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	i_16 = data[28];
		1701	i_16 = (Int16)(i_16 << 8);
		1702	iVal = data[27] + i_16;
		1703	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1704
		1705	i_16 = data[45];
		1706	i_16 = (Int16)(i_16 << 8);
		1707	iVal = data[44] + i_16;
		1708	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1709	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1710
		1711	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2355	-	1712	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2347	-	1713	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count > 0)
2342	-	1714	{
2347	-	1715	_setActiveWP(data[48]-1);
2355	-	1716	if((data[67] & 2) == 2)
		1717	Dispatcher.Invoke(() => {
		1718	DataGridRow row;
		1719	if (_wpIndex > -1)
		1720	{
		1721	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1722	row.Background = new SolidColorBrush(Colors.Transparent);
		1723	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1724	row.BorderThickness = new Thickness(0);
		1725	}
		1726	_wpIndex = data[48] - 1;
		1727	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1728	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		1729	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		1730	row.BorderThickness = new Thickness(2);
		1731	dgvWP.UpdateLayout();
		1732	});
2347	-	1733	_wpIndex = data[48]-1;
2342	-	1734	}
2347	-	1735	else
		1736	{
		1737	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	1738	{
2347	-	1739	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	1740	Dispatcher.Invoke(() =>
		1741	{
		1742	DataGridRow row;
		1743	if (_wpIndex > -1 && data[48] == 0)
		1744	{
		1745	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1746	row.Background = new SolidColorBrush(Colors.Transparent);
		1747	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1748	row.BorderThickness = new Thickness(0);
		1749	_wpIndex = -1;
		1750	}
		1751	});
		1752
		1753	}
2347	-	1754	}
2342	-	1755
2287	-	1756	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	1757	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	1758	_wpCount = data[49];
2287	-	1759	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1760
		1761	//--------------- Capacity used ------------------------
		1762	i_16 = data[81];
		1763	i_16 = (Int16)(i_16 << 8);
		1764	iVal = data[80] + i_16;
		1765	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1766	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1767
		1768	//--------------- Flying time ------------------------
		1769	i_16 = data[56];
		1770	i_16 = (Int16)(i_16 << 8);
		1771	iVal = data[55] + i_16;
		1772	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1773	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1774	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1775	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1776
		1777	//--------------- RC quality ------------------------
		1778	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1779	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1780
2291	-	1781	if(data[66] > _iThresholdRC)
		1782	{
		1783	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1784	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1785	{
		1786	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1787	_bAnimRCLevelActive = false;
		1788	}
		1789	}
		1790	else
		1791	{
		1792	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1793	if (_iRCLevelJitter == 20)
		1794	{
		1795	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1796	{
		1797	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1798	_bAnimRCLevelActive = true;
		1799	}
		1800	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1801	{
2295	-	1802	Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1803	th.Start();
2291	-	1804	_bVoiceRCLevelActive = true;
		1805	}
		1806	_iRCLevelJitter++;
		1807	}
		1808	}
		1809
2287	-	1810	//--------------- NC Error ------------------------
		1811	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1812	if (data[69] > 0)
		1813	_readNCError();
		1814	if (data[69] > 0 & data[69] < 44)
		1815	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
		1816	else
		1817	if (_bErrorLog) _clearErrorLog("NC Error");
		1818
2298	-	1819	//-------------FC / NC Status Flags
		1820	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1821	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1822	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1823	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1824	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1825	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1826
		1827	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1828	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1829	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1830	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1831	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1832	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
		1833	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		1834	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		1835
		1836	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1837	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1838	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1839	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1840	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1841	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1842	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	1843
		1844	//Sidebar StatusSymbols
		1845	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1846	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
		1847	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
		1848
		1849	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1850	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
		1851	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
		1852
		1853	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	1854	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
		1855	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	-	1856
		1857	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1858	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
		1859	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
		1860
		1861	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	1862	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
