		873	{
2295	-	874	Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		875	t.Start();
2291	-	876	_bVoiceDistanceActive = true;
		877	}
		878	_iDistanceJitter++;
		879	}
		880	}
2287	-	881	}
		882	}
		883
		884	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		885	{
		886	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		887	}
		888
		889	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		890	{
		891	if (MainMap.Zoom != sliderMapZoom.Value)
		892	MainMap.Zoom = (int)sliderMapZoom.Value;
		893	}
		894	#region Touch zooming hackattack ;)
		895	/// <summary>
		896	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		897	/// </summary>
		898	bool bFirstAccess = true;
		899	double dDistance = 0;
		900	int iZoom;
		901	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		902	{
		903	var id = e.StylusDevice.Id;
		904	e.StylusDevice.Capture(MainMap);
		905	if (iFirstStylusID == -1)
		906	{
		907	iFirstStylusID = id;
		908	}
		909	else
		910	{
		911
		912	MainMap.CanDragMap = false;
		913	}
		914	}
		915	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		916	{
		917	MainMap.ReleaseStylusCapture();
		918	iFirstStylusID = -1;
		919	bFirstAccess = true;
		920	MainMap.CanDragMap = true;
		921	iZoom = 0;
		922	}
		923	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		924	{
		925	var id = e.StylusDevice.Id;
		926	var tp = e.GetPosition(MainMap);
		927
		928	// This is the first Stylus point; just record its position.
		929	if (id == iFirstStylusID)
		930	{
		931	pTouch1.X = tp.X;
		932	pTouch1.Y = tp.Y;
		933	}
		934	else
		935	if (iFirstStylusID > -1)
		936	{
		937	pTouch2.X = tp.X;
		938	pTouch2.Y = tp.Y;
		939	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		940	if (!bFirstAccess)
		941	{
		942	if (distance > dDistance)
		943	iZoom++;
		944	else
		945	if (distance < dDistance)
		946	iZoom--;
		947	}
		948	if (iZoom > 30)
		949	{
		950	iZoom = 0;
		951	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		952	}
		953	if (iZoom < -30)
		954	{
		955	iZoom = 0;
		956	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		957	}
		958	dDistance = distance;
		959	bFirstAccess = false;
		960	}
		961	}
		962	#endregion Touch zooming hackattack ;)
		963
		964	#endregion GMap
		965
		966	#region settings
		967	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		968	{
		969	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		970	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		971	}
		972	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		973	{
		974	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		975	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		976	}
		977	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		978	{
		979	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		980	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		981	}
		982	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		983	{
		984	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		985	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		986	}
		987	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		988	{
		989	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		990	}
		991	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		992	{
		993	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		994	}
		995	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		996	{
		997	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		998	}
		999	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1000	{
		1001	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1002	}
		1003
		1004	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1005	{
		1006	if (cBoxLiPoCells.SelectedIndex > -1)
		1007	{
		1008	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1009	_LipoMinMax();
		1010	}
		1011	}
		1012	void _LipoMinMax()
		1013	{
		1014	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1015	_dLipoVMin = (double)_LipoCells * 3;
		1016	pbTopVoltage.Maximum = _dLipoVMax;
		1017	pbTopVoltage.Minimum = _dLipoVMin;
		1018	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1019	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1020	}
		1021	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1022	{
		1023	if (cBoxMotors.SelectedIndex > -1)
		1024	{
		1025	_iMotors = cBoxMotors.SelectedIndex + 3;
		1026	Dispatcher.Invoke(() =>
		1027	{
		1028	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1029	GridMotors.Height = dgvMotors1.Height + 10;
		1030	});
		1031	}
		1032	}
		1033	void _setMotorGridSize()
		1034	{
		1035	if (dgvMotors1.Columns.Count > 2)
		1036	{
		1037	dgvMotors1.Columns[0].Width = 24;
		1038	dgvMotors1.Columns[1].Width = 50;
		1039	dgvMotors1.Columns[2].Width = 50;
		1040	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1041	GridMotors.Height = dgvMotors1.Height + 10;
		1042	}
		1043
		1044	}
		1045	#endregion settings
		1046
		1047	#region functions
		1048
		1049	#region logging
		1050	/// <summary> Log data to the terminal window. </summary>
		1051	/// <param name="msgtype"> The type of message to be written. </param>
		1052	/// <param name="msg"> The string containing the message to be shown. </param>
		1053	private void Log(LogMsgType msgtype, string msg)
		1054	{
		1055	Dispatcher.Invoke(() =>
		1056	{
		1057	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1058	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1059	// rtfTerminal.AppendText(msg + "\r");
		1060	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1061	tr.Text = msg;
		1062	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1063	rtfTerminal.AppendText("\r");
		1064	rtfTerminal.ScrollToEnd();
		1065	});
		1066	}
		1067	private void ErrorLog(LogMsgType msgtype, string msg)
		1068	{
		1069	Dispatcher.Invoke(() =>
		1070	{
		1071	TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1072	tr.Text = msg;
		1073	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1074	rtfError.AppendText("\r");
		1075	rtfError.ScrollToEnd();
		1076
		1077	_bErrorLog = true;
		1078	});
		1079	}
		1080	/// <summary>
		1081	/// Clear the line in the errorlog window
		1082	/// containing the error string when error has ceased
		1083	/// </summary>
		1084	/// <param name="s">substring of errrormessage</param>
		1085	void _clearErrorLog(string s)
		1086	{
		1087	Dispatcher.Invoke((Action)(() =>
		1088	{
		1089	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1090	TextRange foundRange = FindTextInRange(searchRange, s);
		1091
		1092	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1093
		1094
		1095	if (iStart > -1)
		1096	{
		1097	int iLength = 0;
		1098	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1099	if (iEnd > 0)
		1100	{
		1101	iLength = iEnd + 1;
		1102	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1103	if (iHttp == iLength)
		1104	{
		1105	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1106	if (iEnd2 > iLength)
		1107	{
		1108	iLength = iEnd2 + 1;
		1109	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1110
		1111	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1112	rtfError.Selection.Text = string.Empty;
		1113	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1114	}
		1115
		1116	}
		1117	else
		1118	{
		1119	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1120	rtfError.Selection.Text = string.Empty;
		1121	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1122	}
		1123	}
		1124	}
		1125	}));
		1126
		1127	}
		1128	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1129	{
		1130	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1131	if (offset < 0)
		1132	return null; // Not found
		1133
		1134	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1135	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1136
		1137	return result;
		1138	}
		1139	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1140	{
		1141	while (position != null)
		1142	{
		1143	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1144	{
		1145	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1146	if (characterCount <= count)
		1147	{
		1148	return position.GetPositionAtOffset(characterCount);
		1149	}
		1150
		1151	characterCount -= count;
		1152	}
		1153
		1154	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1155	if (nextContextPosition == null)
		1156	return position;
		1157
		1158	position = nextContextPosition;
		1159	}
		1160
		1161	return position;
		1162	}
		1163	#endregion logging
		1164
		1165	#region processing received data
		1166
		1167	private void processMessage(byte[] message)
		1168	{
		1169	if (message.Length > 0)
		1170	{
		1171	_iLifeCounter++;
		1172	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1173	//Log(LogMsgType.Incoming, message.Length.ToString());
		1174	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1175	char cmdID;
		1176	byte adr;
		1177	byte[] data;
		1178	byte[] tmp = null;
		1179	if (message[0] != '#')
		1180	{
		1181	int iFound = -1;
		1182	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1183	{ //so this is a workaround to not spam the log box
		1184	if (message[i] == 35)
		1185	{
		1186	iFound = i;
		1187	break;
		1188	}
		1189	}
		1190	if (iFound > 0)
		1191	{
		1192	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1193	tmp = new byte[message.Length - iFound];
		1194	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1195	}
		1196	s = s.Trim('\0', '\n', '\r');
		1197	if (s.Length > 0)
		1198	Log(LogMsgType.Normal, s);
		1199	if (tmp != null)
		1200	{
		1201	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1202	processMessage(tmp);
		1203	}
		1204	}
		1205	//Debug.Print(s);
		1206	else
		1207	{
		1208	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1209
		1210	if (adr == 255) { crcError++; }
		1211	else crcError = 0;
		1212	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1213	//display the active controller (FC / NC)
		1214	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...???
