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;
2355	-	281	int _wpIndex = -1, _wpCount = 0, _wpEdit = -1;
2340	-	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
2349	-	358	_initSerialCtrl();
2287	-	359	}
		360	/// <summary>
		361	/// initialize the datatables
		362	/// with columnnames etc
		363	/// </summary>
		364	void _dataTablesInit()
		365	{
2315	-	366	dtMotors.Columns.Add("#");
2313	-	367	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
2315	-	368	dtMotors.Columns.Add("Strom");
2313	-	369	else
2315	-	370	dtMotors.Columns.Add("Current");
		371	dtMotors.Columns.Add("Temp");
		372	dgvMotors1.DataContext = dtMotors.DefaultView;
2287	-	373	_initDTMotors();
		374
		375	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0));
		376	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		377	style.Setters.Add(setter);
		378	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		379	style.Setters.Add(setter);
		380	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		381	style.Setters.Add(setter);
2313	-	382
		383	dtWaypoints.Columns.Add("Index",typeof(int));
2315	-	384	dtWaypoints.Columns.Add("Type", typeof(int));
2313	-	385	dtWaypoints.Columns.Add("Name",typeof(string));
2315	-	386	dtWaypoints.Columns.Add("Latitude",typeof(double));
		387	dtWaypoints.Columns.Add("Longitude",typeof(double));
2313	-	388	dtWaypoints.Columns.Add("Altitude",typeof(string));
		389	dtWaypoints.Columns.Add("Heading",typeof(string));
		390	dtWaypoints.Columns.Add("Speed",typeof(string));
		391	dtWaypoints.Columns.Add("ClimbRate",typeof(string));
		392	dtWaypoints.Columns.Add("Radius",typeof(string));
		393	dtWaypoints.Columns.Add("HoldTime",typeof(string));
		394	dtWaypoints.Columns.Add("AutoTrigger",typeof(string));
		395	dtWaypoints.Columns.Add("CamAngle",typeof(string));
		396	dtWaypoints.Columns.Add("Event",typeof(string));
		397	dtWaypoints.Columns.Add("Out1Timer",typeof(string));
		398	dtWaypoints.Columns.Add("Status",typeof(string));
		399	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		400	dgvWP.ItemsSource = dtWaypoints.DefaultView;
2287	-	401	dgvWP.ColumnHeaderStyle = new Style();
		402	dgvWP.ColumnHeaderStyle = style;
2313	-	403
2324	-	404	dtGPX.Columns.Add("Index",typeof(int));
		405	dtGPX.Columns.Add("Latitude",typeof(double));
		406	dtGPX.Columns.Add("Longitude",typeof(double));
		407	dtGPX.Columns.Add("Elevation",typeof(int));
		408	dtGPX.Columns.Add("Time",typeof(string));
		409	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		410	drGPX = dtGPX.NewRow();
2313	-	411
2287	-	412	}
		413	/// <summary>
2315	-	414	/// initialize the datatable dtMotors for motor values
2313	-	415	/// DataGridView dgvMotors1 is bound to dtMotors1
2287	-	416	/// </summary>
		417	void _initDTMotors()
		418	{
		419	for (int i = 0; i < 12; i++)
		420	{
2315	-	421	if (dtMotors.Rows.Count < 12)
		422	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
2287	-	423	else
		424	{
2315	-	425	dtMotors.Rows[i].SetField(1, "NA");
		426	dtMotors.Rows[i].SetField(2, "NA");
2287	-	427	}
		428	}
		429	}
		430
		431	#endregion init
		432
		433	#region events
		434	private void serialPortCtrl_PortOpened()
		435	{
		436	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		437	_getVersion();
		438	Thread.Sleep(100);
		439	//_OSDMenue(0);
		440	//Thread.Sleep(200);
		441	//_sendSerialData();
		442	_readCont(true);
		443	}
		444	private void serialPortCtrl_PortClosed()
		445	{
		446	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		447	_readCont(false);
		448	}
2324	-	449	bool _bToggle = false;
2287	-	450	void timerEvent(object sender, EventArgs e)
		451	{
		452	if (bReadContinously)
		453	{
		454	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		455
		456	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		457
		458	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		459	check_HWError = true;
		460	_getVersion();
		461	Thread.Sleep(10);
		462	if (_OSDAutorefresh)
		463	{
		464	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		465	_initOSDCB();
		466	_OSDMenueAutoRefresh();
		467	}
		468	if (_iLifeCounter > 0)
		469	{
		470	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		471	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		472	_iLifeCounter = 0;
		473	_bConnErr = false;
2327	-	474	if(_bAirborne && _bGPXLog)
2324	-	475	{
		476	drGPX[0] = dtGPX.Rows.Count;
		477	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		478	}
2327	-	479	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		480	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		481	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
2324	-	482	_bToggle = !_bToggle;
2287	-	483	}
		484	else
		485	{
		486	if (!_bConnErr)
		487	{
		488	Log(LogMsgType.Error, "No communication to NC/FC!");
		489	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		490	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		491	_bConnErr = true;
		492	}
		493	}
		494	}
		495	}
		496
		497	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		498	{
		499	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		500	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		501	}
		502	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		503	{
		504	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		505	if (GridMotors.IsVisible)
		506	_setMotorGridSize();
		507	}
		508	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		509	{
		510	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		511	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		512	}
		513	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		514	{
		515	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		516	}
		517	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		518	{
		519	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		520	}
		521	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		522	{
		523	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		524	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		525	}
		526
		527	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		528	{
		529	Thread t = new Thread(new ThreadStart(_getWP));
		530	t.Start();
		531	}
		532	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		533	{
2313	-	534	Thread t = new Thread(new ThreadStart(_sendWPList));
		535	t.Start();
2287	-	536	}
		537
		538	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		539	{
		540	if (!serialPortCtrl.Port.IsOpen)
		541	serialPortCtrl.Connect(true);
		542	else
		543	_readCont(!bReadContinously);
		544	}
		545	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		546	{
2347	-	547	_setHomePos();
2287	-	548	}
		549	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		550	{
2347	-	551	_clearHomePos();
2287	-	552	}
		553	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		554	{
		555	if (home != null && MainMap.Markers.Contains(home))
		556	MainMap.Position = home.Position;
		557	}
2295	-	558	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		559	{
		560	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		561	}
2287	-	562	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		563	{
		564	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		565	}
		566	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		567	{
		568	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		569	}
		570
2291	-	571	#region thresholds
2287	-	572	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		573	{
		574	if(!_init)
		575	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		576	}
		577	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		578	{
		579	if(!_init)
		580	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		581	}
		582	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		583	{
		584	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		585	}
2291	-	586
		587	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		588	{
		589	if(!_init)
		590	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		591	}
		592	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		593	{
		594	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		595	}
		596
		597	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		598	{
		599	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		600	}
		601	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		602	{
		603	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		604	}
		605	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		606	{
		607	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		608	}
		609	#endregion thresholds
		610
2287	-	611	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		612	{
		613	_switchToNC();
		614	}
		615
		616	private void Window_Loaded(object sender, RoutedEventArgs e)
		617	{
		618	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
2291	-	619	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		620	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		621	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		622	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
2287	-	623	_setMotorGridSize();
		624	}
2310	-	625	private void Window_Closing(object sender, CancelEventArgs e)
		626	{
		627	_writeIni();
2324	-	628	if(_bGPXLog && dtGPX.Rows.Count > 0)
		629	_saveGPXLog();
2310	-	630	}
2287	-	631	#endregion events
		632
		633	#region GMap
		634
		635	void _setupMap()
		636	{
		637	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		638	MainMap.MapProvider = GMapProviders.BingHybridMap;
		639	MainMap.SetPositionByKeywords("Landshut");
		640	MainMap.MinZoom = 0;
		641	MainMap.MaxZoom = 24;
		642	MainMap.Zoom = 16;
		643	MainMap.ShowCenter = true;
		644	MainMap.ShowTileGridLines = false;
		645	sliderMapZoom.Value = 16;
		646	comboBoxMapType.ItemsSource = providerList;
		647	comboBoxMapType.DisplayMemberPath = "Name";
		648	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		649
		650	// acccess mode
		651	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		652	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		653
		654	}
		655
		656	/// <summary>
		657	/// selection of relevant map providers --> if You need more, You can change the line:
		658	/// comboBoxMapType.ItemsSource = providerList;
		659	/// to:
		660	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		661	/// in _setupMap()
		662	/// or add items here:
		663	/// </summary>
		664	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		665	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		666	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		667	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		668	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		669
		670	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		671	{
		672	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		673	copter = new GMapMarker(MainMap.Position);
2318	-	674
		675	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"),"red");
		676	if (comboBoxCopterColor.SelectionBoxItem != null)
		677	{
		678	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		679	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		680	}
2287	-	681	copter.Offset = new System.Windows.Point(-18, -18);
		682	copter.ZIndex = int.MaxValue;
		683	MainMap.Markers.Add(copter);
		684	copter.Position = MainMap.Position;
		685	}
2347	-	686	void _setHomePos()
2287	-	687	{
		688	pHome = MainMap.Position;
		689	if (!MainMap.Markers.Contains(home))
		690	{
		691	home = new GMapMarker(MainMap.Position);
		692	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		693	home.Offset = new System.Windows.Point(-18, -18);
		694	// home.ZIndex = int.MaxValue;
		695	MainMap.Markers.Add(home);
		696	}
		697	home.Position = MainMap.Position;
		698	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		699	}
2347	-	700	void _setActiveWP(int iIndex)
2287	-	701	{
2347	-	702	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
		703	{
		704	Dispatcher.Invoke(() =>
		705	{
		706	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		707	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		708	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		709	MainMap.Markers.Add(wpActiveMarker);
		710	});
		711	}
		712	else
		713	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
		714
		715	}
		716	void _clearHomePos()
		717	{
2287	-	718	MainMap.Markers.Remove(home);
		719	}
2335	-	720	void _clearMapMarkers(Type markerType)
		721	{
		722	for (int k = 0; k < MainMap.Markers.Count;)
		723	{
		724	GMapMarker p = MainMap.Markers[k];
2340	-	725	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	726	MainMap.Markers.Remove(p);
		727	else
		728	k++;
		729	}
2287	-	730
2335	-	731	}
		732
2287	-	733	// access mode
		734	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		735	{
		736	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		737	MainMap.ReloadMap();
		738	}
		739	// zoom up
		740	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		741	{
		742	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		743	}
		744
		745	// zoom down
		746	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		747	{
		748	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		749	}
		750
		751	// prefetch
		752	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		753	{
		754	RectLatLng area = MainMap.SelectedArea;
		755	if (!area.IsEmpty)
		756	{
		757	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		758	{
		759	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		760
		761	if (res == MessageBoxResult.Yes)
		762	{
		763	TilePrefetcher obj = new TilePrefetcher();
		764	obj.Owner = this;
		765	obj.ShowCompleteMessage = true;
		766	obj.Start(area, i, MainMap.MapProvider, 100);
		767	}
		768	else if (res == MessageBoxResult.No)
		769	{
		770	continue;
		771	}
		772	else if (res == MessageBoxResult.Cancel)
		773	{
		774	break;
		775	}
		776	}
		777	}
		778	else
		779	{
		780	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		781	}
		782	}
		783
		784	// goto by geocoder
		785	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		786	{
		787	_goto_byGeoCoder();
		788	}
		789	// goto by geocoder
		790	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		791	{
		792	if (e.Key == System.Windows.Input.Key.Enter)
		793	_goto_byGeoCoder();
		794	}
		795	void _goto_byGeoCoder()
		796	{
		797	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		798	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		799	{
		800	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		801	}
		802	}
		803	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		804	{
		805	try
		806	{
		807	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		808	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		809
		810	MainMap.Position = new PointLatLng(lat, lng);
		811	}
		812	catch (Exception ex)
		813	{
		814	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		815	}
		816
		817	}
		818
		819	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		820	{
		821	MainMap.ReloadMap();
		822	}
		823
		824	private void MainMap_OnPositionChanged(PointLatLng point)
		825	{
		826	if (_bFollowCopter)
		827	_setCopterData(MainMap.Position);
		828	}
		829
		830	private void MainMap_OnMapZoomChanged()
		831	{
		832	if (_bFollowCopter)
		833	_setCopterData(MainMap.Position);
		834	if((int)sliderMapZoom.Value != MainMap.Zoom)
		835	sliderMapZoom.Value = MainMap.Zoom;
		836	}
		837
		838	void _setCopterData(PointLatLng p)
		839	{
		840	Dispatcher.Invoke(() =>
		841	{
		842	copter.Position = p;
		843	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		844	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		845	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		846	});
		847	if (home != null && MainMap.Markers.Contains(home))
		848	{
		849	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		850	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		851	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	852
		853	if(d*1000 < _dThresholdDistanceWarn)
		854	{
		855	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		856	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		857	{
		858	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		859	_bAnimDistanceActive = false;
		860	}
		861	}
		862	else
		863	{
		864	if (_iDistanceJitter < 20)
		865	{ _iDistanceJitter++; }
		866	if (_iDistanceJitter == 20)
		867	{
		868	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		869	{
		870	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		871	_bAnimDistanceActive = true;
		872	}
		873	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		874	{
2295	-	875	Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		876	t.Start();
2291	-	877	_bVoiceDistanceActive = true;
		878	}
		879	_iDistanceJitter++;
		880	}
		881	}
2287	-	882	}
		883	}
		884
		885	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		886	{
		887	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		888	}
		889
		890	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		891	{
		892	if (MainMap.Zoom != sliderMapZoom.Value)
		893	MainMap.Zoom = (int)sliderMapZoom.Value;
		894	}
		895	#region Touch zooming hackattack ;)
		896	/// <summary>
		897	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		898	/// </summary>
		899	bool bFirstAccess = true;
		900	double dDistance = 0;
		901	int iZoom;
		902	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		903	{
		904	var id = e.StylusDevice.Id;
		905	e.StylusDevice.Capture(MainMap);
		906	if (iFirstStylusID == -1)
		907	{
		908	iFirstStylusID = id;
		909	}
		910	else
		911	{
		912
		913	MainMap.CanDragMap = false;
		914	}
		915	}
		916	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		917	{
		918	MainMap.ReleaseStylusCapture();
		919	iFirstStylusID = -1;
		920	bFirstAccess = true;
		921	MainMap.CanDragMap = true;
		922	iZoom = 0;
		923	}
		924	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		925	{
		926	var id = e.StylusDevice.Id;
		927	var tp = e.GetPosition(MainMap);
		928
		929	// This is the first Stylus point; just record its position.