		1863	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
		1864	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	-	1865
2324	-	1866	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	1867	}
		1868	/// <summary>
		1869	/// Navi-Ctrl WP data struct 'X'
		1870	/// called by index
		1871	/// </summary>
		1872	/// <param name="data">the received byte array to process</param>
		1873	void _processWPData(byte[] data)
		1874	{
2313	-	1875	_iWPCount = data[0];
2287	-	1876	_bGetWPCount = false;
		1877	if (data.Length >= 28)
		1878	{
		1879	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		1880	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		1881	if (_bGetWP)
		1882	{
		1883	if (data[1] == 1)
2315	-	1884	{
2333	-	1885	Dispatcher.Invoke(() =>
		1886	{
2356	-	1887	wpList.Clear();
		1888	_clearMapMarkers(typeof(CustomMarkerWP));
		1889	if (mRouteWP != null)
		1890	MainMap.Markers.Remove(mRouteWP);
		1891	if (wpActiveMarker != null)
		1892	MainMap.Markers.Remove(wpActiveMarker);
		1893	lblWPRouteDistance.Content = "0 m";
		1894	dtWaypoints.Rows.Clear();
		1895	_wpEdit = -1;
2318	-	1896	});
2315	-	1897	}
2287	-	1898	DataRow dr = dtWaypoints.NewRow();
		1899	dr = Waypoints.toDataRow(data, dr);
2313	-	1900	dtWaypoints.Rows.Add(dr);
2363	-	1901	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1]);
2313	-	1902	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1903	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	1904	if (data[1] == data[0])
		1905	{
		1906	_bGetWP = false;
		1907	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
2328	-	1908
		1909	Dispatcher.Invoke(() =>
		1910	{
		1911	if (comboBoxRouteColor.SelectionBoxItem != null)
		1912	{
		1913	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		1914	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		1915	}
		1916	else
		1917	mRouteWP = new GMapRoute(wpList, null);
		1918
		1919	if (_bShowWPRoute)
		1920	MainMap.Markers.Add(mRouteWP);
		1921	});
		1922	MapRoute mr = new MapRoute(wpList, "WPList");
2333	-	1923	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
2287	-	1924	}
		1925
		1926	}
		1927	}
		1928	else
		1929	{
		1930	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		1931	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		1932	}
		1933	}
		1934	/// <summary>
		1935	/// OSD Menue 'L'
		1936	/// single page called by pagenumber
		1937	/// no autoupdate
		1938	/// </summary>
		1939	/// <param name="data">the received byte array to process</param>
		1940	void _processOSDSingle(byte[] data)
		1941	{
		1942	if (data.Length == 84)
		1943	{
		1944	string sMessage = "";
		1945	iOSDPage = data[0];
		1946	iOSDMax = data[1];
		1947	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		1948	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		1949	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1950	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1951	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1952	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1953	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		1954	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		1955
		1956	}
		1957	//else
		1958	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		1959
		1960	}
		1961	/// <summary>
		1962	/// OSD Menue 'H'
		1963	/// called by keys (0x01,0x02,0x03,0x04)
		1964	/// autoupdate
		1965	/// </summary>
		1966	/// <param name="data">the received byte array to process</param>
		1967	void _processOSDAuto(byte[] data)
		1968	{
		1969	if (data.Length == 81)
		1970	{
		1971	string sMessage = "";
		1972	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		1973	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1974	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1975	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1976	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1977
		1978	}
		1979	//else
		1980	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		1981	}
		1982
		1983	#endregion processing received data
		1984
		1985	#region controller messages
		1986	/// <summary> send message to controller to request data
		1987	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1988	/// </summary>
		1989	/// <param name="CMDID"> the command ID </param>
		1990	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1991	private void _sendControllerMessage(char CMDID, byte address)
		1992	{
		1993	if (serialPortCtrl.Port.IsOpen)
		1994	{
		1995	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1996	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		1997	serialStream.Write(bytes, 0, bytes.Length);
		1998
		1999	}
		2000	else
		2001	Log(LogMsgType.Error, "NOT CONNECTED!");
		2002	}
		2003	/// <summary> send message to controller to request data
		2004	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2005	/// </summary>
		2006	/// <param name="CMDID"> the command ID </param>
		2007	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2008	/// <param name="data"> additional data for the request</param>
		2009	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2010	{
		2011	if (serialPortCtrl.Port.IsOpen)
		2012	{
		2013	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2014	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2015	serialStream.Write(bytes, 0, bytes.Length);
		2016
		2017	}
		2018	else
		2019	Log(LogMsgType.Error, "NOT CONNECTED!");
		2020	}
		2021
		2022	/// <summary>
		2023	/// start/stop continous polling of controller values
		2024	/// </summary>
		2025	/// <param name="b">start/stop switch</param>
		2026	void _readCont(bool b)
		2027	{
		2028	bReadContinously = b;
		2029	if (bReadContinously)
		2030	{
		2031	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2032	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2033	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2034	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2035	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2036	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2037	}
		2038	else
		2039	{
		2040	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2041	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2042	_bConnErr = false;
		2043	}
		2044	_iLifeCounter = 0;
		2045	}
		2046
		2047	private void _getVersion()
		2048	{
		2049	_sendControllerMessage('v', 0);
		2050	}
		2051	/// <summary>
		2052	/// get FC version struct via NC
		2053	/// by sending '1' as data (not documented in wiki...)