		1215	{
		1216	_iCtrlAct = adr;
		1217	switch (adr)
		1218	{
		1219	case 1:
		1220	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2298	-	1221	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
2287	-	1222	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1223	// _setFieldsNA(); //display fields NA for FC
		1224	break;
		1225	case 2:
		1226	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1227	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1228	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1229	break;
		1230	//case 3:
		1231	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1232	// break;
		1233	//case 4:
		1234	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1235	// break;
		1236	default:
		1237	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1238	break;
		1239	}
		1240	// _loadLabelNames();
		1241	}
		1242	// else
		1243	// Debug.Print("Address == 0?");
		1244
		1245	if (data != null && data.Length > 0)
		1246	{
		1247	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1248	s = s.Trim('\0', '\n');
		1249
		1250	switch (cmdID)
		1251	{
		1252	//case 'A': //Label names
		1253	// _processLabelNames(s);
		1254	// break;
		1255
		1256	case 'D': //Debug data
		1257	_processDebugVals(adr, data);
		1258	break;
		1259
		1260	case 'V': //Version
		1261	_processVersion(adr, data);
		1262	break;
		1263
		1264	case 'K'://BL-CTRL data
		1265	_processBLCtrl(data);
		1266	break;
		1267
		1268	case 'O': //NC Data
		1269	_processNCData(data);
		1270	break;
		1271
		1272	case 'E': //NC error-string
		1273	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1274	break;
		1275
		1276	case 'L': //OSD Menue (called by pagenumber)
		1277	_processOSDSingle(data);
		1278	break;
		1279
		1280	case 'H': //OSD Menue (with autoupdate - called by Key)
		1281	_processOSDAuto(data);
		1282	break;
		1283
		1284	case 'X': //Waypoint data
		1285	_processWPData(data);
		1286	break;
		1287
2313	-	1288	case 'W': //return new Waypoint items count after sending waypoint to copter
		1289	_iWPCount = data[0];
		1290	break;
2287	-	1291	//default:
		1292	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1293	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1294	// break;
		1295	}
		1296	}
		1297	//else
		1298	//{
		1299	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1300	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1301	//}
		1302	}
		1303	}
		1304	}
		1305	/// <summary>
		1306	/// Analog label names 'A'
		1307	/// each label name is returned as a single string
		1308	/// and added to string array sAnalogLabel[]
		1309	/// and the datatable dtAnalog
		1310	/// </summary>
		1311	/// <param name="s">the label name</param>
		1312	void _processLabelNames(string s)
		1313	{
		1314	//if (iLableIndex < 32)
		1315	//{
		1316	// sAnalogLabel[iLableIndex] = s;
		1317	// if (dtAnalog.Rows.Count < 32)
		1318	// dtAnalog.Rows.Add(s, "");
		1319	// else
		1320	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1321
		1322	// // _getAnalogLabels(iLableIndex + 1);
		1323	//}
		1324	//Debug.Print(s);
		1325	}
		1326	/// <summary>
		1327	/// Debug values 'D'
		1328	/// </summary>
		1329	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1330	/// <param name="data">the received byte array to process</param>
		1331	void _processDebugVals(byte adr, byte[] data)
		1332	{
		1333	if (data.Length == 66)
		1334	{
2324	-	1335
2287	-	1336	double v;
		1337	int index = 0;
		1338	Int16 i16 = 0;
		1339	double dTemp = 0;
		1340	for (int i = 2; i < 66; i += 2)
		1341	{
		1342	i16 = data[i + 1];
		1343	i16 = (Int16)(i16 << 8);
		1344	iAnalogData[index] = data[i] + i16;
		1345	sAnalogData[index] = (data[i] + i16).ToString();
		1346	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1347
		1348	if (adr == 2) //NC
		1349	{
		1350	switch (index)
		1351	{
		1352	case 0: //pitch (German: nick)
		1353	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1354	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1355	break;
		1356	case 1: //roll
		1357	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1358	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1359	break;
		1360	case 4: //altitude
		1361	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1362	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2324	-	1363	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1364	break;
		1365	case 7: //Voltage
		1366	v = (double)iAnalogData[index] / (double)10;
		1367	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1368	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1369	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1370	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1371	{
		1372	if (v == _dVoltLast)
		1373	if(_iVoltJitter < 20) _iVoltJitter++;
		1374	else
		1375	{
		1376	_iVoltJitter = 0;
		1377	_dVoltLast = v;
		1378	}
		1379	if (_iVoltJitter == 20)
		1380	{
		1381	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1382
		1383	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1384	{
		1385	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1386	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1387	{
		1388	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1389	_bCritAnimVoltActive = true;
		1390	}
		1391	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1392	{
2295	-	1393	Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1394	t.Start();
2287	-	1395	_bCritVoiceVoltActive = true;
		1396	}
		1397	}
		1398	else
		1399	{
		1400	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1401	{
		1402	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1403	_bCritAnimVoltActive = false;
		1404	}
		1405	_bCritVoiceVoltActive = false;
		1406
2291	-	1407	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1408	{
2295	-	1409	Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1410	t.Start();
2291	-	1411	_bWarnVoiceVoltActive = true;
2287	-	1412	}
		1413	}
		1414	}
		1415	}
		1416	else
		1417	{
		1418	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1419	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1420	{
		1421	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1422	_bCritAnimVoltActive = false;
		1423	}
		1424	_bCritVoiceVoltActive = false;
2291	-	1425	_bWarnVoiceVoltActive = false;
2287	-	1426	_iVoltJitter = 0;
		1427	}
		1428	break;
		1429	case 8: // Current
		1430	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1431	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1432	break;
		1433	case 10: //heading
2291	-	1434	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2287	-	1435	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1436	break;
		1437	case 12: // SPI error
2291	-	1438	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1439	break;
		1440	case 14: //i2c error
2291	-	1441	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1442	break;
		1443	case 20: //Earthmagnet field
2291	-	1444	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1445	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1446
		1447	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1448	{
		1449	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1450	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1451	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1452	{
		1453	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1454	_bAnimMagneticFieldActive = false;
		1455	}
		1456	}
		1457	else
		1458	{
		1459	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1460	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1461	{
		1462	if (_iMagneticFieldJitter < 20)
		1463	_iMagneticFieldJitter++;
		1464	}
		1465	else
		1466	{
		1467	_iMagneticFieldJitter = 0;
		1468	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1469	}
		1470	if(_iMagneticFieldJitter == 20)
		1471	{
		1472	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1473	{
		1474	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1475	_bAnimMagneticFieldActive = true;
		1476	}
		1477	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1478	{
2295	-	1479	Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1480	t.Start();
2291	-	1481	_bVoiceMagneticFieldActive = true;
		1482	}
		1483	}
		1484	}
2287	-	1485	break;
		1486	case 21: //GroundSpeed
		1487	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1488	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1489	break;
2291	-	1490
		1491	///******** needs testing --> not sure what position this is *************
2287	-	1492	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1493	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1494	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1495	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1496	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1497	dTemp = Math.Sqrt(dTemp) / (double)10;
		1498	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1499	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1500	break;
2291	-	1501
2287	-	1502	case 31: //Sats used
		1503	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1504	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1505	break;
		1506	}
		1507	}
		1508	index++;
		1509	}
		1510	}
		1511	else
		1512	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1513	}
		1514	/// <summary>
		1515	/// Version string 'V'
		1516	/// </summary>
		1517	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1518	/// <param name="data">the received byte array to process</param>
		1519	void _processVersion(byte adr, byte[] data)
		1520	{
		1521	if (data.Length == 12)
		1522	{
		1523	if (!check_HWError)
		1524	{
		1525	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1526	string sVersion = "";
		1527	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1528	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1529	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1530	Log(LogMsgType.Incoming, sVersion);
		1531	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1532	Log(LogMsgType.Incoming, sVersion);
		1533	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1534	}
		1535	if (data[5] > 0) //error0
		1536	{
		1537	if (adr == 1)
		1538	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		1539	if (adr == 2)
		1540	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		1541	}
		1542	if (data[6] > 0) //error1
		1543	{
		1544	if (adr == 1)
		1545	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		1546	if (adr == 2)
		1547	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		1548	}
		1549	if ((data[5] + data[6] == 0) && _bErrorLog)
		1550	_clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		1551
		1552	}
		1553	check_HWError = false;
		1554	}
		1555	/// <summary>
		1556	/// BL-Ctrl data 'K'
		1557	/// for FC you have to use a customized firmware
		1558	/// </summary>
		1559	/// <param name="data">the received byte array to process</param>
		1560	void _processBLCtrl(byte[] data)
		1561	{
		1562	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1563	{
		1564	bool bAvailable = false;
		1565	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1566	{
		1567
		1568	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1569	bAvailable = true;
		1570	else
		1571	bAvailable = false;
		1572
		1573	if (data[i] < _iMotors)
		1574	{
		1575	if (bAvailable)
		1576	{
2315	-	1577	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1578	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1579	}
		1580	else
		1581	{
2315	-	1582	dtMotors.Rows[data[i]].SetField(1, "NA");
		1583	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1584	}
		1585	}
		1586	//if (data[i] > 3 && data[i] < 8)
		1587	//{
		1588	// if (bAvailable)
		1589	// {
		1590	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1591	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1592	// }
		1593	// else
		1594	// {
		1595	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1596	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1597	// }
		1598	//}
		1599	}
		1600	}
		1601	}
		1602	/// <summary>
		1603	/// Navi-Ctrl data 'O'
		1604	/// GPS-Position, capacatiy, flying time...