		930	if (id == iFirstStylusID)
		931	{
		932	pTouch1.X = tp.X;
		933	pTouch1.Y = tp.Y;
		934	}
		935	else
		936	if (iFirstStylusID > -1)
		937	{
		938	pTouch2.X = tp.X;
		939	pTouch2.Y = tp.Y;
		940	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		941	if (!bFirstAccess)
		942	{
		943	if (distance > dDistance)
		944	iZoom++;
		945	else
		946	if (distance < dDistance)
		947	iZoom--;
		948	}
		949	if (iZoom > 30)
		950	{
		951	iZoom = 0;
		952	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		953	}
		954	if (iZoom < -30)
		955	{
		956	iZoom = 0;
		957	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		958	}
		959	dDistance = distance;
		960	bFirstAccess = false;
		961	}
		962	}
		963	#endregion Touch zooming hackattack ;)
		964
		965	#endregion GMap
		966
		967	#region settings
		968	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		969	{
		970	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		971	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		972	}
		973	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		974	{
		975	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		976	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		977	}
		978	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		979	{
		980	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		981	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		982	}
		983	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		984	{
		985	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		986	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		987	}
		988	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		989	{
		990	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		991	}
		992	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		993	{
		994	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		995	}
		996	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		997	{
		998	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		999	}
		1000	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1001	{
		1002	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1003	}
		1004
		1005	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1006	{
		1007	if (cBoxLiPoCells.SelectedIndex > -1)
		1008	{
		1009	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1010	_LipoMinMax();
		1011	}
		1012	}
		1013	void _LipoMinMax()
		1014	{
		1015	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1016	_dLipoVMin = (double)_LipoCells * 3;
		1017	pbTopVoltage.Maximum = _dLipoVMax;
		1018	pbTopVoltage.Minimum = _dLipoVMin;
		1019	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1020	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1021	}
		1022	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1023	{
		1024	if (cBoxMotors.SelectedIndex > -1)
		1025	{
		1026	_iMotors = cBoxMotors.SelectedIndex + 3;
		1027	Dispatcher.Invoke(() =>
		1028	{
		1029	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1030	GridMotors.Height = dgvMotors1.Height + 10;
		1031	});
		1032	}
		1033	}
		1034	void _setMotorGridSize()
		1035	{
		1036	if (dgvMotors1.Columns.Count > 2)
		1037	{
		1038	dgvMotors1.Columns[0].Width = 24;
		1039	dgvMotors1.Columns[1].Width = 50;
		1040	dgvMotors1.Columns[2].Width = 50;
		1041	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1042	GridMotors.Height = dgvMotors1.Height + 10;
		1043	}
		1044
		1045	}
		1046	#endregion settings
		1047
		1048	#region functions
		1049
		1050	#region logging
		1051	/// <summary> Log data to the terminal window. </summary>
		1052	/// <param name="msgtype"> The type of message to be written. </param>
		1053	/// <param name="msg"> The string containing the message to be shown. </param>
		1054	private void Log(LogMsgType msgtype, string msg)
		1055	{
		1056	Dispatcher.Invoke(() =>
		1057	{
		1058	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1059	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1060	// rtfTerminal.AppendText(msg + "\r");
		1061	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1062	tr.Text = msg;
		1063	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1064	rtfTerminal.AppendText("\r");
		1065	rtfTerminal.ScrollToEnd();
		1066	});
		1067	}
		1068	private void ErrorLog(LogMsgType msgtype, string msg)
		1069	{
		1070	Dispatcher.Invoke(() =>
		1071	{
		1072	TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1073	tr.Text = msg;
		1074	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1075	rtfError.AppendText("\r");
		1076	rtfError.ScrollToEnd();
		1077
		1078	_bErrorLog = true;
		1079	});
		1080	}
		1081	/// <summary>
		1082	/// Clear the line in the errorlog window
		1083	/// containing the error string when error has ceased
		1084	/// </summary>
		1085	/// <param name="s">substring of errrormessage</param>
		1086	void _clearErrorLog(string s)
		1087	{
		1088	Dispatcher.Invoke((Action)(() =>
		1089	{
		1090	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1091	TextRange foundRange = FindTextInRange(searchRange, s);
		1092
		1093	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1094
		1095
		1096	if (iStart > -1)
		1097	{
		1098	int iLength = 0;
		1099	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1100	if (iEnd > 0)
		1101	{
		1102	iLength = iEnd + 1;
		1103	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1104	if (iHttp == iLength)
		1105	{
		1106	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1107	if (iEnd2 > iLength)
		1108	{
		1109	iLength = iEnd2 + 1;
		1110	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1111
		1112	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1113	rtfError.Selection.Text = string.Empty;
		1114	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1115	}
		1116
		1117	}
		1118	else
		1119	{
		1120	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1121	rtfError.Selection.Text = string.Empty;
		1122	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1123	}
		1124	}
		1125	}
		1126	}));
		1127
		1128	}
		1129	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1130	{
		1131	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1132	if (offset < 0)
		1133	return null; // Not found
		1134
		1135	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1136	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1137
		1138	return result;
		1139	}
		1140	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1141	{
		1142	while (position != null)
		1143	{
		1144	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1145	{
		1146	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1147	if (characterCount <= count)
		1148	{
		1149	return position.GetPositionAtOffset(characterCount);
		1150	}
		1151
		1152	characterCount -= count;
		1153	}
		1154
		1155	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1156	if (nextContextPosition == null)
		1157	return position;
		1158
		1159	position = nextContextPosition;
		1160	}
		1161
		1162	return position;
		1163	}
		1164	#endregion logging
		1165
		1166	#region processing received data
		1167
		1168	private void processMessage(byte[] message)
		1169	{
		1170	if (message.Length > 0)
		1171	{
		1172	_iLifeCounter++;
		1173	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1174	//Log(LogMsgType.Incoming, message.Length.ToString());
		1175	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1176	char cmdID;
		1177	byte adr;
		1178	byte[] data;
		1179	byte[] tmp = null;
		1180	if (message[0] != '#')
		1181	{
		1182	int iFound = -1;
		1183	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1184	{ //so this is a workaround to not spam the log box
		1185	if (message[i] == 35)
		1186	{
		1187	iFound = i;
		1188	break;
		1189	}
		1190	}
		1191	if (iFound > 0)
		1192	{
		1193	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1194	tmp = new byte[message.Length - iFound];
		1195	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1196	}
		1197	s = s.Trim('\0', '\n', '\r');
		1198	if (s.Length > 0)
		1199	Log(LogMsgType.Normal, s);
		1200	if (tmp != null)
		1201	{
		1202	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1203	processMessage(tmp);
		1204	}
		1205	}
		1206	//Debug.Print(s);
		1207	else
		1208	{
		1209	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1210
		1211	if (adr == 255) { crcError++; }
		1212	else crcError = 0;
		1213	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1214	//display the active controller (FC / NC)
		1215	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...???
		1216	{
		1217	_iCtrlAct = adr;
		1218	switch (adr)
		1219	{
		1220	case 1:
		1221	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2298	-	1222	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
2287	-	1223	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1224	// _setFieldsNA(); //display fields NA for FC
		1225	break;
		1226	case 2:
		1227	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1228	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1229	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1230	break;
		1231	//case 3:
		1232	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1233	// break;
		1234	//case 4:
		1235	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1236	// break;
		1237	default:
		1238	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1239	break;
		1240	}
		1241	// _loadLabelNames();
		1242	}
		1243	// else
		1244	// Debug.Print("Address == 0?");
		1245
		1246	if (data != null && data.Length > 0)
		1247	{
		1248	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1249	s = s.Trim('\0', '\n');
		1250
		1251	switch (cmdID)
		1252	{
		1253	//case 'A': //Label names
		1254	// _processLabelNames(s);
		1255	// break;
		1256
		1257	case 'D': //Debug data
		1258	_processDebugVals(adr, data);
		1259	break;
		1260
		1261	case 'V': //Version
		1262	_processVersion(adr, data);
		1263	break;
		1264
		1265	case 'K'://BL-CTRL data
		1266	_processBLCtrl(data);
		1267	break;
		1268
		1269	case 'O': //NC Data
		1270	_processNCData(data);
		1271	break;
		1272
		1273	case 'E': //NC error-string
		1274	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1275	break;
		1276
		1277	case 'L': //OSD Menue (called by pagenumber)
		1278	_processOSDSingle(data);
		1279	break;
		1280
		1281	case 'H': //OSD Menue (with autoupdate - called by Key)
		1282	_processOSDAuto(data);
		1283	break;
		1284
		1285	case 'X': //Waypoint data
		1286	_processWPData(data);
		1287	break;
		1288
2313	-	1289	case 'W': //return new Waypoint items count after sending waypoint to copter
		1290	_iWPCount = data[0];
		1291	break;
2287	-	1292	//default:
		1293	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1294	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1295	// break;
		1296	}
		1297	}
		1298	//else
		1299	//{
		1300	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1301	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1302	//}
		1303	}
		1304	}
		1305	}
		1306	/// <summary>
		1307	/// Analog label names 'A'
		1308	/// each label name is returned as a single string
		1309	/// and added to string array sAnalogLabel[]
		1310	/// and the datatable dtAnalog
		1311	/// </summary>
		1312	/// <param name="s">the label name</param>
		1313	void _processLabelNames(string s)
		1314	{
		1315	//if (iLableIndex < 32)
		1316	//{
		1317	// sAnalogLabel[iLableIndex] = s;
		1318	// if (dtAnalog.Rows.Count < 32)
		1319	// dtAnalog.Rows.Add(s, "");
		1320	// else
		1321	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1322
		1323	// // _getAnalogLabels(iLableIndex + 1);
		1324	//}
		1325	//Debug.Print(s);
		1326	}
		1327	/// <summary>
		1328	/// Debug values 'D'
		1329	/// </summary>
		1330	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1331	/// <param name="data">the received byte array to process</param>
		1332	void _processDebugVals(byte adr, byte[] data)
		1333	{
		1334	if (data.Length == 66)
		1335	{
2324	-	1336
2287	-	1337	double v;
		1338	int index = 0;
		1339	Int16 i16 = 0;
		1340	double dTemp = 0;
		1341	for (int i = 2; i < 66; i += 2)
		1342	{
		1343	i16 = data[i + 1];
		1344	i16 = (Int16)(i16 << 8);
		1345	iAnalogData[index] = data[i] + i16;
		1346	sAnalogData[index] = (data[i] + i16).ToString();
		1347	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1348
		1349	if (adr == 2) //NC
		1350	{
		1351	switch (index)
		1352	{
		1353	case 0: //pitch (German: nick)
		1354	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1355	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1356	break;
		1357	case 1: //roll
		1358	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1359	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1360	break;
		1361	case 4: //altitude
		1362	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1363	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2324	-	1364	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1365	break;
		1366	case 7: //Voltage
		1367	v = (double)iAnalogData[index] / (double)10;
		1368	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1369	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1370	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1371	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1372	{
		1373	if (v == _dVoltLast)
		1374	if(_iVoltJitter < 20) _iVoltJitter++;
		1375	else
		1376	{
		1377	_iVoltJitter = 0;
		1378	_dVoltLast = v;
		1379	}
		1380	if (_iVoltJitter == 20)
		1381	{
		1382	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1383
		1384	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1385	{
		1386	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1387	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1388	{
		1389	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1390	_bCritAnimVoltActive = true;
		1391	}
		1392	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1393	{
2295	-	1394	Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1395	t.Start();
2287	-	1396	_bCritVoiceVoltActive = true;
		1397	}
		1398	}
		1399	else
		1400	{
		1401	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1402	{
		1403	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1404	_bCritAnimVoltActive = false;
		1405	}
		1406	_bCritVoiceVoltActive = false;
		1407
2291	-	1408	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1409	{
2295	-	1410	Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1411	t.Start();
2291	-	1412	_bWarnVoiceVoltActive = true;
2287	-	1413	}
		1414	}
		1415	}
		1416	}
		1417	else
		1418	{
		1419	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1420	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1421	{