		2054	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2055	/// </summary>
		2056	/// <param name="ctrl">controller number 1=FC</param>
		2057	private void _getVersion(byte ctrl)
		2058	{
		2059	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2060	}
		2061	/// <summary>
		2062	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2063	/// </summary>
		2064	private void _switchToNC()
		2065	{
		2066	if (serialPortCtrl.Port.IsOpen)
		2067	{
		2068	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2069	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2070	serialStream.Write(bytes, 0, bytes.Length);
		2071
		2072	Thread.Sleep(100);
		2073	_getVersion();
		2074	Thread.Sleep(100);
		2075	// _OSDMenue(0);
		2076	}
		2077	else
		2078	Log(LogMsgType.Error, "NOT CONNECTED!");
		2079	}
		2080	/// <summary>
		2081	/// switch to FC
		2082	/// </summary>
		2083	private void _switchToFC()
		2084	{
		2085	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2086	Thread.Sleep(100);
		2087	_getVersion();
		2088	Thread.Sleep(100);
		2089	// _OSDMenue(0);
		2090	}
		2091	/// <summary>
		2092	/// send RESET signal to FC
		2093	/// </summary>
		2094	private void _resetCtrl()
		2095	{
		2096	_sendControllerMessage('R', 1);
		2097	}
		2098	/// <summary>
		2099	/// poll the debug data (4sec subscription)
		2100	/// </summary>
		2101	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2102	private void _readDebugData(bool auto)
		2103	{
		2104	byte interval = auto ? debugInterval : (byte)0;
		2105	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2106	}
		2107	/// <summary>
		2108	/// poll the BL-CTRL status via NC (4sec subscription)
		2109	/// </summary>
		2110	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2111	private void _readBLCtrl(bool auto)
		2112	{
		2113	byte interval = auto ? blctrlInterval : (byte)0;
		2114	_sendControllerMessage('k', 0, new byte[1] { interval });
		2115	}
		2116	/// <summary>
		2117	/// poll the NC data struct (4sec subscription)
		2118	/// </summary>
		2119	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2120	private void _readNavData(bool auto)
		2121	{
		2122	byte interval = auto ? navctrlInterval : (byte)0;
		2123	_sendControllerMessage('o', 2, new byte[1] { interval });
		2124	}
		2125	/// <summary>
		2126	/// get the errortext for pending NC error
		2127	/// </summary>
		2128	private void _readNCError()
		2129	{
		2130	_sendControllerMessage('e', 2);
		2131	}
		2132	/// <summary>
		2133	/// request the Waypoint at index
		2134	/// </summary>
		2135	/// <param name="index"></param>
		2136	void _getpWP(int index)
		2137	{
		2138	if (serialPortCtrl.Port.IsOpen)
		2139	{
		2140	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2141	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2142	serialStream.Write(bytes, 0, bytes.Length);
		2143	}
		2144	else
		2145	Log(LogMsgType.Error, "NOT CONNECTED!");
		2146
		2147	}
		2148	void _getWP()
		2149	{
2335	-	2150	int iTimeout = 0;
2287	-	2151	_bGetWPCount = true;
2315	-	2152	_getpWP(1); //get the itemscount of wp
2335	-	2153	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2154	{
		2155	Thread.Sleep(10);
		2156	iTimeout++;
		2157	}
		2158	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2159	_getWPList();
		2160	}
		2161	void _getWPList()
		2162	{
		2163	_bGetWP = true;
2313	-	2164	int iTimeout=0;
		2165	for (int j = 0; j < _iWPCount; j++)
2287	-	2166	{
		2167	_getpWP(j + 1);
2313	-	2168	iTimeout = 0;
		2169	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2170	{
		2171	Thread.Sleep(1);
		2172	iTimeout++;
		2173	}
2287	-	2174	}
		2175	}
2363	-	2176	/// <summary>
		2177	/// Wrapper for _clearCopterWPList()
		2178	/// necessary, cause it is called by threadnew which does not like return values...