		1605	/// </summary>
		1606	/// <param name="data">the received byte array to process</param>
		1607	void _processNCData(byte[] data)
		1608	{
		1609	int i_32, i_16, iVal;
		1610	double d;
		1611	i_32 = data[4];
		1612	iVal = i_32 << 24;
		1613	i_32 = data[3];
		1614	iVal += i_32 << 16;
		1615	i_32 = data[2];
		1616	iVal += i_32 << 8;
		1617	iVal += data[1];
		1618	d = (double)iVal / Math.Pow(10, 7);
2324	-	1619	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1620
2287	-	1621	PointLatLng p = new PointLatLng();
		1622
		1623	p.Lng = d;
		1624	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1625	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1626
		1627	i_32 = data[8];
		1628	iVal = i_32 << 24;
		1629	i_32 = data[7];
		1630	iVal += i_32 << 16;
		1631	i_32 = data[6];
		1632	iVal += i_32 << 8;
		1633	iVal += data[5];
		1634	d = (double)iVal / Math.Pow(10, 7);
2324	-	1635	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1636	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1637	p.Lat = d;
2291	-	1638	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1639	{
		1640	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1641	if(_bAutoHome && !_bFirstSatFix)
		1642	{
		1643	if (_iFirstSatFix < 3)
		1644	_iFirstSatFix++;
		1645	else
		1646	{
		1647	_bFirstSatFix = true;
2347	-	1648	Dispatcher.Invoke(() => _setHomePos());
2295	-	1649	}
		1650	}
2291	-	1651	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1652	{
		1653	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1654	_bAnimSatFixActive = false;
		1655	}
		1656	if (!_bFollowCopter)
		1657	{
		1658	_setCopterData(p);
		1659	if (!MainMap.ViewArea.Contains(p))
		1660	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1661
2291	-	1662	}
		1663	else
2287	-	1664	Dispatcher.Invoke(() => MainMap.Position = p);
		1665	}
		1666	else
2291	-	1667	{
		1668	if(_bSatFix)
		1669	{
		1670	if (data[50] == _iSatsLast)
		1671	{
		1672	if (_iSatsJitter < 20) _iSatsJitter++;
		1673	}
		1674	else
		1675	{
		1676	_iSatsJitter = 0;
		1677	_iSatsLast = data[50];
		1678	}
2287	-	1679
2291	-	1680	if (_iSatsJitter == 20)
		1681	{
		1682	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1683	{
		1684	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1685	_bAnimSatFixActive = true;
		1686	}
		1687	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1688	{
2335	-	1689	Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
2295	-	1690	th.Start();
2291	-	1691	_bVoiceSatFixActive = true;
		1692	}
		1693
		1694	_bSatFix = false;
		1695	}
		1696	}
		1697	}
		1698
2287	-	1699	// lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
		1700	//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
		1701
		1702	i_16 = data[28];
		1703	i_16 = (Int16)(i_16 << 8);
		1704	iVal = data[27] + i_16;
		1705	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1706
		1707	i_16 = data[45];
		1708	i_16 = (Int16)(i_16 << 8);
		1709	iVal = data[44] + i_16;
		1710	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1711	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1712
		1713	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2347	-	1714	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count > 0)
2342	-	1715	{
2347	-	1716	_setActiveWP(data[48]-1);
		1717	_wpIndex = data[48]-1;
2342	-	1718	}
2347	-	1719	else
		1720	{
		1721	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
		1722	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
		1723	}
2342	-	1724
		1725	if(wpList.Count > 0 && ((data[67] & 2) == 2))
		1726	{
2340	-	1727	// Dispatcher.Invoke(() =>
		1728	// {
		1729	// if(data[48] < wpList.Count)
		1730	// {
		1731	// DataGridRow row;
2342	-	1732	// if (data[48] > 0)
2340	-	1733	// {
		1734	// row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(data[48] - 1);
		1735	// row.Background = new SolidColorBrush(Colors.Transparent);
		1736	// }
		1737	// row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(data[48]);
		1738	// row.Background = new SolidColorBrush(Color.FromArgb(50, 0, 100, 255));
		1739	// }
		1740	// });
2342	-	1741	}
2287	-	1742	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2340	-	1743	_wpCount = data[49];
2287	-	1744	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1745
		1746	//--------------- Capacity used ------------------------
		1747	i_16 = data[81];
		1748	i_16 = (Int16)(i_16 << 8);
		1749	iVal = data[80] + i_16;
		1750	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1751	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1752
		1753	//--------------- Flying time ------------------------
		1754	i_16 = data[56];
		1755	i_16 = (Int16)(i_16 << 8);
		1756	iVal = data[55] + i_16;
		1757	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1758	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1759	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1760	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1761
		1762	//--------------- RC quality ------------------------
		1763	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1764	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1765
2291	-	1766	if(data[66] > _iThresholdRC)
		1767	{
		1768	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1769	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1770	{
		1771	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1772	_bAnimRCLevelActive = false;
		1773	}
		1774	}
		1775	else
		1776	{
		1777	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1778	if (_iRCLevelJitter == 20)
		1779	{
		1780	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1781	{
		1782	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1783	_bAnimRCLevelActive = true;
		1784	}
		1785	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1786	{
2295	-	1787	Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1788	th.Start();
2291	-	1789	_bVoiceRCLevelActive = true;
		1790	}
		1791	_iRCLevelJitter++;
		1792	}
		1793	}
		1794
2287	-	1795	//--------------- NC Error ------------------------
		1796	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1797	if (data[69] > 0)
		1798	_readNCError();
		1799	if (data[69] > 0 & data[69] < 44)
		1800	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
		1801	else
		1802	if (_bErrorLog) _clearErrorLog("NC Error");
		1803
2298	-	1804	//-------------FC / NC Status Flags
		1805	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1806	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1807	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1808	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1809	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1810	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1811
		1812	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1813	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1814	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1815	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1816	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1817	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
		1818	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		1819	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		1820
		1821	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1822	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1823	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1824	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1825	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1826	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1827	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	1828
		1829	//Sidebar StatusSymbols
		1830	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1831	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
		1832	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
		1833
		1834	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1835	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
		1836	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
		1837
		1838	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	1839	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
		1840	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.BorderBrush = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_EMERGENCY_LANDING 0x10
2299	-	1841
		1842	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1843	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
		1844	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
		1845
		1846	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	1847	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
		1848	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
		1849	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.BorderBrush = (((data[68] & 2) == 2)\|((data[68] & 4) == 4)) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2299	-	1850
2324	-	1851	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	1852	}
		1853	/// <summary>
		1854	/// Navi-Ctrl WP data struct 'X'
		1855	/// called by index
		1856	/// </summary>
		1857	/// <param name="data">the received byte array to process</param>
		1858	void _processWPData(byte[] data)
		1859	{
2313	-	1860	_iWPCount = data[0];
2287	-	1861	_bGetWPCount = false;
		1862	if (data.Length >= 28)
		1863	{
		1864	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		1865	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		1866	if (_bGetWP)
		1867	{
		1868	if (data[1] == 1)
2315	-	1869	{
2333	-	1870	if(mRouteWP != null)
		1871	Dispatcher.Invoke(() => MainMap.Markers.Remove(mRouteWP));
2328	-	1872	wpList.Clear();
		1873
		1874	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
2287	-	1875	dtWaypoints.Rows.Clear();
2333	-	1876	Dispatcher.Invoke(() =>
		1877	{
2318	-	1878	for (int k = 0; k < MainMap.Markers.Count;)
		1879	{
		1880	GMapMarker p = MainMap.Markers[k];
		1881	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		1882	MainMap.Markers.Remove(p);
		1883	else
		1884	k++;
		1885	}
		1886	});
2315	-	1887	}
2287	-	1888	DataRow dr = dtWaypoints.NewRow();
		1889	dr = Waypoints.toDataRow(data, dr);
2313	-	1890	dtWaypoints.Rows.Add(dr);
2318	-	1891	Dispatcher.Invoke(() => {
		1892	GMapMarker wp = new GMapMarker(new PointLatLng((double)dr[3], (double)dr[4]));
		1893	wp.Shape = new CustomMarkerWP(this, wp, (string)dr[2],(int)dr[1]);
2333	-	1894	wp.Offset = new System.Windows.Point(-11.5, -11.5);
2318	-	1895	_setMarkerColor(wp, (int)dr[1]);
		1896	MainMap.Markers.Add(wp);
		1897	});
2313	-	1898	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1899	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2335	-	1900	if ((int)dr[1] == 0)
		1901	wpList.Add(new PointLatLng((double)dr[3], (double)dr[4]));
2287	-	1902	if (data[1] == data[0])
		1903	{
		1904	_bGetWP = false;
		1905	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
2328	-	1906
		1907	Dispatcher.Invoke(() =>
		1908	{
		1909	if (comboBoxRouteColor.SelectionBoxItem != null)
		1910	{
		1911	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		1912	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		1913	}
		1914	else
		1915	mRouteWP = new GMapRoute(wpList, null);
		1916