		1422	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1423	_bCritAnimVoltActive = false;
		1424	}
		1425	_bCritVoiceVoltActive = false;
2291	-	1426	_bWarnVoiceVoltActive = false;
2287	-	1427	_iVoltJitter = 0;
		1428	}
		1429	break;
		1430	case 8: // Current
		1431	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1432	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1433	break;
		1434	case 10: //heading
2291	-	1435	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2287	-	1436	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1437	break;
		1438	case 12: // SPI error
2291	-	1439	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1440	break;
		1441	case 14: //i2c error
2291	-	1442	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1443	break;
		1444	case 20: //Earthmagnet field
2291	-	1445	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1446	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1447
		1448	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1449	{
		1450	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1451	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1452	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1453	{
		1454	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1455	_bAnimMagneticFieldActive = false;
		1456	}
		1457	}
		1458	else
		1459	{
		1460	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1461	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1462	{
		1463	if (_iMagneticFieldJitter < 20)
		1464	_iMagneticFieldJitter++;
		1465	}
		1466	else
		1467	{
		1468	_iMagneticFieldJitter = 0;
		1469	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1470	}
		1471	if(_iMagneticFieldJitter == 20)
		1472	{
		1473	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1474	{
		1475	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1476	_bAnimMagneticFieldActive = true;
		1477	}
		1478	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1479	{
2295	-	1480	Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1481	t.Start();
2291	-	1482	_bVoiceMagneticFieldActive = true;
		1483	}
		1484	}
		1485	}
2287	-	1486	break;
		1487	case 21: //GroundSpeed
		1488	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1489	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1490	break;
2291	-	1491
		1492	///******** needs testing --> not sure what position this is *************
2287	-	1493	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1494	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1495	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1496	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1497	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1498	dTemp = Math.Sqrt(dTemp) / (double)10;
		1499	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1500	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1501	break;
2291	-	1502
2287	-	1503	case 31: //Sats used
		1504	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1505	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1506	break;
		1507	}
		1508	}
		1509	index++;
		1510	}
		1511	}
		1512	else
		1513	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1514	}
		1515	/// <summary>
		1516	/// Version string 'V'
		1517	/// </summary>
		1518	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1519	/// <param name="data">the received byte array to process</param>
		1520	void _processVersion(byte adr, byte[] data)
		1521	{
		1522	if (data.Length == 12)
		1523	{
		1524	if (!check_HWError)
		1525	{
		1526	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1527	string sVersion = "";
		1528	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1529	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1530	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1531	Log(LogMsgType.Incoming, sVersion);
		1532	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1533	Log(LogMsgType.Incoming, sVersion);
		1534	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1535	}
		1536	if (data[5] > 0) //error0
		1537	{
		1538	if (adr == 1)
		1539	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		1540	if (adr == 2)
		1541	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		1542	}
		1543	if (data[6] > 0) //error1
		1544	{
		1545	if (adr == 1)
		1546	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		1547	if (adr == 2)
		1548	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		1549	}
		1550	if ((data[5] + data[6] == 0) && _bErrorLog)
		1551	_clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		1552
		1553	}
		1554	check_HWError = false;
		1555	}
		1556	/// <summary>
		1557	/// BL-Ctrl data 'K'
		1558	/// for FC you have to use a customized firmware
		1559	/// </summary>
		1560	/// <param name="data">the received byte array to process</param>
		1561	void _processBLCtrl(byte[] data)
		1562	{
		1563	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1564	{
		1565	bool bAvailable = false;
		1566	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1567	{
		1568
		1569	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1570	bAvailable = true;
		1571	else
		1572	bAvailable = false;
		1573
		1574	if (data[i] < _iMotors)
		1575	{
		1576	if (bAvailable)
		1577	{
2315	-	1578	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1579	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1580	}
		1581	else
		1582	{
2315	-	1583	dtMotors.Rows[data[i]].SetField(1, "NA");
		1584	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1585	}
		1586	}
		1587	//if (data[i] > 3 && data[i] < 8)
		1588	//{
		1589	// if (bAvailable)
		1590	// {
		1591	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1592	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1593	// }
		1594	// else
		1595	// {
		1596	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1597	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1598	// }
		1599	//}
		1600	}
		1601	}
		1602	}
		1603	/// <summary>
		1604	/// Navi-Ctrl data 'O'
		1605	/// GPS-Position, capacatiy, flying time...
		1606	/// </summary>
		1607	/// <param name="data">the received byte array to process</param>
		1608	void _processNCData(byte[] data)
		1609	{
		1610	int i_32, i_16, iVal;
		1611	double d;
		1612	i_32 = data[4];
		1613	iVal = i_32 << 24;
		1614	i_32 = data[3];
		1615	iVal += i_32 << 16;
		1616	i_32 = data[2];
		1617	iVal += i_32 << 8;
		1618	iVal += data[1];
		1619	d = (double)iVal / Math.Pow(10, 7);
2324	-	1620	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1621
2287	-	1622	PointLatLng p = new PointLatLng();
		1623
		1624	p.Lng = d;
		1625	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1626	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1627
		1628	i_32 = data[8];
		1629	iVal = i_32 << 24;
		1630	i_32 = data[7];
		1631	iVal += i_32 << 16;
		1632	i_32 = data[6];
		1633	iVal += i_32 << 8;
		1634	iVal += data[5];
		1635	d = (double)iVal / Math.Pow(10, 7);
2324	-	1636	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1637	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1638	p.Lat = d;
2291	-	1639	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1640	{
		1641	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1642	if(_bAutoHome && !_bFirstSatFix)
		1643	{
		1644	if (_iFirstSatFix < 3)
		1645	_iFirstSatFix++;
		1646	else
		1647	{
		1648	_bFirstSatFix = true;
2347	-	1649	Dispatcher.Invoke(() => _setHomePos());
2295	-	1650	}
		1651	}
2291	-	1652	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1653	{
		1654	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1655	_bAnimSatFixActive = false;
		1656	}
		1657	if (!_bFollowCopter)
		1658	{
		1659	_setCopterData(p);
		1660	if (!MainMap.ViewArea.Contains(p))
		1661	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1662
2291	-	1663	}
		1664	else
2287	-	1665	Dispatcher.Invoke(() => MainMap.Position = p);
		1666	}
		1667	else
2291	-	1668	{
		1669	if(_bSatFix)
		1670	{
		1671	if (data[50] == _iSatsLast)
		1672	{
		1673	if (_iSatsJitter < 20) _iSatsJitter++;
		1674	}
		1675	else
		1676	{
		1677	_iSatsJitter = 0;
		1678	_iSatsLast = data[50];
		1679	}
2287	-	1680
2291	-	1681	if (_iSatsJitter == 20)
		1682	{
		1683	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1684	{
		1685	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1686	_bAnimSatFixActive = true;
		1687	}
		1688	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1689	{
2335	-	1690	Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
2295	-	1691	th.Start();
2291	-	1692	_bVoiceSatFixActive = true;
		1693	}
		1694
		1695	_bSatFix = false;
		1696	}
		1697	}
		1698	}
		1699
2287	-	1700	// lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
		1701	//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
		1702
		1703	i_16 = data[28];
		1704	i_16 = (Int16)(i_16 << 8);
		1705	iVal = data[27] + i_16;
		1706	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1707
		1708	i_16 = data[45];
		1709	i_16 = (Int16)(i_16 << 8);
		1710	iVal = data[44] + i_16;
		1711	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1712	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1713
		1714	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2355	-	1715	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2347	-	1716	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count > 0)
2342	-	1717	{
2347	-	1718	_setActiveWP(data[48]-1);
2355	-	1719	if((data[67] & 2) == 2)
		1720	Dispatcher.Invoke(() => {
		1721	DataGridRow row;
		1722	if (_wpIndex > -1)
		1723	{
		1724	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1725	row.Background = new SolidColorBrush(Colors.Transparent);
		1726	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1727	row.BorderThickness = new Thickness(0);
		1728	}
		1729	_wpIndex = data[48] - 1;
		1730	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1731	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		1732	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		1733	row.BorderThickness = new Thickness(2);
		1734	dgvWP.UpdateLayout();
		1735	});
2347	-	1736	_wpIndex = data[48]-1;
2342	-	1737	}
2347	-	1738	else
		1739	{
		1740	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	1741	{
2347	-	1742	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	1743	Dispatcher.Invoke(() =>
		1744	{
		1745	DataGridRow row;
		1746	if (_wpIndex > -1 && data[48] == 0)
		1747	{
		1748	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1749	row.Background = new SolidColorBrush(Colors.Transparent);
		1750	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1751	row.BorderThickness = new Thickness(0);
		1752	_wpIndex = -1;
		1753	}
		1754	});
		1755
		1756	}
2347	-	1757	}
2342	-	1758
		1759	if(wpList.Count > 0 && ((data[67] & 2) == 2))
		1760	{
2354	-	1761	//if (_wpIndex > -1)
		1762	//{
		1763	// row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1764	// row.Background = new SolidColorBrush(Colors.Transparent);
		1765	// row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1766	// row.BorderThickness = new Thickness(0);
		1767	//}
		1768	//_wpIndex = dgvWP.SelectedIndex;
		1769	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1770	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		1771	//row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		1772	//row.BorderThickness = new Thickness(2);
		1773	//dgvWP.UpdateLayout();
		1774
		1775
		1776	// Dispatcher.Invoke(() =>
		1777	// {
		1778	// if(data[48] < wpList.Count)
		1779	// {
		1780	// DataGridRow row;
		1781	// if (data[48] > 0)
		1782	// {
		1783	// row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(data[48] - 1);
		1784	// row.Background = new SolidColorBrush(Colors.Transparent);
		1785	// }
		1786	// row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(data[48]);
		1787	// row.Background = new SolidColorBrush(Color.FromArgb(50, 0, 100, 255));
		1788	// }
		1789	// });
2342	-	1790	}
2287	-	1791	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	1792	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	1793	_wpCount = data[49];
2287	-	1794	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1795
		1796	//--------------- Capacity used ------------------------
		1797	i_16 = data[81];
		1798	i_16 = (Int16)(i_16 << 8);
		1799	iVal = data[80] + i_16;
		1800	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1801	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1802
		1803	//--------------- Flying time ------------------------
		1804	i_16 = data[56];
		1805	i_16 = (Int16)(i_16 << 8);
		1806	iVal = data[55] + i_16;
		1807	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1808	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1809	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1810	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1811
		1812	//--------------- RC quality ------------------------
		1813	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1814	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1815
2291	-	1816	if(data[66] > _iThresholdRC)
		1817	{
		1818	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1819	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1820	{
		1821	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1822	_bAnimRCLevelActive = false;
		1823	}
		1824	}
		1825	else
		1826	{
		1827	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1828	if (_iRCLevelJitter == 20)
		1829	{
		1830	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1831	{
		1832	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1833	_bAnimRCLevelActive = true;
		1834	}
		1835	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1836	{
2295	-	1837	Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1838	th.Start();
2291	-	1839	_bVoiceRCLevelActive = true;
		1840	}
		1841	_iRCLevelJitter++;
		1842	}
		1843	}
		1844
2287	-	1845	//--------------- NC Error ------------------------
		1846	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1847	if (data[69] > 0)
		1848	_readNCError();
		1849	if (data[69] > 0 & data[69] < 44)
		1850	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
		1851	else
		1852	if (_bErrorLog) _clearErrorLog("NC Error");
		1853
2298	-	1854	//-------------FC / NC Status Flags
		1855	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1856	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1857	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1858	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1859	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1860	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1861