		2179	/// </summary>
2340	-	2180	void clearCopterWPList()
2313	-	2181	{
2340	-	2182	_clearCopterWPList();
		2183	}
2363	-	2184	/// <summary>
		2185	/// clear the WP list of the copter
		2186	/// by sending 'invalid' and index '0'
		2187	/// </summary>
		2188	/// <returns></returns>
2340	-	2189	bool _clearCopterWPList()
		2190	{
2335	-	2191	int iTimeout = 0;
2313	-	2192	if (serialPortCtrl.Port.IsOpen)
		2193	{
		2194	byte[] bData = new byte[30];
		2195	for (int i = 0; i < 30; i++)
		2196	bData[i] = 0;
		2197	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2198	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2199	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2200
2313	-	2201	_iWPCount = -1;
2340	-	2202	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2203	{
2313	-	2204	Thread.Sleep(10);
2335	-	2205	iTimeout++;
		2206	}
2313	-	2207	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2208	if (_iWPCount > -1)
2340	-	2209	return true;
		2210	else
		2211	Log(LogMsgType.Error, "Timeout while sending list!");
		2212	}
		2213	else
		2214	Log(LogMsgType.Error, "NOT CONNECTED!");
		2215
		2216	return false;
		2217	}
		2218	void _sendWPList()
		2219	{
2362	-	2220	_sendWPList(0);
		2221	}
		2222	void _sendWPList(int iStart)
		2223	{
2340	-	2224	int iTimeout = 0;
		2225	if (serialPortCtrl.Port.IsOpen)
		2226	{
		2227	if (_clearCopterWPList())
2313	-	2228	{
2362	-	2229	int k = 1;
		2230	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	2231	{
2362	-	2232	k = iStart > 0 ? k : -1;
		2233	_sendWayPoint(dtWaypoints.Rows[i], k, 'w');
2313	-	2234
2335	-	2235	_iWPCount = -1;
		2236	iTimeout = 0;
		2237	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2238	{
		2239	Thread.Sleep(10);
		2240	iTimeout++;
		2241	}
		2242	if (_iWPCount == -1)
		2243	{
		2244	Log(LogMsgType.Error, "Timeout while sending list!");
		2245	break;
		2246	}
		2247	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	2248	k++;
2335	-	2249	}
2313	-	2250	}
		2251	}
		2252	else
		2253	Log(LogMsgType.Error, "NOT CONNECTED!");
		2254
		2255	}
2356	-	2256	bool _sendWayPoint(DataRow dr, int index, char command)
2340	-	2257	{
2313	-	2258
2340	-	2259	if (serialPortCtrl.Port.IsOpen)
		2260	{
		2261	byte[] bData = new byte[30];
		2262	for (int i = 0; i < 30; i++)
		2263	bData[i] = 0;
		2264	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2265	byte[] bytes;
		2266	int iVal;
		2267	double dVal;
		2268	NumberFormatInfo nfi = new NumberFormatInfo();
		2269	nfi.NumberDecimalSeparator = ",";
		2270
		2271	//longitude
		2272	dVal = Convert.ToDouble(dr[4], nfi);
		2273	iVal = (int)(dVal * Math.Pow(10, 7));
		2274	bData[0] = (byte)(iVal & 0xff);
		2275	bData[1] = (byte)((iVal >> 8) & 0xff);
		2276	bData[2] = (byte)((iVal >> 16) & 0xff);
		2277	bData[3] = (byte)(iVal >> 24);
		2278	//latitude
		2279	dVal = Convert.ToDouble(dr[3], nfi);
		2280	iVal = (int)(dVal * Math.Pow(10, 7));
		2281	bData[4] = (byte)(iVal & 0xff);
		2282	bData[5] = (byte)((iVal >> 8) & 0xff);
		2283	bData[6] = (byte)((iVal >> 16) & 0xff);
		2284	bData[7] = (byte)(iVal >> 24);
		2285	//altitude
		2286	dVal = Convert.ToDouble(dr[5], nfi);
		2287	iVal = (int)(dVal * 10);
		2288	bData[8] = (byte)(iVal & 0xff);
		2289	bData[9] = (byte)((iVal >> 8) & 0xff);
		2290	bData[10] = (byte)((iVal >> 16) & 0xff);
		2291	bData[11] = (byte)(iVal >> 24);
		2292	//Status 'NEWDATA'
		2293	bData[12] = 1;
		2294	//heading
		2295	iVal = Convert.ToInt16(dr[6]);
		2296	bData[13] = (byte)(iVal & 0xff);
		2297	bData[14] = (byte)((iVal >> 8) & 0xff);
		2298	//ToleranceRadius
		2299	bData[15] = Convert.ToByte(dr[9]);
		2300	//HoldTime
		2301	bData[16] = Convert.ToByte(dr[10]);
		2302	//Event_Flag
		2303	bData[17] = Convert.ToByte(dr[13]);
		2304	//Index
		2305	bData[18] = index > 0 ? (byte)index : Convert.ToByte((int)dr[0]);
		2306	//Type
		2307	bData[19] = Convert.ToByte(dr[1]);
		2308	//WP_EventChannelValue
		2309	bData[20] = Convert.ToByte(dr[14]);
		2310	//AltitudeRate
		2311	bData[21] = Convert.ToByte(dr[8]);
		2312	//Speed
		2313	bData[22] = Convert.ToByte(dr[7]);
		2314	//CamAngle
		2315	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2316	//Name
2362	-	2317	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		2318	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	2319	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2320	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2321	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2322	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2323	//Autotrigger
		2324	bData[28] = Convert.ToByte(dr[11]);
		2325
2356	-	2326	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	2327	serialStream.Write(bytes, 0, bytes.Length);
		2328
		2329	return true;
		2330	}
		2331
		2332	return false;
		2333	}
2287	-	2334	#region OSD-Menue
		2335
		2336	/// <summary>
		2337	/// one time query of the OSD Menue with pagenumber
		2338	/// </summary>
		2339	/// <param name="iMenue">Menue page</param>
		2340	void _OSDMenue(int iMenue)
		2341	{
		2342	if (serialPortCtrl.Port.IsOpen)
		2343	{
		2344	if (iMenue > iOSDMax)
		2345	iMenue = 0;
		2346	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2347	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2348	serialStream.Write(bytes, 0, bytes.Length);