		1917	if (_bShowWPRoute)
		1918	MainMap.Markers.Add(mRouteWP);
		1919	});
		1920	MapRoute mr = new MapRoute(wpList, "WPList");
2333	-	1921	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
2287	-	1922	}
		1923
		1924	}
		1925	}
		1926	else
		1927	{
		1928	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		1929	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		1930	}
		1931	}
		1932	/// <summary>
		1933	/// OSD Menue 'L'
		1934	/// single page called by pagenumber
		1935	/// no autoupdate
		1936	/// </summary>
		1937	/// <param name="data">the received byte array to process</param>
		1938	void _processOSDSingle(byte[] data)
		1939	{
		1940	if (data.Length == 84)
		1941	{
		1942	string sMessage = "";
		1943	iOSDPage = data[0];
		1944	iOSDMax = data[1];
		1945	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		1946	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		1947	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1948	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1949	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1950	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1951	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		1952	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		1953
		1954	}
		1955	//else
		1956	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		1957
		1958	}
		1959	/// <summary>
		1960	/// OSD Menue 'H'
		1961	/// called by keys (0x01,0x02,0x03,0x04)
		1962	/// autoupdate
		1963	/// </summary>
		1964	/// <param name="data">the received byte array to process</param>
		1965	void _processOSDAuto(byte[] data)
		1966	{
		1967	if (data.Length == 81)
		1968	{
		1969	string sMessage = "";
		1970	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		1971	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1972	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1973	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1974	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1975
		1976	}
		1977	//else
		1978	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		1979	}
		1980
		1981	#endregion processing received data
		1982
		1983	#region controller messages
		1984	/// <summary> send message to controller to request data
		1985	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1986	/// </summary>
		1987	/// <param name="CMDID"> the command ID </param>
		1988	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1989	private void _sendControllerMessage(char CMDID, byte address)
		1990	{
		1991	if (serialPortCtrl.Port.IsOpen)
		1992	{
		1993	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1994	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		1995	serialStream.Write(bytes, 0, bytes.Length);
		1996
		1997	}
		1998	else
		1999	Log(LogMsgType.Error, "NOT CONNECTED!");
		2000	}
		2001	/// <summary> send message to controller to request data
		2002	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2003	/// </summary>
		2004	/// <param name="CMDID"> the command ID </param>
		2005	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2006	/// <param name="data"> additional data for the request</param>
		2007	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2008	{
		2009	if (serialPortCtrl.Port.IsOpen)
		2010	{
		2011	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2012	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2013	serialStream.Write(bytes, 0, bytes.Length);
		2014
		2015	}
		2016	else
		2017	Log(LogMsgType.Error, "NOT CONNECTED!");
		2018	}
		2019
		2020	/// <summary>
		2021	/// start/stop continous polling of controller values
		2022	/// </summary>
		2023	/// <param name="b">start/stop switch</param>
		2024	void _readCont(bool b)
		2025	{
		2026	bReadContinously = b;
		2027	if (bReadContinously)
		2028	{
		2029	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2030	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2031	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2032	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2033	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2034	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2035	}
		2036	else
		2037	{
		2038	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2039	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2040	_bConnErr = false;
		2041	}
		2042	_iLifeCounter = 0;
		2043	}
		2044
		2045	private void _getVersion()
		2046	{
		2047	_sendControllerMessage('v', 0);
		2048	}
		2049	/// <summary>
		2050	/// get FC version struct via NC
		2051	/// by sending '1' as data (not documented in wiki...)
		2052	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2053	/// </summary>
		2054	/// <param name="ctrl">controller number 1=FC</param>
		2055	private void _getVersion(byte ctrl)
		2056	{
		2057	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2058	}
		2059	/// <summary>
		2060	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2061	/// </summary>
		2062	private void _switchToNC()
		2063	{
		2064	if (serialPortCtrl.Port.IsOpen)
		2065	{
		2066	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2067	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2068	serialStream.Write(bytes, 0, bytes.Length);
		2069
		2070	Thread.Sleep(100);
		2071	_getVersion();
		2072	Thread.Sleep(100);
		2073	// _OSDMenue(0);
		2074	}
		2075	else
		2076	Log(LogMsgType.Error, "NOT CONNECTED!");
		2077	}
		2078	/// <summary>
		2079	/// switch to FC
		2080	/// </summary>
		2081	private void _switchToFC()
		2082	{
		2083	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2084	Thread.Sleep(100);
		2085	_getVersion();
		2086	Thread.Sleep(100);
		2087	// _OSDMenue(0);
		2088	}
		2089	/// <summary>
		2090	/// send RESET signal to FC
		2091	/// </summary>
		2092	private void _resetCtrl()
		2093	{
		2094	_sendControllerMessage('R', 1);
		2095	}
		2096	/// <summary>
		2097	/// poll the debug data (4sec subscription)
		2098	/// </summary>
		2099	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2100	private void _readDebugData(bool auto)
		2101	{
		2102	byte interval = auto ? debugInterval : (byte)0;
		2103	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2104	}
		2105	/// <summary>
		2106	/// poll the BL-CTRL status via NC (4sec subscription)
		2107	/// </summary>
		2108	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2109	private void _readBLCtrl(bool auto)
		2110	{
		2111	byte interval = auto ? blctrlInterval : (byte)0;
		2112	_sendControllerMessage('k', 0, new byte[1] { interval });
		2113	}
		2114	/// <summary>
		2115	/// poll the NC data struct (4sec subscription)
		2116	/// </summary>
		2117	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2118	private void _readNavData(bool auto)
		2119	{
		2120	byte interval = auto ? navctrlInterval : (byte)0;
		2121	_sendControllerMessage('o', 2, new byte[1] { interval });
		2122	}
		2123	/// <summary>
		2124	/// get the errortext for pending NC error
		2125	/// </summary>
		2126	private void _readNCError()
		2127	{
		2128	_sendControllerMessage('e', 2);
		2129	}
		2130	/// <summary>
		2131	/// request the Waypoint at index
		2132	/// </summary>
		2133	/// <param name="index"></param>
		2134	void _getpWP(int index)
		2135	{
		2136	if (serialPortCtrl.Port.IsOpen)
		2137	{
		2138	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2139	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2140	serialStream.Write(bytes, 0, bytes.Length);
		2141	}
		2142	else
		2143	Log(LogMsgType.Error, "NOT CONNECTED!");
		2144
		2145	}
		2146	void _getWP()
		2147	{
2335	-	2148	int iTimeout = 0;
2287	-	2149	_bGetWPCount = true;
2315	-	2150	_getpWP(1); //get the itemscount of wp
2335	-	2151	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2152	{
		2153	Thread.Sleep(10);
		2154	iTimeout++;
		2155	}
		2156	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2157	_getWPList();
		2158	}
		2159	void _getWPList()
		2160	{
		2161	_bGetWP = true;
2313	-	2162	int iTimeout=0;
		2163	for (int j = 0; j < _iWPCount; j++)
2287	-	2164	{
		2165	_getpWP(j + 1);
2313	-	2166	iTimeout = 0;
		2167	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2168	{
		2169	Thread.Sleep(1);
		2170	iTimeout++;
		2171	}
2287	-	2172	}
		2173	}
2340	-	2174
		2175	void clearCopterWPList()
2313	-	2176	{
2340	-	2177	_clearCopterWPList();
		2178	}
		2179	bool _clearCopterWPList()
		2180	{
2335	-	2181	int iTimeout = 0;
2313	-	2182	if (serialPortCtrl.Port.IsOpen)
		2183	{
		2184	byte[] bData = new byte[30];
		2185	for (int i = 0; i < 30; i++)
		2186	bData[i] = 0;
		2187	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2188	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2189	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2190
2313	-	2191	_iWPCount = -1;
2340	-	2192	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2193	{
2313	-	2194	Thread.Sleep(10);
2335	-	2195	iTimeout++;
		2196	}
2313	-	2197	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2198	if (_iWPCount > -1)
2340	-	2199	return true;
		2200	else
		2201	Log(LogMsgType.Error, "Timeout while sending list!");
		2202	}
		2203	else
		2204	Log(LogMsgType.Error, "NOT CONNECTED!");
		2205
		2206	return false;
		2207	}
		2208	void _sendWPList()
		2209	{
		2210	int iTimeout = 0;
		2211	if (serialPortCtrl.Port.IsOpen)
		2212	{
		2213	if (_clearCopterWPList())
2313	-	2214	{
2335	-	2215	for (int i = 0; i < dtWaypoints.Rows.Count; i++)
		2216	{
2340	-	2217	_sendWayPoint(dtWaypoints.Rows[i],-1);
2313	-	2218
2335	-	2219	_iWPCount = -1;
		2220	iTimeout = 0;
		2221	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2222	{
		2223	Thread.Sleep(10);
		2224	iTimeout++;
		2225	}
		2226	if (_iWPCount == -1)
		2227	{
		2228	Log(LogMsgType.Error, "Timeout while sending list!");
		2229	break;
		2230	}
		2231	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
		2232	}
2313	-	2233	}
		2234	}
		2235	else
		2236	Log(LogMsgType.Error, "NOT CONNECTED!");
		2237
		2238	}
2340	-	2239	bool _sendWayPoint(DataRow dr, int index)
		2240	{
2313	-	2241
2340	-	2242	if (serialPortCtrl.Port.IsOpen)
		2243	{
		2244	byte[] bData = new byte[30];
		2245	for (int i = 0; i < 30; i++)
		2246	bData[i] = 0;
		2247	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2248	byte[] bytes;
		2249	int iVal;
		2250	double dVal;
		2251	NumberFormatInfo nfi = new NumberFormatInfo();
		2252	nfi.NumberDecimalSeparator = ",";
		2253
		2254	//longitude
		2255	dVal = Convert.ToDouble(dr[4], nfi);
		2256	iVal = (int)(dVal * Math.Pow(10, 7));
		2257	bData[0] = (byte)(iVal & 0xff);
		2258	bData[1] = (byte)((iVal >> 8) & 0xff);
		2259	bData[2] = (byte)((iVal >> 16) & 0xff);
		2260	bData[3] = (byte)(iVal >> 24);
		2261	//latitude
		2262	dVal = Convert.ToDouble(dr[3], nfi);
		2263	iVal = (int)(dVal * Math.Pow(10, 7));
		2264	bData[4] = (byte)(iVal & 0xff);
		2265	bData[5] = (byte)((iVal >> 8) & 0xff);
		2266	bData[6] = (byte)((iVal >> 16) & 0xff);
		2267	bData[7] = (byte)(iVal >> 24);
		2268	//altitude
		2269	dVal = Convert.ToDouble(dr[5], nfi);
		2270	iVal = (int)(dVal * 10);
		2271	bData[8] = (byte)(iVal & 0xff);
		2272	bData[9] = (byte)((iVal >> 8) & 0xff);
		2273	bData[10] = (byte)((iVal >> 16) & 0xff);