		1862	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1863	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1864	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1865	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1866	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1867	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
		1868	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		1869	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		1870
		1871	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1872	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1873	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1874	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1875	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1876	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1877	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	1878
		1879	//Sidebar StatusSymbols
		1880	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1881	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
		1882	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
		1883
		1884	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1885	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
		1886	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
		1887
		1888	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	1889	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
		1890	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	-	1891
		1892	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1893	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
		1894	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
		1895
		1896	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	1897	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
		1898	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
		1899	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	-	1900
2324	-	1901	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	1902	}
		1903	/// <summary>
		1904	/// Navi-Ctrl WP data struct 'X'
		1905	/// called by index
		1906	/// </summary>
		1907	/// <param name="data">the received byte array to process</param>
		1908	void _processWPData(byte[] data)
		1909	{
2313	-	1910	_iWPCount = data[0];
2287	-	1911	_bGetWPCount = false;
		1912	if (data.Length >= 28)
		1913	{
		1914	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		1915	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		1916	if (_bGetWP)
		1917	{
		1918	if (data[1] == 1)
2315	-	1919	{
2333	-	1920	if(mRouteWP != null)
		1921	Dispatcher.Invoke(() => MainMap.Markers.Remove(mRouteWP));
2328	-	1922	wpList.Clear();
		1923
		1924	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
2287	-	1925	dtWaypoints.Rows.Clear();
2333	-	1926	Dispatcher.Invoke(() =>
		1927	{
2318	-	1928	for (int k = 0; k < MainMap.Markers.Count;)
		1929	{
		1930	GMapMarker p = MainMap.Markers[k];
		1931	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		1932	MainMap.Markers.Remove(p);
		1933	else
		1934	k++;
		1935	}
		1936	});
2315	-	1937	}
2287	-	1938	DataRow dr = dtWaypoints.NewRow();
		1939	dr = Waypoints.toDataRow(data, dr);
2313	-	1940	dtWaypoints.Rows.Add(dr);
2318	-	1941	Dispatcher.Invoke(() => {
		1942	GMapMarker wp = new GMapMarker(new PointLatLng((double)dr[3], (double)dr[4]));
		1943	wp.Shape = new CustomMarkerWP(this, wp, (string)dr[2],(int)dr[1]);
2333	-	1944	wp.Offset = new System.Windows.Point(-11.5, -11.5);
2318	-	1945	_setMarkerColor(wp, (int)dr[1]);
		1946	MainMap.Markers.Add(wp);
		1947	});
2313	-	1948	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1949	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2335	-	1950	if ((int)dr[1] == 0)
		1951	wpList.Add(new PointLatLng((double)dr[3], (double)dr[4]));
2287	-	1952	if (data[1] == data[0])
		1953	{
		1954	_bGetWP = false;
		1955	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
2328	-	1956
		1957	Dispatcher.Invoke(() =>
		1958	{
		1959	if (comboBoxRouteColor.SelectionBoxItem != null)
		1960	{
		1961	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		1962	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		1963	}
		1964	else
		1965	mRouteWP = new GMapRoute(wpList, null);
		1966
		1967	if (_bShowWPRoute)
		1968	MainMap.Markers.Add(mRouteWP);
		1969	});
		1970	MapRoute mr = new MapRoute(wpList, "WPList");
2333	-	1971	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
2287	-	1972	}
		1973
		1974	}
		1975	}
		1976	else
		1977	{
		1978	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		1979	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		1980	}
		1981	}
		1982	/// <summary>
		1983	/// OSD Menue 'L'
		1984	/// single page called by pagenumber
		1985	/// no autoupdate
		1986	/// </summary>
		1987	/// <param name="data">the received byte array to process</param>
		1988	void _processOSDSingle(byte[] data)
		1989	{
		1990	if (data.Length == 84)
		1991	{
		1992	string sMessage = "";
		1993	iOSDPage = data[0];
		1994	iOSDMax = data[1];
		1995	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		1996	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		1997	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1998	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1999	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2000	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2001	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2002	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2003
		2004	}
		2005	//else
		2006	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2007
		2008	}
		2009	/// <summary>
		2010	/// OSD Menue 'H'
		2011	/// called by keys (0x01,0x02,0x03,0x04)
		2012	/// autoupdate
		2013	/// </summary>
		2014	/// <param name="data">the received byte array to process</param>
		2015	void _processOSDAuto(byte[] data)
		2016	{
		2017	if (data.Length == 81)
		2018	{
		2019	string sMessage = "";
		2020	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2021	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2022	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2023	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2024	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2025
		2026	}
		2027	//else
		2028	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2029	}
		2030
		2031	#endregion processing received data
		2032
		2033	#region controller messages
		2034	/// <summary> send message to controller to request data
		2035	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2036	/// </summary>
		2037	/// <param name="CMDID"> the command ID </param>
		2038	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2039	private void _sendControllerMessage(char CMDID, byte address)
		2040	{
		2041	if (serialPortCtrl.Port.IsOpen)
		2042	{
		2043	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2044	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2045	serialStream.Write(bytes, 0, bytes.Length);
		2046
		2047	}
		2048	else
		2049	Log(LogMsgType.Error, "NOT CONNECTED!");
		2050	}
		2051	/// <summary> send message to controller to request data
		2052	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2053	/// </summary>
		2054	/// <param name="CMDID"> the command ID </param>
		2055	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2056	/// <param name="data"> additional data for the request</param>
		2057	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2058	{
		2059	if (serialPortCtrl.Port.IsOpen)
		2060	{
		2061	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2062	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2063	serialStream.Write(bytes, 0, bytes.Length);
		2064
		2065	}
		2066	else
		2067	Log(LogMsgType.Error, "NOT CONNECTED!");
		2068	}
		2069
		2070	/// <summary>
		2071	/// start/stop continous polling of controller values
		2072	/// </summary>
		2073	/// <param name="b">start/stop switch</param>
		2074	void _readCont(bool b)
		2075	{
		2076	bReadContinously = b;
		2077	if (bReadContinously)
		2078	{
		2079	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2080	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2081	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2082	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2083	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2084	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2085	}
		2086	else
		2087	{
		2088	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2089	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2090	_bConnErr = false;
		2091	}
		2092	_iLifeCounter = 0;
		2093	}
		2094
		2095	private void _getVersion()
		2096	{
		2097	_sendControllerMessage('v', 0);
		2098	}
		2099	/// <summary>
		2100	/// get FC version struct via NC
		2101	/// by sending '1' as data (not documented in wiki...)
		2102	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2103	/// </summary>
		2104	/// <param name="ctrl">controller number 1=FC</param>
		2105	private void _getVersion(byte ctrl)
		2106	{
		2107	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2108	}
		2109	/// <summary>
		2110	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2111	/// </summary>
		2112	private void _switchToNC()
		2113	{
		2114	if (serialPortCtrl.Port.IsOpen)
		2115	{
		2116	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2117	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2118	serialStream.Write(bytes, 0, bytes.Length);
		2119
		2120	Thread.Sleep(100);
		2121	_getVersion();
		2122	Thread.Sleep(100);
		2123	// _OSDMenue(0);
		2124	}
		2125	else
		2126	Log(LogMsgType.Error, "NOT CONNECTED!");
		2127	}
		2128	/// <summary>
		2129	/// switch to FC
		2130	/// </summary>
		2131	private void _switchToFC()
		2132	{
		2133	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2134	Thread.Sleep(100);
		2135	_getVersion();
		2136	Thread.Sleep(100);
		2137	// _OSDMenue(0);
		2138	}
		2139	/// <summary>
		2140	/// send RESET signal to FC
		2141	/// </summary>
		2142	private void _resetCtrl()
		2143	{
		2144	_sendControllerMessage('R', 1);
		2145	}
		2146	/// <summary>
		2147	/// poll the debug data (4sec subscription)
		2148	/// </summary>
		2149	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2150	private void _readDebugData(bool auto)
		2151	{
		2152	byte interval = auto ? debugInterval : (byte)0;
		2153	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2154	}
		2155	/// <summary>
		2156	/// poll the BL-CTRL status via NC (4sec subscription)
		2157	/// </summary>
		2158	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2159	private void _readBLCtrl(bool auto)
		2160	{
		2161	byte interval = auto ? blctrlInterval : (byte)0;
		2162	_sendControllerMessage('k', 0, new byte[1] { interval });
		2163	}
		2164	/// <summary>
		2165	/// poll the NC data struct (4sec subscription)
		2166	/// </summary>
		2167	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2168	private void _readNavData(bool auto)
		2169	{
		2170	byte interval = auto ? navctrlInterval : (byte)0;
		2171	_sendControllerMessage('o', 2, new byte[1] { interval });
		2172	}
		2173	/// <summary>
		2174	/// get the errortext for pending NC error
		2175	/// </summary>
		2176	private void _readNCError()
		2177	{
		2178	_sendControllerMessage('e', 2);
		2179	}
		2180	/// <summary>
		2181	/// request the Waypoint at index
		2182	/// </summary>
		2183	/// <param name="index"></param>
		2184	void _getpWP(int index)
		2185	{
		2186	if (serialPortCtrl.Port.IsOpen)
		2187	{
		2188	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2189	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2190	serialStream.Write(bytes, 0, bytes.Length);
		2191	}
		2192	else
		2193	Log(LogMsgType.Error, "NOT CONNECTED!");
		2194
		2195	}
		2196	void _getWP()
		2197	{
2335	-	2198	int iTimeout = 0;
2287	-	2199	_bGetWPCount = true;
2315	-	2200	_getpWP(1); //get the itemscount of wp
2335	-	2201	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2202	{
		2203	Thread.Sleep(10);
		2204	iTimeout++;
		2205	}
		2206	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2207	_getWPList();
		2208	}
		2209	void _getWPList()
		2210	{
		2211	_bGetWP = true;
2313	-	2212	int iTimeout=0;
		2213	for (int j = 0; j < _iWPCount; j++)
2287	-	2214	{
		2215	_getpWP(j + 1);
2313	-	2216	iTimeout = 0;
		2217	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2218	{
		2219	Thread.Sleep(1);
		2220	iTimeout++;
		2221	}
2287	-	2222	}
		2223	}
2340	-	2224
		2225	void clearCopterWPList()
2313	-	2226	{
2340	-	2227	_clearCopterWPList();
		2228	}
		2229	bool _clearCopterWPList()
		2230	{
2335	-	2231	int iTimeout = 0;
2313	-	2232	if (serialPortCtrl.Port.IsOpen)
		2233	{
		2234	byte[] bData = new byte[30];
		2235	for (int i = 0; i < 30; i++)
		2236	bData[i] = 0;
		2237	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2238	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2239	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2240
2313	-	2241	_iWPCount = -1;
2340	-	2242	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2243	{
2313	-	2244	Thread.Sleep(10);
2335	-	2245	iTimeout++;
		2246	}
2313	-	2247	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2248	if (_iWPCount > -1)
2340	-	2249	return true;
		2250	else
		2251	Log(LogMsgType.Error, "Timeout while sending list!");
		2252	}
		2253	else
		2254	Log(LogMsgType.Error, "NOT CONNECTED!");
		2255
		2256	return false;
		2257	}
		2258	void _sendWPList()
		2259	{
		2260	int iTimeout = 0;
		2261	if (serialPortCtrl.Port.IsOpen)
		2262	{
		2263	if (_clearCopterWPList())
2313	-	2264	{
2335	-	2265	for (int i = 0; i < dtWaypoints.Rows.Count; i++)
		2266	{
2340	-	2267	_sendWayPoint(dtWaypoints.Rows[i],-1);
2313	-	2268
2335	-	2269	_iWPCount = -1;
		2270	iTimeout = 0;
		2271	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2272	{
		2273	Thread.Sleep(10);
		2274	iTimeout++;
		2275	}
		2276	if (_iWPCount == -1)
		2277	{
		2278	Log(LogMsgType.Error, "Timeout while sending list!");
		2279	break;
		2280	}
		2281	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
		2282	}
2313	-	2283	}
		2284	}
		2285	else
		2286	Log(LogMsgType.Error, "NOT CONNECTED!");
		2287
		2288	}
2340	-	2289	bool _sendWayPoint(DataRow dr, int index)
		2290	{
2313	-	2291
2340	-	2292	if (serialPortCtrl.Port.IsOpen)
		2293	{
		2294	byte[] bData = new byte[30];
		2295	for (int i = 0; i < 30; i++)
		2296	bData[i] = 0;
		2297	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2298	byte[] bytes;
		2299	int iVal;
		2300	double dVal;
		2301	NumberFormatInfo nfi = new NumberFormatInfo();
		2302	nfi.NumberDecimalSeparator = ",";
		2303
		2304	//longitude
		2305	dVal = Convert.ToDouble(dr[4], nfi);
		2306	iVal = (int)(dVal * Math.Pow(10, 7));
		2307	bData[0] = (byte)(iVal & 0xff);