		2349	}
		2350	else
		2351	Log(LogMsgType.Error, "NOT CONNECTED!");
		2352
		2353	}
		2354	/// <summary>
		2355	/// call the OSDMenue and start autorefresh
		2356	/// usually by sending a menuekey
		2357	/// 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)
		2358	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2359	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2360	/// </summary>
		2361	void _OSDMenueAutoRefresh()
		2362	{
		2363	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2364	}
		2365	void _OSDMenueAutoRefresh(byte key)
		2366	{
		2367	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2368	}
		2369	/// <summary>
		2370	/// initialize the OSD menue combobox
		2371	/// combox is filled by numbers from 0 to max pagenumber
		2372	/// </summary>
		2373	void _initOSDCB()
		2374	{
		2375	_bCBInit = true;
		2376	if (iOSDMax == 0)
		2377	{
		2378	_OSDMenue(0);
		2379	Thread.Sleep(10);
		2380	}
		2381	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2382	for (int i = 0; i <= iOSDMax; i++)
		2383	{
		2384	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2385	}
		2386	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2387	_bCBInit = false;
		2388	}
		2389	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2390	{
		2391	iOSDPage++;
		2392	if (iOSDPage > iOSDMax)
		2393	iOSDPage = 0;
		2394
		2395	_OSDMenue(iOSDPage);
		2396	}
		2397	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2398	{
		2399	iOSDPage--;
		2400	if (iOSDPage < 0)
		2401	iOSDPage = iOSDMax;
		2402
		2403	_OSDMenue(iOSDPage);
		2404	}
		2405	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2406	{
		2407	_OSDMenueAutoRefresh(8);
		2408	}
		2409	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2410	{
		2411	_OSDMenueAutoRefresh(4);
		2412	}
		2413	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2414	{
		2415	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2416	_OSDMenue(cbOSD.SelectedIndex);
		2417	}
		2418	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2419	{
		2420	Dispatcher.Invoke(() =>
		2421	{
		2422	TextRange tr;
		2423	if (bNew)
		2424	{
		2425	rtfOSD.SelectAll();
		2426	rtfOSD.Selection.Text = string.Empty;
		2427	}
		2428	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2429	tr.Text = msg;
		2430	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2431	// rtfOSD.AppendText("\r");
		2432	rtfOSD.ScrollToEnd();
		2433
		2434	});
		2435	}
		2436
		2437	#endregion OSD-Menue
		2438
		2439	#endregion controller messages
		2440
2295	-	2441	void _mediaPlayer(string file)
		2442	{
		2443	if (File.Exists(file))
		2444	{
		2445	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		2446	mp.Open(file);
		2447	mp.Play();
		2448	}
		2449	}
2310	-	2450
2362	-	2451	#region ui
2310	-	2452	/// <summary>
		2453	/// Switch between fullscreen and normal window mode
		2454	/// save & restore scaling settings
		2455	/// </summary>
		2456	/// <param name="sender"></param>
		2457	/// <param name="e"></param>
2287	-	2458	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2459	{
		2460	if (winState.isMaximized)
		2461	{
		2462	winState.Restore(this);
		2463	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2464	if(_bSaveWinStateFull)
		2465	_saveScaleSliders(true);
		2466	if(_bSaveWinStateNormal)
		2467	_setScaleSliders(false);
		2468	}
		2469	else
		2470	{
		2471	winState.Maximize(this);
		2472	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2473	if(_bSaveWinStateNormal)
		2474	_saveScaleSliders(false);
		2475	if(_bSaveWinStateFull)
		2476	_setScaleSliders(true);
		2477	}
		2478	}
		2479
		2480	/// <summary>
		2481	/// reset the scaling of all UI elements to default
		2482	/// </summary>
		2483	/// <param name="sender"></param>
		2484	/// <param name="e"></param>
		2485	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2486	{
		2487	UIScaleHorizonSlider.Value =
		2488	UIScaleLOGSlider.Value =
		2489	UIScaleMotorsSlider.Value =
		2490	UIScaleOSDSlider.Value =
		2491	UIScaleSlider.Value =
		2492	UIScaleTopSlider.Value = 1;
		2493	}
		2494	/// <summary>
		2495	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2496	/// </summary>
		2497	/// <param name="sender"></param>
		2498	/// <param name="e"></param>
		2499	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2500	{
		2501	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2502	if (GridMotors != null)
		2503	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2504	if (GridSideBar != null)
		2505	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2506	if (GridOSD != null)
		2507	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2508	if (GridData != null)
		2509	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2510	if (GridWP != null)
		2511	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2512	}
2310	-	2513	/// <summary>
		2514	/// restore the saved scalings for the fullscreen/normal window mode
		2515	/// </summary>
		2516	/// <param name="bFull">the mode the window is set to</param>
2287	-	2517	void _setScaleSliders(bool bFull)
		2518	{
		2519	if(bFull)
		2520	{
		2521	UIScaleSlider.Value = scaleFullAll;
		2522	UIScaleTopSlider.Value = scaleFullTopBar;
		2523	UIScaleMotorsSlider.Value = scaleFullMotors;