		2274	bData[11] = (byte)(iVal >> 24);
		2275	//Status 'NEWDATA'
		2276	bData[12] = 1;
		2277	//heading
		2278	iVal = Convert.ToInt16(dr[6]);
		2279	bData[13] = (byte)(iVal & 0xff);
		2280	bData[14] = (byte)((iVal >> 8) & 0xff);
		2281	//ToleranceRadius
		2282	bData[15] = Convert.ToByte(dr[9]);
		2283	//HoldTime
		2284	bData[16] = Convert.ToByte(dr[10]);
		2285	//Event_Flag
		2286	bData[17] = Convert.ToByte(dr[13]);
		2287	//Index
		2288	bData[18] = index > 0 ? (byte)index : Convert.ToByte((int)dr[0]);
		2289	//Type
		2290	bData[19] = Convert.ToByte(dr[1]);
		2291	//WP_EventChannelValue
		2292	bData[20] = Convert.ToByte(dr[14]);
		2293	//AltitudeRate
		2294	bData[21] = Convert.ToByte(dr[8]);
		2295	//Speed
		2296	bData[22] = Convert.ToByte(dr[7]);
		2297	//CamAngle
		2298	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2299	//Name
		2300	byte[] name = ASCIIEncoding.ASCII.GetBytes((string)dr[2]);
		2301	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2302	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2303	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2304	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2305	//Autotrigger
		2306	bData[28] = Convert.ToByte(dr[11]);
		2307
		2308	bytes = FlightControllerMessage.CreateMessage('w', 2, bData);
		2309	serialStream.Write(bytes, 0, bytes.Length);
		2310
		2311	return true;
		2312	}
		2313
		2314	return false;
		2315	}
2287	-	2316	#region OSD-Menue
		2317
		2318	/// <summary>
		2319	/// one time query of the OSD Menue with pagenumber
		2320	/// </summary>
		2321	/// <param name="iMenue">Menue page</param>
		2322	void _OSDMenue(int iMenue)
		2323	{
		2324	if (serialPortCtrl.Port.IsOpen)
		2325	{
		2326	if (iMenue > iOSDMax)
		2327	iMenue = 0;
		2328	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2329	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2330	serialStream.Write(bytes, 0, bytes.Length);
		2331	}
		2332	else
		2333	Log(LogMsgType.Error, "NOT CONNECTED!");
		2334
		2335	}
		2336	/// <summary>
		2337	/// call the OSDMenue and start autorefresh
		2338	/// usually by sending a menuekey
		2339	/// 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)
		2340	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2341	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2342	/// </summary>
		2343	void _OSDMenueAutoRefresh()
		2344	{
		2345	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2346	}
		2347	void _OSDMenueAutoRefresh(byte key)
		2348	{
		2349	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2350	}
		2351	/// <summary>
		2352	/// initialize the OSD menue combobox
		2353	/// combox is filled by numbers from 0 to max pagenumber
		2354	/// </summary>
		2355	void _initOSDCB()
		2356	{
		2357	_bCBInit = true;
		2358	if (iOSDMax == 0)
		2359	{
		2360	_OSDMenue(0);
		2361	Thread.Sleep(10);
		2362	}
		2363	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2364	for (int i = 0; i <= iOSDMax; i++)
		2365	{
		2366	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2367	}
		2368	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2369	_bCBInit = false;
		2370	}
		2371	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2372	{
		2373	iOSDPage++;
		2374	if (iOSDPage > iOSDMax)
		2375	iOSDPage = 0;
		2376
		2377	_OSDMenue(iOSDPage);
		2378	}
		2379	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2380	{
		2381	iOSDPage--;
		2382	if (iOSDPage < 0)
		2383	iOSDPage = iOSDMax;
		2384
		2385	_OSDMenue(iOSDPage);
		2386	}
		2387	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2388	{
		2389	_OSDMenueAutoRefresh(8);
		2390	}
		2391	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2392	{
		2393	_OSDMenueAutoRefresh(4);
		2394	}
		2395	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2396	{
		2397	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2398	_OSDMenue(cbOSD.SelectedIndex);
		2399	}
		2400	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2401	{
		2402	Dispatcher.Invoke(() =>
		2403	{
		2404	TextRange tr;
		2405	if (bNew)
		2406	{
		2407	rtfOSD.SelectAll();
		2408	rtfOSD.Selection.Text = string.Empty;
		2409	}
		2410	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2411	tr.Text = msg;
		2412	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2413	// rtfOSD.AppendText("\r");
		2414	rtfOSD.ScrollToEnd();
		2415
		2416	});
		2417	}
		2418
		2419	#endregion OSD-Menue
		2420
		2421	#endregion controller messages
		2422
2295	-	2423	void _mediaPlayer(string file)
		2424	{
		2425	if (File.Exists(file))
		2426	{
		2427	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		2428	mp.Open(file);
		2429	mp.Play();
		2430	}
		2431	}
2310	-	2432
		2433	/// <summary>
		2434	/// Switch between fullscreen and normal window mode
		2435	/// save & restore scaling settings
		2436	/// </summary>
		2437	/// <param name="sender"></param>
		2438	/// <param name="e"></param>
2287	-	2439	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2440	{
		2441	if (winState.isMaximized)
		2442	{
		2443	winState.Restore(this);
		2444	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2445	if(_bSaveWinStateFull)
		2446	_saveScaleSliders(true);
		2447	if(_bSaveWinStateNormal)
		2448	_setScaleSliders(false);
		2449	}
		2450	else
		2451	{
		2452	winState.Maximize(this);
		2453	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2454	if(_bSaveWinStateNormal)
		2455	_saveScaleSliders(false);
		2456	if(_bSaveWinStateFull)
		2457	_setScaleSliders(true);
		2458	}
		2459	}
		2460
		2461	/// <summary>
		2462	/// reset the scaling of all UI elements to default
		2463	/// </summary>
		2464	/// <param name="sender"></param>
		2465	/// <param name="e"></param>
		2466	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2467	{
		2468	UIScaleHorizonSlider.Value =
		2469	UIScaleLOGSlider.Value =
		2470	UIScaleMotorsSlider.Value =
		2471	UIScaleOSDSlider.Value =
		2472	UIScaleSlider.Value =
		2473	UIScaleTopSlider.Value = 1;
		2474	}
		2475	/// <summary>
		2476	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2477	/// </summary>
		2478	/// <param name="sender"></param>
		2479	/// <param name="e"></param>
		2480	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2481	{
		2482	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2483	if (GridMotors != null)
		2484	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2485	if (GridSideBar != null)
		2486	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2487	if (GridOSD != null)
		2488	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2489	if (GridData != null)
		2490	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2491	if (GridWP != null)
		2492	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2493	}
2310	-	2494	/// <summary>
		2495	/// restore the saved scalings for the fullscreen/normal window mode
		2496	/// </summary>
		2497	/// <param name="bFull">the mode the window is set to</param>
2287	-	2498	void _setScaleSliders(bool bFull)
		2499	{
		2500	if(bFull)
		2501	{
		2502	UIScaleSlider.Value = scaleFullAll;
		2503	UIScaleTopSlider.Value = scaleFullTopBar;
		2504	UIScaleMotorsSlider.Value = scaleFullMotors;
		2505	UIScaleOSDSlider.Value = scaleFullOSD;
		2506	UIScaleLOGSlider.Value = scaleFullLOG;
		2507	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2508	}
		2509	else
		2510	{
		2511	UIScaleSlider.Value = scaleNormalAll;
		2512	UIScaleTopSlider.Value = scaleNormalTopBar;
		2513	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2514	UIScaleOSDSlider.Value = scaleNormalOSD;
		2515	UIScaleLOGSlider.Value = scaleNormalLOG;
		2516	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2517	}
		2518	}
		2519
2310	-	2520	/// <summary>
		2521	/// save the scalings for the actual window mode
		2522	/// </summary>
		2523	/// <param name="bFull">the actual window mode</param>
2287	-	2524	void _saveScaleSliders(bool bFull)
		2525	{
		2526
		2527	if (bFull)
		2528	{
		2529	scaleFullAll = UIScaleSlider.Value;
		2530	scaleFullTopBar = UIScaleTopSlider.Value;
		2531	scaleFullMotors = UIScaleMotorsSlider.Value;
		2532	scaleFullOSD = UIScaleOSDSlider.Value;
		2533	scaleFullLOG = UIScaleLOGSlider.Value;
		2534	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2535	}
		2536	else
		2537	{
		2538	scaleNormalAll = UIScaleSlider.Value;
		2539	scaleNormalTopBar = UIScaleTopSlider.Value;
		2540	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2541	scaleNormalOSD = UIScaleOSDSlider.Value;
		2542	scaleNormalLOG = UIScaleLOGSlider.Value;
		2543	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2544	}
		2545	}
		2546
		2547	/// <summary>
		2548	/// read settings from ini-file
		2549	/// </summary>
		2550	void _readIni()
		2551	{
		2552	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2553	_writeIni();
		2554	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2555	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2556	try
		2557	{
2287	-	2558
2312	-	2559	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2560	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2561	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2562	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2563	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2564	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2565	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2566	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2567
2312	-	2568	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2569	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2570	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2571	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2572	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2573	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2574	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2575	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2576
2312	-	2577	sVal = ini.IniReadValue("topBar", "voltage");
		2578	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2579	sVal = ini.IniReadValue("topBar", "capacity");
		2580	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2581	sVal = ini.IniReadValue("topBar", "current");
		2582	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2583	sVal = ini.IniReadValue("topBar", "flightTime");
		2584	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2585	sVal = ini.IniReadValue("topBar", "distanceHP");
		2586	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2587	sVal = ini.IniReadValue("topBar", "height");
		2588	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2589	sVal = ini.IniReadValue("topBar", "speed");
		2590	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2591	sVal = ini.IniReadValue("topBar", "magneticField");
		2592	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2593	sVal = ini.IniReadValue("topBar", "satellites");
		2594	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2595	sVal = ini.IniReadValue("topBar", "rc");
		2596	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2597
2312	-	2598	sVal = ini.IniReadValue("style", "saveFullScreen");
		2599	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2600	sVal = ini.IniReadValue("style", "saveNormalState");