		2308	bData[1] = (byte)((iVal >> 8) & 0xff);
		2309	bData[2] = (byte)((iVal >> 16) & 0xff);
		2310	bData[3] = (byte)(iVal >> 24);
		2311	//latitude
		2312	dVal = Convert.ToDouble(dr[3], nfi);
		2313	iVal = (int)(dVal * Math.Pow(10, 7));
		2314	bData[4] = (byte)(iVal & 0xff);
		2315	bData[5] = (byte)((iVal >> 8) & 0xff);
		2316	bData[6] = (byte)((iVal >> 16) & 0xff);
		2317	bData[7] = (byte)(iVal >> 24);
		2318	//altitude
		2319	dVal = Convert.ToDouble(dr[5], nfi);
		2320	iVal = (int)(dVal * 10);
		2321	bData[8] = (byte)(iVal & 0xff);
		2322	bData[9] = (byte)((iVal >> 8) & 0xff);
		2323	bData[10] = (byte)((iVal >> 16) & 0xff);
		2324	bData[11] = (byte)(iVal >> 24);
		2325	//Status 'NEWDATA'
		2326	bData[12] = 1;
		2327	//heading
		2328	iVal = Convert.ToInt16(dr[6]);
		2329	bData[13] = (byte)(iVal & 0xff);
		2330	bData[14] = (byte)((iVal >> 8) & 0xff);
		2331	//ToleranceRadius
		2332	bData[15] = Convert.ToByte(dr[9]);
		2333	//HoldTime
		2334	bData[16] = Convert.ToByte(dr[10]);
		2335	//Event_Flag
		2336	bData[17] = Convert.ToByte(dr[13]);
		2337	//Index
		2338	bData[18] = index > 0 ? (byte)index : Convert.ToByte((int)dr[0]);
		2339	//Type
		2340	bData[19] = Convert.ToByte(dr[1]);
		2341	//WP_EventChannelValue
		2342	bData[20] = Convert.ToByte(dr[14]);
		2343	//AltitudeRate
		2344	bData[21] = Convert.ToByte(dr[8]);
		2345	//Speed
		2346	bData[22] = Convert.ToByte(dr[7]);
		2347	//CamAngle
		2348	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2349	//Name
		2350	byte[] name = ASCIIEncoding.ASCII.GetBytes((string)dr[2]);
		2351	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2352	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2353	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2354	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2355	//Autotrigger
		2356	bData[28] = Convert.ToByte(dr[11]);
		2357
		2358	bytes = FlightControllerMessage.CreateMessage('w', 2, bData);
		2359	serialStream.Write(bytes, 0, bytes.Length);
		2360
		2361	return true;
		2362	}
		2363
		2364	return false;
		2365	}
2287	-	2366	#region OSD-Menue
		2367
		2368	/// <summary>
		2369	/// one time query of the OSD Menue with pagenumber
		2370	/// </summary>
		2371	/// <param name="iMenue">Menue page</param>
		2372	void _OSDMenue(int iMenue)
		2373	{
		2374	if (serialPortCtrl.Port.IsOpen)
		2375	{
		2376	if (iMenue > iOSDMax)
		2377	iMenue = 0;
		2378	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2379	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2380	serialStream.Write(bytes, 0, bytes.Length);
		2381	}
		2382	else
		2383	Log(LogMsgType.Error, "NOT CONNECTED!");
		2384
		2385	}
		2386	/// <summary>
		2387	/// call the OSDMenue and start autorefresh
		2388	/// usually by sending a menuekey
		2389	/// 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)
		2390	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2391	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2392	/// </summary>
		2393	void _OSDMenueAutoRefresh()
		2394	{
		2395	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2396	}
		2397	void _OSDMenueAutoRefresh(byte key)
		2398	{
		2399	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2400	}
		2401	/// <summary>
		2402	/// initialize the OSD menue combobox
		2403	/// combox is filled by numbers from 0 to max pagenumber
		2404	/// </summary>
		2405	void _initOSDCB()
		2406	{
		2407	_bCBInit = true;
		2408	if (iOSDMax == 0)
		2409	{
		2410	_OSDMenue(0);
		2411	Thread.Sleep(10);
		2412	}
		2413	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2414	for (int i = 0; i <= iOSDMax; i++)
		2415	{
		2416	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2417	}
		2418	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2419	_bCBInit = false;
		2420	}
		2421	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2422	{
		2423	iOSDPage++;
		2424	if (iOSDPage > iOSDMax)
		2425	iOSDPage = 0;
		2426
		2427	_OSDMenue(iOSDPage);
		2428	}
		2429	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2430	{
		2431	iOSDPage--;
		2432	if (iOSDPage < 0)
		2433	iOSDPage = iOSDMax;
		2434
		2435	_OSDMenue(iOSDPage);
		2436	}
		2437	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2438	{
		2439	_OSDMenueAutoRefresh(8);
		2440	}
		2441	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2442	{
		2443	_OSDMenueAutoRefresh(4);
		2444	}
		2445	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2446	{
		2447	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2448	_OSDMenue(cbOSD.SelectedIndex);
		2449	}
		2450	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2451	{
		2452	Dispatcher.Invoke(() =>
		2453	{
		2454	TextRange tr;
		2455	if (bNew)
		2456	{
		2457	rtfOSD.SelectAll();
		2458	rtfOSD.Selection.Text = string.Empty;
		2459	}
		2460	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2461	tr.Text = msg;
		2462	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2463	// rtfOSD.AppendText("\r");
		2464	rtfOSD.ScrollToEnd();
		2465
		2466	});
		2467	}
		2468
		2469	#endregion OSD-Menue
		2470
		2471	#endregion controller messages
		2472
2295	-	2473	void _mediaPlayer(string file)
		2474	{
		2475	if (File.Exists(file))
		2476	{
		2477	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		2478	mp.Open(file);
		2479	mp.Play();
		2480	}
		2481	}
2310	-	2482
		2483	/// <summary>
		2484	/// Switch between fullscreen and normal window mode
		2485	/// save & restore scaling settings
		2486	/// </summary>
		2487	/// <param name="sender"></param>
		2488	/// <param name="e"></param>
2287	-	2489	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2490	{
		2491	if (winState.isMaximized)
		2492	{
		2493	winState.Restore(this);
		2494	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2495	if(_bSaveWinStateFull)
		2496	_saveScaleSliders(true);
		2497	if(_bSaveWinStateNormal)
		2498	_setScaleSliders(false);
		2499	}
		2500	else
		2501	{
		2502	winState.Maximize(this);
		2503	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2504	if(_bSaveWinStateNormal)
		2505	_saveScaleSliders(false);
		2506	if(_bSaveWinStateFull)
		2507	_setScaleSliders(true);
		2508	}
		2509	}
		2510
		2511	/// <summary>
		2512	/// reset the scaling of all UI elements to default
		2513	/// </summary>
		2514	/// <param name="sender"></param>
		2515	/// <param name="e"></param>
		2516	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2517	{
		2518	UIScaleHorizonSlider.Value =
		2519	UIScaleLOGSlider.Value =
		2520	UIScaleMotorsSlider.Value =
		2521	UIScaleOSDSlider.Value =
		2522	UIScaleSlider.Value =
		2523	UIScaleTopSlider.Value = 1;
		2524	}
		2525	/// <summary>
		2526	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2527	/// </summary>
		2528	/// <param name="sender"></param>
		2529	/// <param name="e"></param>
		2530	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2531	{
		2532	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2533	if (GridMotors != null)
		2534	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2535	if (GridSideBar != null)
		2536	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2537	if (GridOSD != null)
		2538	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2539	if (GridData != null)
		2540	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2541	if (GridWP != null)
		2542	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2543	}
2310	-	2544	/// <summary>
		2545	/// restore the saved scalings for the fullscreen/normal window mode
		2546	/// </summary>
		2547	/// <param name="bFull">the mode the window is set to</param>
2287	-	2548	void _setScaleSliders(bool bFull)
		2549	{
		2550	if(bFull)
		2551	{
		2552	UIScaleSlider.Value = scaleFullAll;
		2553	UIScaleTopSlider.Value = scaleFullTopBar;
		2554	UIScaleMotorsSlider.Value = scaleFullMotors;
		2555	UIScaleOSDSlider.Value = scaleFullOSD;
		2556	UIScaleLOGSlider.Value = scaleFullLOG;
		2557	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2558	}
		2559	else
		2560	{
		2561	UIScaleSlider.Value = scaleNormalAll;
		2562	UIScaleTopSlider.Value = scaleNormalTopBar;
		2563	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2564	UIScaleOSDSlider.Value = scaleNormalOSD;
		2565	UIScaleLOGSlider.Value = scaleNormalLOG;
		2566	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2567	}
		2568	}
		2569
2310	-	2570	/// <summary>
		2571	/// save the scalings for the actual window mode
		2572	/// </summary>
		2573	/// <param name="bFull">the actual window mode</param>
2287	-	2574	void _saveScaleSliders(bool bFull)
		2575	{
		2576
		2577	if (bFull)
		2578	{
		2579	scaleFullAll = UIScaleSlider.Value;
		2580	scaleFullTopBar = UIScaleTopSlider.Value;
		2581	scaleFullMotors = UIScaleMotorsSlider.Value;
		2582	scaleFullOSD = UIScaleOSDSlider.Value;
		2583	scaleFullLOG = UIScaleLOGSlider.Value;
		2584	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2585	}
		2586	else
		2587	{
		2588	scaleNormalAll = UIScaleSlider.Value;
		2589	scaleNormalTopBar = UIScaleTopSlider.Value;
		2590	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2591	scaleNormalOSD = UIScaleOSDSlider.Value;
		2592	scaleNormalLOG = UIScaleLOGSlider.Value;
		2593	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2594	}
		2595	}
		2596
		2597	/// <summary>
		2598	/// read settings from ini-file
		2599	/// </summary>
		2600	void _readIni()
		2601	{
		2602	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2603	_writeIni();
		2604	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2605	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2606	try
		2607	{
2287	-	2608
2312	-	2609	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2610	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2611	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2612	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2613	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2614	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2615	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2616	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2617
2312	-	2618	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2619	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2620	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2621	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2622	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2623	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2624	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2625	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2626
2312	-	2627	sVal = ini.IniReadValue("topBar", "voltage");
		2628	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2629	sVal = ini.IniReadValue("topBar", "capacity");
		2630	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2631	sVal = ini.IniReadValue("topBar", "current");
		2632	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2633	sVal = ini.IniReadValue("topBar", "flightTime");
		2634	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2635	sVal = ini.IniReadValue("topBar", "distanceHP");
		2636	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2637	sVal = ini.IniReadValue("topBar", "height");
		2638	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2639	sVal = ini.IniReadValue("topBar", "speed");
		2640	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2641	sVal = ini.IniReadValue("topBar", "magneticField");
		2642	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2643	sVal = ini.IniReadValue("topBar", "satellites");
		2644	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2645	sVal = ini.IniReadValue("topBar", "rc");
		2646	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2647
2312	-	2648	sVal = ini.IniReadValue("style", "saveFullScreen");
		2649	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2650	sVal = ini.IniReadValue("style", "saveNormalState");
		2651	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2652
2312	-	2653	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2654	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2655	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2656	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2657	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2658	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2659	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2660	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2661	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2662	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2663	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2664	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2665
2312	-	2666	sVal = ini.IniReadValue("style", "scaleFullAll");
		2667	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2668	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2669	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2670	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2671	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2672	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2673	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2674	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2675	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2676	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2677	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2678
2312	-	2679	sVal = ini.IniReadValue("general", "LiPoCells");
		2680	_LipoCells = Convert.ToInt16(sVal);
		2681	sVal = ini.IniReadValue("general", "Motors");
		2682	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2683
2312	-	2684	sVal = ini.IniReadValue("map", "followMe");
		2685	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2686	sVal = ini.IniReadValue("map", "AutoSetHome");
		2687	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2688	sVal = ini.IniReadValue("map", "GPXLog");
		2689	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2690
2312	-	2691	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2692	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2693	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2694	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2695	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2696	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2697	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2698	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2699	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2700	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2701	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2702	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2703	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2704	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2705	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2706	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2707	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2708	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2709	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2710	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2711	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2712	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2713