		2524	UIScaleOSDSlider.Value = scaleFullOSD;
		2525	UIScaleLOGSlider.Value = scaleFullLOG;
		2526	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2527	}
		2528	else
		2529	{
		2530	UIScaleSlider.Value = scaleNormalAll;
		2531	UIScaleTopSlider.Value = scaleNormalTopBar;
		2532	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2533	UIScaleOSDSlider.Value = scaleNormalOSD;
		2534	UIScaleLOGSlider.Value = scaleNormalLOG;
		2535	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2536	}
		2537	}
		2538
2310	-	2539	/// <summary>
		2540	/// save the scalings for the actual window mode
		2541	/// </summary>
		2542	/// <param name="bFull">the actual window mode</param>
2287	-	2543	void _saveScaleSliders(bool bFull)
		2544	{
		2545
		2546	if (bFull)
		2547	{
		2548	scaleFullAll = UIScaleSlider.Value;
		2549	scaleFullTopBar = UIScaleTopSlider.Value;
		2550	scaleFullMotors = UIScaleMotorsSlider.Value;
		2551	scaleFullOSD = UIScaleOSDSlider.Value;
		2552	scaleFullLOG = UIScaleLOGSlider.Value;
		2553	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2554	}
		2555	else
		2556	{
		2557	scaleNormalAll = UIScaleSlider.Value;
		2558	scaleNormalTopBar = UIScaleTopSlider.Value;
		2559	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2560	scaleNormalOSD = UIScaleOSDSlider.Value;
		2561	scaleNormalLOG = UIScaleLOGSlider.Value;
		2562	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2563	}
		2564	}
2362	-	2565	#endregion ui
2287	-	2566
		2567	/// <summary>
		2568	/// read settings from ini-file
		2569	/// </summary>
		2570	void _readIni()
		2571	{
		2572	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2573	_writeIni();
		2574	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2575	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2576	try
		2577	{
2287	-	2578
2312	-	2579	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2580	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2581	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2582	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2583	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2584	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2585	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2586	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2587
2312	-	2588	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2589	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2590	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2591	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2592	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2593	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2594	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2595	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2596
2312	-	2597	sVal = ini.IniReadValue("topBar", "voltage");
		2598	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2599	sVal = ini.IniReadValue("topBar", "capacity");
		2600	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2601	sVal = ini.IniReadValue("topBar", "current");
		2602	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2603	sVal = ini.IniReadValue("topBar", "flightTime");
		2604	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2605	sVal = ini.IniReadValue("topBar", "distanceHP");
		2606	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2607	sVal = ini.IniReadValue("topBar", "height");
		2608	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2609	sVal = ini.IniReadValue("topBar", "speed");
		2610	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2611	sVal = ini.IniReadValue("topBar", "magneticField");
		2612	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2613	sVal = ini.IniReadValue("topBar", "satellites");
		2614	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2615	sVal = ini.IniReadValue("topBar", "rc");
		2616	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2617
2312	-	2618	sVal = ini.IniReadValue("style", "saveFullScreen");
		2619	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2620	sVal = ini.IniReadValue("style", "saveNormalState");
		2621	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2622
2312	-	2623	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2624	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2625	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2626	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2627	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2628	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2629	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2630	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2631	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2632	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2633	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2634	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2635
2312	-	2636	sVal = ini.IniReadValue("style", "scaleFullAll");
		2637	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2638	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2639	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2640	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2641	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2642	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2643	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2644	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2645	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2646	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2647	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2648