		2601	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2602
2312	-	2603	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2604	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2605	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2606	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2607	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2608	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2609	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2610	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2611	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2612	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2613	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2614	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2615
2312	-	2616	sVal = ini.IniReadValue("style", "scaleFullAll");
		2617	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2618	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2619	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2620	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2621	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2622	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2623	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2624	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2625	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2626	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2627	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2628
2312	-	2629	sVal = ini.IniReadValue("general", "LiPoCells");
		2630	_LipoCells = Convert.ToInt16(sVal);
		2631	sVal = ini.IniReadValue("general", "Motors");
		2632	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2633
2312	-	2634	sVal = ini.IniReadValue("map", "followMe");
		2635	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2636	sVal = ini.IniReadValue("map", "AutoSetHome");
		2637	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2638	sVal = ini.IniReadValue("map", "GPXLog");
		2639	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2640
2312	-	2641	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2642	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2643	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2644	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2645	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2646	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2647	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2648	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2649	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2650	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2651	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2652	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2653	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2654	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2655	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2656	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2657	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2658	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2659	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2660	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2661	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2662	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2663
		2664	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2665	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2666	sVal = ini.IniReadValue("waypoints", "poicolor");
		2667	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2668	sVal = ini.IniReadValue("waypoints", "fscolor");
		2669	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2670	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2671	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	2672	sVal = ini.IniReadValue("waypoints", "routecolor");
		2673	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		2674	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		2675	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2312	-	2676	}
		2677	catch (Exception e)
		2678	{
2287	-	2679
2312	-	2680	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2681	}
		2682
2287	-	2683	}
		2684
		2685	/// <summary>
		2686	/// save settings to ini-file
		2687	/// </summary>
		2688	void _writeIni()
		2689	{
		2690
		2691	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2692	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2693
2312	-	2694	try
		2695	{
2287	-	2696
2312	-	2697	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2698	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2699	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2700	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2701
2312	-	2702	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2703	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2704	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2705	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2706
2312	-	2707	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2708	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2709
2312	-	2710	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2711	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	2712	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	2713
2312	-	2714	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2715	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2716	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2717	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2718	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2719	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2720	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2721	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2722	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2723	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2724
2312	-	2725	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2726	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2727
2312	-	2728	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2729	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2730	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2731	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2732	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2733	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	2734
2312	-	2735	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2736	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2737	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2738	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2739	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2740	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	2741
2312	-	2742	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2743
		2744	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2745	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2746	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2747	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2748	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2749	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2750	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2751	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2752	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2753	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2754	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	2755
		2756	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		2757	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		2758	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		2759	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2328	-	2760	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		2761	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2312	-	2762	}
		2763	catch (Exception e)
		2764	{
		2765
		2766	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);
		2767	}
2287	-	2768	}
2312	-	2769
2315	-	2770	#region WP
2312	-	2771	void _readWPLFile()
		2772	{
		2773	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		2774	fd.Filter = "Waypointlists \| *.wpl";
		2775	fd.Multiselect = false;
		2776	if (fd.ShowDialog().Value)
		2777	{
		2778	string file = fd.SafeFileName;
		2779	IniFile ini = new IniFile(fd.SafeFileName);
		2780	ini.path = fd.FileName;
		2781
		2782	try
		2783	{
		2784	string sVal = ini.IniReadValue("General", "FileVersion");
		2785	if (sVal == "")
		2786	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2787	else
		2788	{
		2789	if (Convert.ToInt16(sVal) < 3)
		2790	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2791	else
		2792	{
		2793	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		2794	if (sVal == "")
		2795	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		2796	else
		2797	{
		2798	int wpnum = Convert.ToInt16(sVal);
		2799	string wp;
		2800	int i;
2313	-	2801	NumberFormatInfo nfi = new NumberFormatInfo();
		2802	nfi.NumberDecimalSeparator = ".";
2312	-	2803	dtWaypoints.Rows.Clear();
2327	-	2804	//for(int k = 0; k < MainMap.Markers.Count;)
		2805	//{
		2806	// GMapMarker p = MainMap.Markers[k];
		2807	// if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2808	// MainMap.Markers.Remove(p);
		2809	// else
		2810	// k++;
		2811	//}
		2812	_clearMapMarkers(typeof(CustomMarkerWP));
2328	-	2813	wpList.Clear();
		2814	if (mRouteWP != null)
		2815	MainMap.Markers.Remove(mRouteWP);
2342	-	2816	if (wpActiveMarker != null)
		2817	MainMap.Markers.Remove(wpActiveMarker);
2328	-	2818	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		2819
2312	-	2820	for (int k = 1; k <= wpnum; k++)
		2821	{
		2822	DataRow dr = dtWaypoints.NewRow();
		2823	dr.ItemArray = new object[16];
		2824	object[] o = new object[16];
		2825	i = 0;
		2826	wp = "Point" + k.ToString();
		2827	o[i] = k;
		2828	i++;
		2829	sVal = ini.IniReadValue(wp, "Type");
		2830	if (sVal != "")
2315	-	2831	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	2832	i++;
		2833	sVal = ini.IniReadValue(wp, "Prefix");
		2834	if (sVal != "")
		2835	o[i] = sVal == "0" ? "P" + k.ToString() : sVal + k.ToString();
		2836	i++;
2313	-	2837	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	2838	if (sVal != "")
2313	-	2839	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2840	i++;
2313	-	2841	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	2842	if (sVal != "")
2313	-	2843	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2844	i++;
		2845	sVal = ini.IniReadValue(wp, "Altitude");
		2846	if (sVal != "")
2313	-	2847	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	2848	i++;
		2849	sVal = ini.IniReadValue(wp, "Heading");
		2850	if (sVal != "")
		2851	o[i] = Convert.ToInt16(sVal);
		2852	i++;
		2853	sVal = ini.IniReadValue(wp, "Speed");
		2854	if (sVal != "")
2315	-	2855	o[i] = Convert.ToInt16(sVal);
2312	-	2856	i++;
		2857	sVal = ini.IniReadValue(wp, "ClimbRate");
		2858	if (sVal != "")
		2859	o[i] = Convert.ToInt16(sVal);
		2860	i++;
		2861	sVal = ini.IniReadValue(wp, "Radius");
		2862	if (sVal != "")