		2714	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2715	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2716	sVal = ini.IniReadValue("waypoints", "poicolor");
		2717	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2718	sVal = ini.IniReadValue("waypoints", "fscolor");
		2719	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2720	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2721	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	2722	sVal = ini.IniReadValue("waypoints", "routecolor");
		2723	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		2724	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		2725	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2349	-	2726
		2727	for (int i = 0; i < 12; i++)
		2728	{
		2729	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		2730	if (sVal != "")
		2731	serChan[i] = Convert.ToInt16(sVal);
		2732	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		2733	if (sVal != "")
		2734	serChanTitle[i] = sVal;
		2735	for (int y = 0; i < 4 && y < 3; y++)
		2736	{
		2737	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		2738	if (sVal != "")
		2739	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		2740	}
		2741	}
		2742
2312	-	2743	}
		2744	catch (Exception e)
		2745	{
2287	-	2746
2312	-	2747	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2748	}
		2749
2287	-	2750	}
		2751
		2752	/// <summary>
		2753	/// save settings to ini-file
		2754	/// </summary>
		2755	void _writeIni()
		2756	{
		2757
		2758	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2759	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2760
2312	-	2761	try
		2762	{
2287	-	2763
2312	-	2764	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2765	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2766	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2767	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2768
2312	-	2769	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2770	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2771	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2772	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2773
2312	-	2774	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2775	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2776
2312	-	2777	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2778	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	2779	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	2780
2312	-	2781	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2782	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2783	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2784	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2785	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2786	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2787	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2788	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2789	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2790	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2791
2312	-	2792	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2793	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2794
2312	-	2795	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2796	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2797	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2798	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2799	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2800	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	2801
2312	-	2802	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2803	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2804	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2805	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2806	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2807	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	2808
2312	-	2809	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2810
		2811	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2812	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2813	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2814	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2815	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2816	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2817	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2818	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2819	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2820	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2821	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	2822
		2823	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		2824	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		2825	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		2826	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2328	-	2827	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		2828	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2349	-	2829
		2830	for (int i = 0; i < 12; i++)
		2831	{
		2832	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		2833	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		2834	for (int y = 0; i < 4 && y < 3; y++)
		2835	{
		2836	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		2837	}
		2838	}
		2839
2312	-	2840	}
		2841	catch (Exception e)
		2842	{
		2843
		2844	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);
		2845	}
2287	-	2846	}
2350	-	2847
2349	-	2848	#region serial channels
		2849	/// <summary>
		2850	/// Sending the serial channel values
		2851	/// </summary>
		2852	void _sendSerialData()
		2853	{
		2854	byte[] serData = new byte[12];
		2855	for (int i = 0; i < 12; i++)
		2856	{
		2857	serData[i] = unchecked((byte)(serChan[i] - 127));
		2858	}
		2859	_sendControllerMessage('y', 1, serData);
		2860	}
		2861	/// <summary>
		2862	/// init the controls for displaying
		2863	/// and setting serial control channels
		2864	/// </summary>
		2865	void _initSerialCtrl()
		2866	{
		2867	SerChan1ScaleSlider.Value = serChan[0];
		2868	textBoxSerial1.Text = serChanTitle[0];
		2869	SerChan2ScaleSlider.Value = serChan[1];
		2870	textBoxSerial2.Text = serChanTitle[1];
2350	-	2871	SerChan3ScaleSlider.Value = serChan[2];
		2872	textBoxSerial3.Text = serChanTitle[2];
2349	-	2873	//SerChan4ScaleSlider.Value = serChan[3];
		2874	//textBoxSerial4.Text = serChanTitle[3];
		2875	//trckbarSerial5.Value = serChan[4];
		2876	//textBoxSerial5.Text = serChanTitle[4];
		2877	//trckbarSerial6.Value = serChan[5];
		2878	//textBoxSerial6.Text = serChanTitle[5];
		2879	//trckbarSerial7.Value = serChan[6];
		2880	//textBoxSerial7.Text = serChanTitle[6];
		2881	//trckbarSerial8.Value = serChan[7];
		2882	//textBoxSerial8.Text = serChanTitle[7];
2312	-	2883
2349	-	2884	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		2885	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		2886	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		2887	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		2888	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		2889	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	2890	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		2891	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		2892	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	2893	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		2894	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		2895	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		2896	}
		2897	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2898	{
		2899	if (!_init)
		2900	{
		2901	serChan[0] = (int)SerChan1ScaleSlider.Value;
		2902	_sendSerialData();
		2903	}
		2904	}
		2905	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		2906	{
		2907	if (!_init)
		2908	{
		2909	serChanTitle[0] = textBoxSerial1.Text;
		2910	}
		2911	}
		2912	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		2913	{
		2914	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		2915	{
		2916	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		2917	}
		2918	}
		2919	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		2920	{
		2921	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		2922	{
		2923	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		2924	}
		2925	}
		2926	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		2927	{
		2928	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		2929	{
		2930	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		2931	}
		2932	}
		2933	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		2934	{
		2935	if (textBoxSerial1_val1.Text.Length > 0)
		2936	{
		2937	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		2938	}
		2939	}
		2940	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		2941	{
		2942	SerChan1ScaleSlider.Value = 0;
		2943	}
		2944	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		2945	{
		2946	SerChan1ScaleSlider.Value = 127;
		2947	}
		2948	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		2949	{
		2950	SerChan1ScaleSlider.Value = 254;
		2951	}
		2952	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		2953	{
		2954	if (textBoxSerial1_val2.Text.Length > 0)
		2955	{
		2956	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		2957	}
		2958	}
		2959	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		2960	{
		2961	if (textBoxSerial1_val3.Text.Length > 0)
		2962	{
		2963	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		2964	}
		2965	}
		2966
		2967	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2968	{
		2969	if (!_init)
		2970	{
		2971	serChan[1] = (int)SerChan2ScaleSlider.Value;
		2972	_sendSerialData();
		2973	}
		2974	}
		2975	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		2976	{
		2977	if (!_init)
		2978	{
		2979	serChanTitle[1] = textBoxSerial2.Text;
		2980	}
		2981	}
		2982	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		2983	{
		2984	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		2985	{
		2986	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		2987	}
		2988	}
		2989	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		2990	{
		2991	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		2992	{
		2993	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		2994	}
		2995	}
		2996	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		2997	{
		2998	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		2999	{
		3000	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3001	}
		3002	}
		3003	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3004	{
		3005	SerChan2ScaleSlider.Value = 0;
		3006	}
		3007	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3008	{
		3009	SerChan2ScaleSlider.Value = 127;
		3010	}
		3011	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3012	{
		3013	SerChan2ScaleSlider.Value = 254;
		3014	}
		3015	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3016	{
		3017	if (textBoxSerial2_val1.Text.Length > 0)
		3018	{
		3019	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3020	}
		3021	}
		3022	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3023	{
		3024	if (textBoxSerial2_val2.Text.Length > 0)
		3025	{
		3026	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3027	}
		3028	}
		3029	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3030	{
		3031	if (textBoxSerial2_val3.Text.Length > 0)
		3032	{
		3033	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3034	}
		3035	}
2350	-	3036
		3037	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3038	{
		3039	if (!_init)
		3040	{
		3041	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3042	_sendSerialData();
		3043	}
		3044	}
		3045	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3046	{
		3047	if (!_init)
		3048	{
		3049	serChanTitle[2] = textBoxSerial3.Text;
		3050	}
		3051	}
		3052	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3053	{
		3054	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3055	{
		3056	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3057	}
		3058	}
		3059	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3060	{
		3061	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3062	{
		3063	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3064	}
		3065	}
		3066	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3067	{
		3068	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3069	{
		3070	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3071	}
		3072	}
		3073	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3074	{
		3075	SerChan3ScaleSlider.Value = 0;
		3076	}
		3077	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3078	{
		3079	SerChan3ScaleSlider.Value = 127;
		3080	}
		3081	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3082	{
		3083	SerChan3ScaleSlider.Value = 254;
		3084	}
		3085	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3086	{
		3087	if (textBoxSerial3_val1.Text.Length > 0)
		3088	{
		3089	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3090	}
		3091	}
		3092	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3093	{
		3094	if (textBoxSerial3_val2.Text.Length > 0)
		3095	{
		3096	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3097	}
		3098	}
		3099	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3100	{
		3101	if (textBoxSerial3_val3.Text.Length > 0)
		3102	{
		3103	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3104	}
		3105	}
2349	-	3106	/// <summary>
		3107	/// checks the input of a textbox
		3108	/// for valid data
		3109	/// in this case values 0-254
		3110	/// </summary>
		3111	/// <param name="sender"></param>
		3112	/// <param name="e"></param>
		3113	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3114	{
		3115	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3116	e.Handled = true;
		3117	else
		3118	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3119	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3120	e.Handled = true;
		3121	else
		3122	{
		3123	int i = -1;
		3124	switch (((TextBox)sender).Name)
		3125	{