		2863	o[i] = Convert.ToInt16(sVal);
		2864	i++;
		2865	sVal = ini.IniReadValue(wp, "DelayTime");
		2866	if (sVal != "")
		2867	o[i] = Convert.ToInt16(sVal);
		2868	i++;
		2869	sVal = ini.IniReadValue(wp, "AutoTrigger");
		2870	if (sVal != "")
		2871	o[i] = Convert.ToInt16(sVal); ;
		2872	i++;
		2873	sVal = ini.IniReadValue(wp, "CAM-Nick");
		2874	if (sVal != "")
2313	-	2875	o[i] = Convert.ToInt16(sVal);
2312	-	2876	i++;
		2877	o[i] = 0;
		2878	i++;
		2879	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		2880	if (sVal != "")
		2881	o[i] = Convert.ToInt16(sVal);
		2882	i++;
		2883	o[i] = "New";
		2884
		2885	dr.ItemArray = o;
		2886	dtWaypoints.Rows.Add(dr);
2315	-	2887	GMapMarker wpMarker = new GMapMarker(new PointLatLng((double)o[3], (double)o[4]));
		2888	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, (string)dr[2], (int)o[1]);
2328	-	2889	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		2890	wpMarker.ZIndex = 100;
2315	-	2891	_setMarkerColor(wpMarker, (int)o[1]);
		2892	MainMap.Markers.Add(wpMarker);
2328	-	2893	if((int)o[1] == 0)
		2894	wpList.Add(new PointLatLng((double)o[3], (double)o[4]));
2315	-	2895
2312	-	2896	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		2897	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		2898	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2899	Thread.Sleep(10);
		2900	}
2328	-	2901	Dispatcher.Invoke(() =>
		2902	{
		2903	if (comboBoxRouteColor.SelectionBoxItem != null)
		2904	{
		2905	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		2906	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		2907	}
		2908	else
		2909	mRouteWP = new GMapRoute(wpList, null);
		2910
		2911	if (_bShowWPRoute)
		2912	MainMap.Markers.Add(mRouteWP);
		2913	});
		2914
		2915	MapRoute mr = new MapRoute(wpList, "WPList");
		2916	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		2917
2312	-	2918	}
		2919	}
		2920	}
		2921
		2922	}
		2923	catch (Exception e)
		2924	{
		2925
		2926	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		2927	}
		2928
		2929	}
		2930	}
2328	-	2931	Brush _getBrush(string color)
		2932	{
		2933	switch (color)
		2934	{
		2935	case "red":
		2936	return Brushes.Red;
		2937	case "green":
		2938	return Brushes.Lime;
		2939	case "blue":
		2940	return Brushes.Aqua;
		2941	case "pink":
		2942	return Brushes.Magenta;
		2943	case "yellow":
		2944	return Brushes.Yellow;
		2945	default:
		2946	return Brushes.Magenta;
		2947	}
		2948	}
2315	-	2949	void _setMarkerColor(GMapMarker wpMarker,int iType)
		2950	{
		2951	Dispatcher.Invoke(() =>
		2952	{
		2953	switch (iType)
		2954	{
		2955	case 0:
		2956	if (comboBoxWPColor.SelectionBoxItem != null)
		2957	{
		2958	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		2959	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2960	}
		2961	else
		2962	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2963	break;
		2964	case 1:
		2965	if (comboBoxPOIColor.SelectionBoxItem != null)
		2966	{
		2967	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		2968	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2969	}
		2970	else
		2971	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2972	break;
		2973	case 2:
		2974	if (comboBoxFSColor.SelectionBoxItem != null)
		2975	{
		2976	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		2977	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		2978	}
		2979	else
		2980	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2981	break;
		2982	default:
		2983	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		2984	break;
		2985	}
		2986	});
2312	-	2987
2315	-	2988	}
		2989	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2312	-	2990	{
2315	-	2991	Dispatcher.Invoke(() =>
		2992	{
		2993	if (comboBoxWPColor.SelectionBoxItem != null)
		2994	{
		2995	for (int k = 0; k < MainMap.Markers.Count;k++)
		2996	{
		2997	GMapMarker p = MainMap.Markers[k];
		2998	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		2999	{
		3000	if (((CustomMarkerWP)p.Shape).WPType == 0)
		3001	{
		3002	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3003	((CustomMarkerWP)(p.Shape)).setColor(s);
		3004	}
		3005	}
		3006	}
		3007	}
		3008	});
2312	-	3009	}
2315	-	3010	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		3011	{
		3012	Dispatcher.Invoke(() =>
		3013	{
		3014	if (comboBoxPOIColor.SelectionBoxItem != null)
		3015	{
		3016	for (int k = 0; k < MainMap.Markers.Count; k++)
		3017	{
		3018	GMapMarker p = MainMap.Markers[k];
		3019	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		3020	{
		3021	if (((CustomMarkerWP)p.Shape).WPType == 1)
		3022	{
		3023	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3024	((CustomMarkerWP)(p.Shape)).setColor(s);
		3025	}
		3026	}
		3027	}
		3028	}
		3029	});
2287	-	3030
2315	-	3031	}
		3032	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
2287	-	3033	{
2315	-	3034	Dispatcher.Invoke(() =>
		3035	{
		3036	if (comboBoxFSColor.SelectionBoxItem != null)
		3037	{
		3038	for (int k = 0; k < MainMap.Markers.Count; k++)
		3039	{
		3040	GMapMarker p = MainMap.Markers[k];
		3041	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		3042	{
		3043	if (((CustomMarkerWP)p.Shape).WPType == 2)
		3044	{
		3045	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3046	((CustomMarkerWP)(p.Shape)).setColor(s);
		3047	}
		3048	}
		3049	}
		3050	}
		3051	});
2287	-	3052	}
2318	-	3053	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
		3054	{
		3055	Dispatcher.Invoke(() => {
		3056	if (comboBoxCopterColor.SelectionBoxItem != null)
		3057	{
		3058	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		3059	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		3060	}
		3061	else
		3062	((CustomMarkerCopter)(copter.Shape)).setColor("red");
		3063	});
		3064	}
2328	-	3065	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3066	{
		3067	Dispatcher.Invoke(() =>
		3068	{
		3069	if (comboBoxRouteColor.SelectionBoxItem != null)
		3070	{
		3071	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3072	MainMap.Markers.Remove(mRouteWP);
		3073	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3074	if (_bShowWPRoute)
		3075	MainMap.Markers.Add(mRouteWP);
		3076	}
		3077	});
		3078	}
		3079	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3080	{
		3081	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3082	if (_bShowWPRoute)
		3083	{
		3084	if (mRouteWP != null)
		3085	MainMap.Markers.Add(mRouteWP);
		3086	}
		3087	else
		3088	{
		3089	if (mRouteWP != null)
		3090	MainMap.Markers.Remove(mRouteWP);
		3091	}
		3092	}
2315	-	3093	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3094	{
2315	-	3095	_readWPLFile();
2287	-	3096	}
2335	-	3097	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3098	{
		3099	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	3100	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	3101	wpList.Clear();
		3102	if (mRouteWP != null)
		3103	MainMap.Markers.Remove(mRouteWP);
2347	-	3104	//if (wpActiveMarker != null)
		3105	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	3106	dtWaypoints.Rows.Clear();
		3107	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3108	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3109	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3110	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3111	}
2340	-	3112	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3113	{
		3114	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3115	t.Start();
		3116	}
		3117	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		3118	{
		3119	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3120	{
		3121	if(_wpCount > 0)
		3122	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex],-1);
		3123	else
		3124	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex],1);
		3125	}
		3126	}
		3127
2315	-	3128	#endregion WP
2335	-	3129
2324	-	3130	#region GPX
		3131	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		3132	{
		3133	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		3134	}
		3135	void _gpxAdd(double lat,double lon, int elevation)
		3136	{
		3137	DataRow dr = dtGPX.NewRow();
		3138	dr[0] = dtGPX.Rows.Count - 1;
		3139	dr[1] = lat;
		3140	dr[2] = lon;
		3141	dr[3] = elevation;
		3142	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		3143	dtGPX.Rows.Add(dr);
		3144	}
		3145	void _saveGPXLog()
		3146	{
		3147	if (!Directory.Exists("GPXLog"))
		3148	Directory.CreateDirectory("GPXLog");
		3149	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		3150	XmlTextWriter myXmlTextWriter = null;
		3151	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		3152	NumberFormatInfo nfi = new NumberFormatInfo();
		3153	nfi.NumberDecimalSeparator = ".";
2315	-	3154
2324	-	3155	try
		3156	{
		3157	myXmlTextWriter.Formatting = Formatting.Indented;
		3158
		3159	myXmlTextWriter.WriteStartDocument();
		3160
		3161	myXmlTextWriter.WriteStartElement("gpx");
		3162
		3163	myXmlTextWriter.WriteAttributeString("version", "1.0");
		3164	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		3165	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		3166	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		3167	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		3168
		3169	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		3170
		3171	myXmlTextWriter.WriteStartElement("trk");
		3172	myXmlTextWriter.WriteStartElement("trkseg");
		3173	for(int i = 0; i< dtGPX.Rows.Count;i++)
		3174	{
		3175	myXmlTextWriter.WriteStartElement("trkpt");
		3176	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		3177	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		3178	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		3179	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		3180	myXmlTextWriter.WriteEndElement();
		3181	}
		3182	myXmlTextWriter.WriteEndElement();
		3183	myXmlTextWriter.WriteEndElement();
		3184	myXmlTextWriter.WriteEndElement();
		3185	}
		3186	catch (Exception e)
		3187	{
		3188	Console.WriteLine("Exception: {0}", e.ToString());
		3189	}
		3190	finally
		3191	{
		3192	if (myXmlTextWriter != null)
		3193	{
		3194	myXmlTextWriter.Close();
		3195	}
		3196	}
		3197	}
		3198
		3199	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		3200	{
		3201	_loadGPXLog();
		3202	}
		3203
2327	-	3204	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		3205	{
		3206	_clearMapMarkers(typeof(GMapRoute));
		3207	}
		3208
2340	-	3209
2324	-	3210	void _loadGPXLog()
		3211	{
		3212
		3213	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3214	fd.Filter = "GPX-Logfile \| *.gpx";
		3215	fd.Multiselect = false;
		3216	if (fd.ShowDialog().Value)
		3217	{
		3218	string file = fd.FileName;
		3219	try
		3220	{
		3221	XDocument gpxDoc = XDocument.Load(file);
		3222	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		3223
		3224	NumberFormatInfo nfi = new NumberFormatInfo();
		3225	nfi.NumberDecimalSeparator = ".";
		3226
		3227	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		3228	select new
		3229	{
		3230	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		3231	Segs = (
		3232	from trackpoint in track.Descendants(gpx + "trkpt")