		3126	case "textBoxSerial1_val1":
		3127	i = 0;
		3128	break;
		3129	case "textBoxSerial1_val2":
		3130	i = 1;
		3131	break;
		3132	case "textBoxSerial1_val3":
		3133	i = 2;
		3134	break;
		3135	case "textBoxSerial2_val1":
		3136	i = 3;
		3137	break;
		3138	case "textBoxSerial2_val2":
		3139	i = 4;
		3140	break;
		3141	case "textBoxSerial2_val3":
		3142	i = 5;
		3143	break;
		3144	case "textBoxSerial3_val1":
		3145	i = 6;
		3146	break;
		3147	case "textBoxSerial3_val2":
		3148	i = 7;
		3149	break;
		3150	case "textBoxSerial3_val3":
		3151	i = 8;
		3152	break;
		3153	case "textBoxSerial4_val1":
		3154	i = 9;
		3155	break;
		3156	case "textBoxSerial4_val2":
		3157	i = 10;
		3158	break;
		3159	case "textBoxSerial4_val3":
		3160	i = 11;
		3161	break;
		3162	}
		3163	if (i > -1)
		3164	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3165	}
		3166	}
		3167
		3168	#endregion serial channels
2315	-	3169	#region WP
2312	-	3170	void _readWPLFile()
		3171	{
		3172	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3173	fd.Filter = "Waypointlists \| *.wpl";
		3174	fd.Multiselect = false;
		3175	if (fd.ShowDialog().Value)
		3176	{
		3177	string file = fd.SafeFileName;
		3178	IniFile ini = new IniFile(fd.SafeFileName);
		3179	ini.path = fd.FileName;
		3180
		3181	try
		3182	{
		3183	string sVal = ini.IniReadValue("General", "FileVersion");
		3184	if (sVal == "")
		3185	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3186	else
		3187	{
		3188	if (Convert.ToInt16(sVal) < 3)
		3189	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3190	else
		3191	{
		3192	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3193	if (sVal == "")
		3194	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3195	else
		3196	{
		3197	int wpnum = Convert.ToInt16(sVal);
		3198	string wp;
		3199	int i;
2313	-	3200	NumberFormatInfo nfi = new NumberFormatInfo();
		3201	nfi.NumberDecimalSeparator = ".";
2312	-	3202	dtWaypoints.Rows.Clear();
2327	-	3203	//for(int k = 0; k < MainMap.Markers.Count;)
		3204	//{
		3205	// GMapMarker p = MainMap.Markers[k];
		3206	// if (p.Shape.GetType() == typeof(CustomMarkerWP))
		3207	// MainMap.Markers.Remove(p);
		3208	// else
		3209	// k++;
		3210	//}
		3211	_clearMapMarkers(typeof(CustomMarkerWP));
2328	-	3212	wpList.Clear();
		3213	if (mRouteWP != null)
		3214	MainMap.Markers.Remove(mRouteWP);
2342	-	3215	if (wpActiveMarker != null)
		3216	MainMap.Markers.Remove(wpActiveMarker);
2328	-	3217	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3218
2312	-	3219	for (int k = 1; k <= wpnum; k++)
		3220	{
		3221	DataRow dr = dtWaypoints.NewRow();
		3222	dr.ItemArray = new object[16];
		3223	object[] o = new object[16];
		3224	i = 0;
		3225	wp = "Point" + k.ToString();
		3226	o[i] = k;
		3227	i++;
		3228	sVal = ini.IniReadValue(wp, "Type");
		3229	if (sVal != "")
2315	-	3230	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3231	i++;
		3232	sVal = ini.IniReadValue(wp, "Prefix");
		3233	if (sVal != "")
2350	-	3234	o[i] = sVal + k.ToString();
		3235	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3236	i++;
2313	-	3237	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3238	if (sVal != "")
2313	-	3239	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3240	i++;
2313	-	3241	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3242	if (sVal != "")
2313	-	3243	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3244	i++;
		3245	sVal = ini.IniReadValue(wp, "Altitude");
		3246	if (sVal != "")
2313	-	3247	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3248	i++;
		3249	sVal = ini.IniReadValue(wp, "Heading");
		3250	if (sVal != "")
		3251	o[i] = Convert.ToInt16(sVal);
		3252	i++;
		3253	sVal = ini.IniReadValue(wp, "Speed");
		3254	if (sVal != "")
2315	-	3255	o[i] = Convert.ToInt16(sVal);
2312	-	3256	i++;
		3257	sVal = ini.IniReadValue(wp, "ClimbRate");
		3258	if (sVal != "")
		3259	o[i] = Convert.ToInt16(sVal);
		3260	i++;
		3261	sVal = ini.IniReadValue(wp, "Radius");
		3262	if (sVal != "")
		3263	o[i] = Convert.ToInt16(sVal);
		3264	i++;
		3265	sVal = ini.IniReadValue(wp, "DelayTime");
		3266	if (sVal != "")
		3267	o[i] = Convert.ToInt16(sVal);
		3268	i++;
		3269	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3270	if (sVal != "")
		3271	o[i] = Convert.ToInt16(sVal); ;
		3272	i++;
		3273	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3274	if (sVal != "")
2313	-	3275	o[i] = Convert.ToInt16(sVal);
2312	-	3276	i++;
		3277	o[i] = 0;
		3278	i++;
		3279	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3280	if (sVal != "")
		3281	o[i] = Convert.ToInt16(sVal);
		3282	i++;
		3283	o[i] = "New";
		3284
		3285	dr.ItemArray = o;
		3286	dtWaypoints.Rows.Add(dr);
2315	-	3287	GMapMarker wpMarker = new GMapMarker(new PointLatLng((double)o[3], (double)o[4]));
		3288	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, (string)dr[2], (int)o[1]);
2328	-	3289	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		3290	wpMarker.ZIndex = 100;
2315	-	3291	_setMarkerColor(wpMarker, (int)o[1]);
		3292	MainMap.Markers.Add(wpMarker);
2328	-	3293	if((int)o[1] == 0)
		3294	wpList.Add(new PointLatLng((double)o[3], (double)o[4]));
2315	-	3295
2312	-	3296	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3297	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3298	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3299	Thread.Sleep(10);
		3300	}
2328	-	3301	Dispatcher.Invoke(() =>
		3302	{
		3303	if (comboBoxRouteColor.SelectionBoxItem != null)
		3304	{
		3305	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3306	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3307	}
		3308	else
		3309	mRouteWP = new GMapRoute(wpList, null);
		3310
		3311	if (_bShowWPRoute)
		3312	MainMap.Markers.Add(mRouteWP);
		3313	});
		3314
		3315	MapRoute mr = new MapRoute(wpList, "WPList");
		3316	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		3317
2312	-	3318	}
		3319	}
		3320	}
		3321
		3322	}
		3323	catch (Exception e)
		3324	{
		3325
		3326	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		3327	}
		3328
		3329	}
		3330	}
2350	-	3331	void _saveWPLFile()
		3332	{
		3333	if (dtWaypoints.Rows.Count > 0)
		3334	{
		3335	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		3336	fd.Filter = "Waypointlists \| *.wpl";
		3337	fd.AddExtension = true;
		3338	if (fd.ShowDialog().Value)
		3339	{
		3340	string file = fd.SafeFileName;
		3341	IniFile ini = new IniFile(fd.SafeFileName);
		3342	ini.path = fd.FileName;
		3343	NumberFormatInfo nfi = new NumberFormatInfo();
		3344	nfi.NumberDecimalSeparator = ".";
		3345
		3346	try
		3347	{
		3348	ini.IniWriteValue("General", "FileVersion", "3");
		3349	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		3350	ini.IniWriteValue("General", "Mapfile", "");
		3351	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		3352	{
		3353	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		3354	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		3355	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		3356	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		3357	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		3358	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		3359	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		3360	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		3361	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		3362	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		3363	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		3364	ini.IniWriteValue("Point" + i.ToString(), "Prefix", dtWaypoints.Rows[i - 1][2].ToString().Substring(0, 1)); // == "!" ? "0" : dtWaypoints.Rows[i - 1][2].ToString().Substring(0, 1));
		3365	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		3366	}
		3367	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		3368	}
		3369	catch { }
		3370	}
		3371	}
		3372	else
		3373	MessageBox.Show("Nothing to save...");
		3374	}
		3375	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		3376	{
		3377	_saveWPLFile();
		3378	}
		3379	/// <summary>
		3380	/// set the selected color for the route
		3381	/// </summary>
		3382	/// <param name="color"></param>
		3383	/// <returns></returns>
2328	-	3384	Brush _getBrush(string color)
		3385	{
		3386	switch (color)
		3387	{
		3388	case "red":
		3389	return Brushes.Red;
		3390	case "green":
		3391	return Brushes.Lime;
		3392	case "blue":
		3393	return Brushes.Aqua;
		3394	case "pink":
		3395	return Brushes.Magenta;
		3396	case "yellow":
		3397	return Brushes.Yellow;
		3398	default:
		3399	return Brushes.Magenta;
		3400	}
		3401	}
2315	-	3402	void _setMarkerColor(GMapMarker wpMarker,int iType)
		3403	{
		3404	Dispatcher.Invoke(() =>
		3405	{
		3406	switch (iType)
		3407	{
		3408	case 0:
		3409	if (comboBoxWPColor.SelectionBoxItem != null)
		3410	{
		3411	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3412	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3413	}
		3414	else
		3415	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3416	break;
		3417	case 1:
		3418	if (comboBoxPOIColor.SelectionBoxItem != null)
		3419	{
		3420	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3421	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3422	}
		3423	else
		3424	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3425	break;
		3426	case 2:
		3427	if (comboBoxFSColor.SelectionBoxItem != null)
		3428	{
		3429	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3430	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3431	}
		3432	else
		3433	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3434	break;
		3435	default:
		3436	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3437	break;
		3438	}
		3439	});
2312	-	3440
2315	-	3441	}
		3442	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2312	-	3443	{
2315	-	3444	Dispatcher.Invoke(() =>
		3445	{
		3446	if (comboBoxWPColor.SelectionBoxItem != null)
		3447	{
		3448	for (int k = 0; k < MainMap.Markers.Count;k++)
		3449	{
		3450	GMapMarker p = MainMap.Markers[k];
		3451	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		3452	{
		3453	if (((CustomMarkerWP)p.Shape).WPType == 0)
		3454	{
		3455	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3456	((CustomMarkerWP)(p.Shape)).setColor(s);
		3457	}
		3458	}
		3459	}
		3460	}
		3461	});
2312	-	3462	}
2315	-	3463	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		3464	{
		3465	Dispatcher.Invoke(() =>
		3466	{
		3467	if (comboBoxPOIColor.SelectionBoxItem != null)
		3468	{
		3469	for (int k = 0; k < MainMap.Markers.Count; k++)
		3470	{
		3471	GMapMarker p = MainMap.Markers[k];
		3472	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		3473	{
		3474	if (((CustomMarkerWP)p.Shape).WPType == 1)
		3475	{
		3476	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3477	((CustomMarkerWP)(p.Shape)).setColor(s);
		3478	}
		3479	}
		3480	}
		3481	}
		3482	});
2287	-	3483
2315	-	3484	}
		3485	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
2287	-	3486	{
2315	-	3487	Dispatcher.Invoke(() =>
		3488	{
		3489	if (comboBoxFSColor.SelectionBoxItem != null)
		3490	{
		3491	for (int k = 0; k < MainMap.Markers.Count; k++)
		3492	{
		3493	GMapMarker p = MainMap.Markers[k];
		3494	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		3495	{
		3496	if (((CustomMarkerWP)p.Shape).WPType == 2)
		3497	{
		3498	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3499	((CustomMarkerWP)(p.Shape)).setColor(s);
		3500	}
		3501	}
		3502	}
		3503	}
		3504	});
2287	-	3505	}
2318	-	3506	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
		3507	{
		3508	Dispatcher.Invoke(() => {
		3509	if (comboBoxCopterColor.SelectionBoxItem != null)
		3510	{
		3511	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		3512	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		3513	}
		3514	else
		3515	((CustomMarkerCopter)(copter.Shape)).setColor("red");
		3516	});
		3517	}
2328	-	3518	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3519	{
		3520	Dispatcher.Invoke(() =>
		3521	{
		3522	if (comboBoxRouteColor.SelectionBoxItem != null)
		3523	{
		3524	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3525	MainMap.Markers.Remove(mRouteWP);
		3526	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3527	if (_bShowWPRoute)
		3528	MainMap.Markers.Add(mRouteWP);
		3529	}
		3530	});
		3531	}
		3532	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3533	{
		3534	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3535	if (_bShowWPRoute)
		3536	{
		3537	if (mRouteWP != null)
		3538	MainMap.Markers.Add(mRouteWP);
		3539	}
		3540	else
		3541	{
		3542	if (mRouteWP != null)
		3543	MainMap.Markers.Remove(mRouteWP);
		3544	}
		3545	}
2315	-	3546	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3547	{
2315	-	3548	_readWPLFile();
2287	-	3549	}
2335	-	3550	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3551	{
		3552	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	3553	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	3554	wpList.Clear();
		3555	if (mRouteWP != null)
		3556	MainMap.Markers.Remove(mRouteWP);
2347	-	3557	//if (wpActiveMarker != null)
		3558	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	3559	dtWaypoints.Rows.Clear();
		3560	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3561	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3562	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3563	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3564	}
2340	-	3565	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3566	{
		3567	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3568	t.Start();
		3569	}
2355	-	3570	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	3571	{
		3572	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3573	{
2355	-	3574	if (_wpCount > 0)
		3575	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1);
2340	-	3576	else
2355	-	3577	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1);
2354	-	3578
		3579	Dispatcher.Invoke(() => {
		3580	DataGridRow row;
		3581	if (_wpIndex > -1)
		3582	{
		3583	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		3584	row.Background = new SolidColorBrush(Colors.Transparent);
		3585	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3586	row.BorderThickness = new Thickness(0);
		3587	}
		3588	_wpIndex = dgvWP.SelectedIndex;
		3589	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		3590	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		3591	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		3592	row.BorderThickness = new Thickness(2);
2355	-	3593	dgvWP.UpdateLayout();
2354	-	3594	});
2340	-	3595	}
		3596	}