		3233	select new
		3234	{
		3235	Latitude = trackpoint.Attribute("lat").Value,
		3236	Longitude = trackpoint.Attribute("lon").Value,
		3237	Elevation = trackpoint.Element(gpx + "ele") != null ?
		3238	trackpoint.Element(gpx + "ele").Value : null,
		3239	Time = trackpoint.Element(gpx + "time") != null ?
		3240	trackpoint.Element(gpx + "time").Value : null
		3241	}
		3242	)
		3243	};
		3244
		3245	List<PointLatLng> wpl = new List<PointLatLng>();
		3246	foreach(var trk in tracks)
		3247	{
		3248	foreach(var trkseg in trk.Segs)
		3249	{
		3250	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		3251	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		3252	}
		3253
		3254	}
		3255	if(wpl.Count() > 0)
		3256	{
2327	-	3257	_clearMapMarkers(typeof(GMapRoute));
		3258	//for (int k = 0; k < MainMap.Markers.Count;)
		3259	//{
		3260	// GMapMarker p = MainMap.Markers[k];
		3261	// if (p.Shape.GetType() == typeof(GMapRoute))
		3262	// MainMap.Markers.Remove(p);
		3263	// else
		3264	// k++;
		3265	//}
2324	-	3266	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	3267	Dispatcher.Invoke(() =>
		3268	{
		3269	GMapRoute mRoute;
		3270	if (comboBoxRouteColor.SelectionBoxItem != null)
		3271	{
		3272	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3273	mRoute = new GMapRoute(wpList, _getBrush(s));
		3274	}
		3275	else
		3276	mRoute = new GMapRoute(wpList, null);
2324	-	3277
2328	-	3278	MainMap.Markers.Add(mRoute);
		3279	});
2324	-	3280	}
		3281
		3282	}
		3283	catch (Exception e)
		3284	{
		3285	Console.WriteLine("Exception: {0}", e.ToString());
		3286	}
		3287	}
		3288	}
		3289	#endregion GPX
2315	-	3290	#endregion functions
2287	-	3291	}
2315	-	3292	/// <summary>
		3293	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		3294	/// </summary>
2313	-	3295	public class waypointsConverter : IValueConverter
		3296	{
		3297	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		3298	{
		3299	if (value != null)
		3300	{
		3301	switch ((string)parameter)
		3302	{
		3303	case "Latitude":
		3304	return value.ToString() + " °";
		3305	case "Longitude":
		3306	return value.ToString() + " °";
		3307	case "Radius":
		3308	return value.ToString() + " m";
		3309	case "Altitude":
		3310	return value.ToString() + " m";
		3311	case "ClimbRate":
		3312	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		3313	case "DelayTime":
		3314	return value.ToString() + " s";
		3315	case "Heading":
		3316	return Waypoints.Heading(System.Convert.ToInt32(value));
		3317	case "Speed":
		3318	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		3319	case "CamAngle":
		3320	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		3321	case "Type":
		3322	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		3323	case "AutoTrigger":
		3324	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		3325	case "Status":
		3326	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		3327	}
		3328
		3329	return value.ToString();
		3330	}
		3331	else return value;
		3332	}
		3333
		3334	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		3335	{
		3336	throw new NotImplementedException();
		3337	}
		3338	}
		3339
2287	-	3340	public class IniFile
		3341	{
		3342	public string path;
		3343
		3344	[DllImport("kernel32")]
		3345	private static extern long WritePrivateProfileString(string section,
		3346	string key, string val, string filePath);
		3347
		3348	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		3349	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		3350	uint nSize, string lpFileName);
		3351
		3352	[DllImport("kernel32")]
		3353	private static extern int GetPrivateProfileString(string section,
		3354	string key, string def, StringBuilder retVal,
		3355	int size, string filePath);
		3356
		3357	public IniFile(string INIPath)
		3358	{
		3359	path = INIPath;
		3360	}
		3361
		3362	public void IniWriteValue(string Section, string Key, string Value)
		3363	{
		3364	WritePrivateProfileString(Section, Key, Value, this.path);
		3365	}
		3366
		3367	public string IniReadValue(string Section, string Key)
		3368	{
		3369	StringBuilder temp = new StringBuilder(255);
		3370	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		3371	return temp.ToString();
		3372	}
		3373	//Ini_sections auslesen in String-Array
		3374	public string[] IniSectionNames()
		3375	{
		3376
		3377	// uint MAX_BUFFER = 32767;
		3378	uint MAX_BUFFER = 8388608;
		3379	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		3380	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		3381	if (bytesReturned == 0)
		3382	{
		3383	Marshal.FreeCoTaskMem(pReturnedString);
		3384	return null;
		3385	}
		3386	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		3387	Marshal.FreeCoTaskMem(pReturnedString);
		3388	//use of Substring below removes terminating null for split
		3389	return local.Substring(0, local.Length - 1).Split('\0');
		3390
		3391
		3392	}
		3393	}
		3394
		3395	/// <summary>
		3396	/// Selected Win AI Function Calls
		3397	/// </summary>
		3398	public class WinApi
		3399	{
		3400	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		3401	public static extern int GetSystemMetrics(int which);
		3402	[DllImport("user32.dll")]
		3403	public static extern void
		3404	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		3405	int X, int Y, int width, int height, uint flags);
		3406
		3407	private const int SM_CXSCREEN = 0;
		3408	private const int SM_CYSCREEN = 1;
		3409	private static IntPtr HWND_TOP = IntPtr.Zero;
		3410	private const int SWP_SHOWWINDOW = 64; // 0x0040
		3411
		3412	public static int ScreenX
		3413	{
		3414	get { return GetSystemMetrics(SM_CXSCREEN); }
		3415	}
		3416
		3417	public static int ScreenY
		3418	{
		3419	get { return GetSystemMetrics(SM_CYSCREEN); }
		3420	}
		3421
		3422	public static void SetWinFullScreen(IntPtr hwnd)
		3423	{
		3424	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		3425	}
		3426	}
		3427	/// <summary>
		3428	/// Class used to preserve / restore state of the window
		3429	/// </summary>
		3430	public class WinState
		3431	{
		3432	private WindowState winState;
		3433	private WindowStyle brdStyle;
		3434	private bool topMost;
		3435	private Rect restore;
		3436	private bool IsMaximized = false;
		3437
		3438	public bool isMaximized
		3439	{
		3440	get { return IsMaximized; }
		3441	}
		3442	public void Maximize(Window targetForm)
		3443	{
		3444	if (!IsMaximized)
		3445	{
		3446	IsMaximized = true;
		3447	Save(targetForm);
		3448	targetForm.WindowState = WindowState.Maximized;
		3449	targetForm.WindowStyle = WindowStyle.None;
		3450	targetForm.Topmost = true;
		3451	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		3452	}
		3453	}
		3454
		3455	public void Save(Window targetForm)
		3456	{
		3457	winState = targetForm.WindowState;
		3458	brdStyle = targetForm.WindowStyle;
		3459	topMost = targetForm.Topmost;
		3460	restore = targetForm.RestoreBounds;
		3461	}
		3462	public void Restore(Window targetForm)
		3463	{
		3464	targetForm.WindowState = winState;
		3465	targetForm.WindowStyle = brdStyle;
		3466	targetForm.Topmost = topMost;
		3467
		3468	targetForm.Left = restore.Left;
		3469	targetForm.Top = restore.Top;
		3470	targetForm.Height = restore.Height;
		3471	targetForm.Width = restore.Width;
		3472	IsMaximized = false;
		3473	}
		3474	}
		3475
		3476	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2348 - Rev