2355	-	3597	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		3598	{
		3599	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3600	{
		3601	Dispatcher.Invoke(() => {
		3602	DataGridRow row;
		3603	if (_wpEdit > -1)
		3604	{
		3605	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3606	row.Background = new SolidColorBrush(Colors.Transparent);
		3607	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3608	row.BorderThickness = new Thickness(0);
		3609	}
		3610	_wpEdit = dgvWP.SelectedIndex;
		3611	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3612	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		3613	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		3614	row.BorderThickness = new Thickness(2);
		3615	dgvWP.UpdateLayout();
2340	-	3616
2355	-	3617	_setWPEditFields(_wpEdit);
		3618	});
		3619	}
		3620	}
		3621	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		3622	{
		3623	}
		3624	void _setWPEditFields(int index)
		3625	{
		3626	int iVal;
		3627	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		3628	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		3629	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		3630	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		3631	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		3632	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		3633	if (iVal == 0)
		3634	{
		3635	cbWPEditHeading.SelectedIndex = 0;
		3636	tbWPEditHeading.Text = " - - -";
		3637	tbWPEditHeading.IsReadOnly = true;
		3638	}
		3639	if (iVal > 0 && iVal < 360)
		3640	{
		3641	cbWPEditHeading.SelectedIndex = 2;
		3642	tbWPEditHeading.Text = iVal.ToString();
		3643	tbWPEditHeading.IsReadOnly = false;
		3644	}
		3645	if (iVal < 0)
		3646	{
		3647	cbWPEditHeading.SelectedIndex = 1;
		3648	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		3649	tbWPEditHeading.IsReadOnly = false;
		3650	}
		3651	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		3652	if (iVal == 0)
		3653	{
		3654	cbWPEditSpeed.SelectedIndex = 0;
		3655	tbWPEditSpeed.Text = "MAX";
		3656	tbWPEditSpeed.IsReadOnly = true;
		3657	}
		3658	if (iVal > 0 && iVal < 248)
		3659	{
		3660	cbWPEditSpeed.SelectedIndex = 1;
		3661	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		3662	tbWPEditSpeed.IsReadOnly = false;
		3663	}
		3664	if (iVal > 247)
		3665	{
		3666	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		3667	tbWPEditSpeed.Text = "";
		3668	tbWPEditSpeed.IsReadOnly = true;
		3669	}
		3670	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		3671	if (iVal == 255)
		3672	{
		3673	cbWPEditClimbrate.SelectedIndex = 0;
		3674	tbWPEditClimbrate.Text = "AUTO";
		3675	tbWPEditClimbrate.IsReadOnly = true;
		3676	}
		3677	else
		3678	{
		3679	cbWPEditClimbrate.SelectedIndex = 1;
		3680	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		3681	tbWPEditClimbrate.IsReadOnly = false;
		3682	}
		3683	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		3684	tbWPEditRadius.Text = iVal.ToString();
		3685	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		3686	tbWPEditHoldtime.Text = iVal.ToString();
		3687	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		3688	tbWPEditAutoTrigger.Text = iVal.ToString();
		3689	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		3690	if (iVal == 0)
		3691	{
		3692	cbWPEditCamAngle.SelectedIndex = 0;
		3693	tbWPEditCamAngle.Text = " - - - ";
		3694	tbWPEditCamAngle.IsReadOnly = true;
		3695	}
		3696	if (iVal < 0 \| iVal == 255)
		3697	{
		3698	cbWPEditCamAngle.SelectedIndex = 1;
		3699	tbWPEditCamAngle.Text = "AUTO";
		3700	tbWPEditCamAngle.IsReadOnly = true;
		3701	}
		3702	if (iVal > 0 & iVal < 255)
		3703	{
		3704	cbWPEditCamAngle.SelectedIndex = 2;
		3705	tbWPEditCamAngle.Text = iVal.ToString();
		3706	tbWPEditCamAngle.IsReadOnly = false;
		3707	}
		3708	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		3709	tbWPEditOut1.Text = iVal.ToString();
		3710
		3711	}
		3712
2315	-	3713	#endregion WP
2324	-	3714	#region GPX
		3715	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		3716	{
		3717	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		3718	}
		3719	void _gpxAdd(double lat,double lon, int elevation)
		3720	{
		3721	DataRow dr = dtGPX.NewRow();
		3722	dr[0] = dtGPX.Rows.Count - 1;
		3723	dr[1] = lat;
		3724	dr[2] = lon;
		3725	dr[3] = elevation;
		3726	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		3727	dtGPX.Rows.Add(dr);
		3728	}
		3729	void _saveGPXLog()
		3730	{
		3731	if (!Directory.Exists("GPXLog"))
		3732	Directory.CreateDirectory("GPXLog");
		3733	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		3734	XmlTextWriter myXmlTextWriter = null;
		3735	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		3736	NumberFormatInfo nfi = new NumberFormatInfo();
		3737	nfi.NumberDecimalSeparator = ".";
2315	-	3738
2324	-	3739	try
		3740	{
		3741	myXmlTextWriter.Formatting = Formatting.Indented;
		3742
		3743	myXmlTextWriter.WriteStartDocument();
		3744
		3745	myXmlTextWriter.WriteStartElement("gpx");
		3746
		3747	myXmlTextWriter.WriteAttributeString("version", "1.0");
		3748	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		3749	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		3750	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		3751	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		3752
		3753	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		3754
		3755	myXmlTextWriter.WriteStartElement("trk");
		3756	myXmlTextWriter.WriteStartElement("trkseg");
		3757	for(int i = 0; i< dtGPX.Rows.Count;i++)
		3758	{
		3759	myXmlTextWriter.WriteStartElement("trkpt");
		3760	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		3761	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		3762	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		3763	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		3764	myXmlTextWriter.WriteEndElement();
		3765	}
		3766	myXmlTextWriter.WriteEndElement();
		3767	myXmlTextWriter.WriteEndElement();
		3768	myXmlTextWriter.WriteEndElement();
		3769	}
		3770	catch (Exception e)
		3771	{
		3772	Console.WriteLine("Exception: {0}", e.ToString());
		3773	}
		3774	finally
		3775	{
		3776	if (myXmlTextWriter != null)
		3777	{
		3778	myXmlTextWriter.Close();
		3779	}
		3780	}
		3781	}
		3782	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		3783	{
		3784	_loadGPXLog();
		3785	}
2327	-	3786	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		3787	{
		3788	_clearMapMarkers(typeof(GMapRoute));
		3789	}
2324	-	3790	void _loadGPXLog()
		3791	{
		3792
		3793	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3794	fd.Filter = "GPX-Logfile \| *.gpx";
		3795	fd.Multiselect = false;
		3796	if (fd.ShowDialog().Value)
		3797	{
		3798	string file = fd.FileName;
		3799	try
		3800	{
		3801	XDocument gpxDoc = XDocument.Load(file);
		3802	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		3803
		3804	NumberFormatInfo nfi = new NumberFormatInfo();
		3805	nfi.NumberDecimalSeparator = ".";
		3806
		3807	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		3808	select new
		3809	{
		3810	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		3811	Segs = (
		3812	from trackpoint in track.Descendants(gpx + "trkpt")
		3813	select new
		3814	{
		3815	Latitude = trackpoint.Attribute("lat").Value,
		3816	Longitude = trackpoint.Attribute("lon").Value,
		3817	Elevation = trackpoint.Element(gpx + "ele") != null ?
		3818	trackpoint.Element(gpx + "ele").Value : null,
		3819	Time = trackpoint.Element(gpx + "time") != null ?
		3820	trackpoint.Element(gpx + "time").Value : null
		3821	}
		3822	)
		3823	};
		3824
		3825	List<PointLatLng> wpl = new List<PointLatLng>();
		3826	foreach(var trk in tracks)
		3827	{
		3828	foreach(var trkseg in trk.Segs)
		3829	{
		3830	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		3831	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		3832	}
		3833
		3834	}
		3835	if(wpl.Count() > 0)
		3836	{
2327	-	3837	_clearMapMarkers(typeof(GMapRoute));
		3838	//for (int k = 0; k < MainMap.Markers.Count;)
		3839	//{
		3840	// GMapMarker p = MainMap.Markers[k];
		3841	// if (p.Shape.GetType() == typeof(GMapRoute))
		3842	// MainMap.Markers.Remove(p);
		3843	// else
		3844	// k++;
		3845	//}
2324	-	3846	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	3847	Dispatcher.Invoke(() =>
		3848	{
		3849	GMapRoute mRoute;
		3850	if (comboBoxRouteColor.SelectionBoxItem != null)
		3851	{
		3852	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3853	mRoute = new GMapRoute(wpList, _getBrush(s));
		3854	}
		3855	else
		3856	mRoute = new GMapRoute(wpList, null);
2324	-	3857
2328	-	3858	MainMap.Markers.Add(mRoute);
		3859	});
2324	-	3860	}
		3861
		3862	}
		3863	catch (Exception e)
		3864	{
		3865	Console.WriteLine("Exception: {0}", e.ToString());
		3866	}
		3867	}
		3868	}
		3869	#endregion GPX
2315	-	3870	#endregion functions
2287	-	3871	}
2315	-	3872	/// <summary>
		3873	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		3874	/// </summary>
2313	-	3875	public class waypointsConverter : IValueConverter
		3876	{
		3877	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		3878	{
		3879	if (value != null)
		3880	{
		3881	switch ((string)parameter)
		3882	{
		3883	case "Latitude":
		3884	return value.ToString() + " °";
		3885	case "Longitude":
		3886	return value.ToString() + " °";
		3887	case "Radius":
		3888	return value.ToString() + " m";
		3889	case "Altitude":
		3890	return value.ToString() + " m";
		3891	case "ClimbRate":
		3892	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		3893	case "DelayTime":
		3894	return value.ToString() + " s";
		3895	case "Heading":
		3896	return Waypoints.Heading(System.Convert.ToInt32(value));
		3897	case "Speed":
		3898	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		3899	case "CamAngle":
		3900	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		3901	case "Type":
		3902	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		3903	case "AutoTrigger":
		3904	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		3905	case "Status":
2355	-	3906	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	3907	}
		3908
		3909	return value.ToString();
		3910	}
		3911	else return value;
		3912	}
		3913
		3914	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		3915	{
		3916	throw new NotImplementedException();
		3917	}
		3918	}
		3919
2287	-	3920	public class IniFile
		3921	{
		3922	public string path;
		3923
		3924	[DllImport("kernel32")]
		3925	private static extern long WritePrivateProfileString(string section,
		3926	string key, string val, string filePath);
		3927
		3928	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		3929	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		3930	uint nSize, string lpFileName);
		3931
		3932	[DllImport("kernel32")]
		3933	private static extern int GetPrivateProfileString(string section,
		3934	string key, string def, StringBuilder retVal,
		3935	int size, string filePath);
		3936
		3937	public IniFile(string INIPath)
		3938	{
		3939	path = INIPath;
		3940	}
		3941
		3942	public void IniWriteValue(string Section, string Key, string Value)
		3943	{
		3944	WritePrivateProfileString(Section, Key, Value, this.path);
		3945	}
		3946
		3947	public string IniReadValue(string Section, string Key)
		3948	{
		3949	StringBuilder temp = new StringBuilder(255);
		3950	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		3951	return temp.ToString();
		3952	}
		3953	//Ini_sections auslesen in String-Array
		3954	public string[] IniSectionNames()
		3955	{
		3956
		3957	// uint MAX_BUFFER = 32767;
		3958	uint MAX_BUFFER = 8388608;
		3959	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		3960	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		3961	if (bytesReturned == 0)
		3962	{
		3963	Marshal.FreeCoTaskMem(pReturnedString);
		3964	return null;
		3965	}
		3966	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		3967	Marshal.FreeCoTaskMem(pReturnedString);
		3968	//use of Substring below removes terminating null for split
		3969	return local.Substring(0, local.Length - 1).Split('\0');
		3970
		3971
		3972	}
		3973	}
		3974
		3975	/// <summary>
		3976	/// Selected Win AI Function Calls
		3977	/// </summary>
		3978	public class WinApi
		3979	{
		3980	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		3981	public static extern int GetSystemMetrics(int which);
		3982	[DllImport("user32.dll")]
		3983	public static extern void
		3984	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		3985	int X, int Y, int width, int height, uint flags);
		3986
		3987	private const int SM_CXSCREEN = 0;
		3988	private const int SM_CYSCREEN = 1;
		3989	private static IntPtr HWND_TOP = IntPtr.Zero;
		3990	private const int SWP_SHOWWINDOW = 64; // 0x0040
		3991
		3992	public static int ScreenX
		3993	{
		3994	get { return GetSystemMetrics(SM_CXSCREEN); }
		3995	}
		3996
		3997	public static int ScreenY
		3998	{
		3999	get { return GetSystemMetrics(SM_CYSCREEN); }
		4000	}
		4001
		4002	public static void SetWinFullScreen(IntPtr hwnd)
		4003	{
		4004	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		4005	}
		4006	}
		4007	/// <summary>
		4008	/// Class used to preserve / restore state of the window
		4009	/// </summary>
		4010	public class WinState
		4011	{
		4012	private WindowState winState;
		4013	private WindowStyle brdStyle;
		4014	private bool topMost;
		4015	private Rect restore;
		4016	private bool IsMaximized = false;
		4017
		4018	public bool isMaximized
		4019	{
		4020	get { return IsMaximized; }
		4021	}
		4022	public void Maximize(Window targetForm)
		4023	{
		4024	if (!IsMaximized)
		4025	{
		4026	IsMaximized = true;
		4027	Save(targetForm);
		4028	targetForm.WindowState = WindowState.Maximized;
		4029	targetForm.WindowStyle = WindowStyle.None;
		4030	targetForm.Topmost = true;
		4031	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		4032	}
		4033	}
		4034
		4035	public void Save(Window targetForm)
		4036	{
		4037	winState = targetForm.WindowState;
		4038	brdStyle = targetForm.WindowStyle;
		4039	topMost = targetForm.Topmost;
		4040	restore = targetForm.RestoreBounds;
		4041	}
		4042	public void Restore(Window targetForm)
		4043	{
		4044	targetForm.WindowState = winState;
		4045	targetForm.WindowStyle = brdStyle;
		4046	targetForm.Topmost = topMost;
		4047
		4048	targetForm.Left = restore.Left;
		4049	targetForm.Top = restore.Top;
		4050	targetForm.Height = restore.Height;
		4051	targetForm.Width = restore.Width;
		4052	IsMaximized = false;
		4053	}
		4054	}
		4055
		4056	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2355 - Rev