2312	-	2649	sVal = ini.IniReadValue("general", "LiPoCells");
		2650	_LipoCells = Convert.ToInt16(sVal);
		2651	sVal = ini.IniReadValue("general", "Motors");
		2652	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2653
2312	-	2654	sVal = ini.IniReadValue("map", "followMe");
		2655	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2656	sVal = ini.IniReadValue("map", "AutoSetHome");
		2657	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2658	sVal = ini.IniReadValue("map", "GPXLog");
		2659	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2660
2312	-	2661	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2662	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2663	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2664	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2665	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2666	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2667	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2668	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2669	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2670	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2671	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2672	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2673	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2674	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2675	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2676	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2677	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2678	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2679	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2680	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2681	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2682	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2683
		2684	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2685	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2686	sVal = ini.IniReadValue("waypoints", "poicolor");
		2687	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2688	sVal = ini.IniReadValue("waypoints", "fscolor");
		2689	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2690	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2691	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	2692	sVal = ini.IniReadValue("waypoints", "routecolor");
		2693	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		2694	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		2695	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2349	-	2696
		2697	for (int i = 0; i < 12; i++)
		2698	{
		2699	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		2700	if (sVal != "")
		2701	serChan[i] = Convert.ToInt16(sVal);
		2702	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		2703	if (sVal != "")
		2704	serChanTitle[i] = sVal;
		2705	for (int y = 0; i < 4 && y < 3; y++)
		2706	{
		2707	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		2708	if (sVal != "")
		2709	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		2710	}
		2711	}
		2712
2312	-	2713	}
		2714	catch (Exception e)
		2715	{
2287	-	2716
2312	-	2717	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2718	}
		2719
2287	-	2720	}
		2721
		2722	/// <summary>
		2723	/// save settings to ini-file
		2724	/// </summary>
		2725	void _writeIni()
		2726	{
		2727
		2728	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2729	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2730
2312	-	2731	try
		2732	{
2287	-	2733
2312	-	2734	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2735	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2736	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2737	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2738
2312	-	2739	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2740	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2741	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2742	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2743
2312	-	2744	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2745	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2746
2312	-	2747	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2748	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	2749	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	2750
2312	-	2751	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2752	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2753	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2754	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2755	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2756	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2757	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2758	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2759	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2760	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2761
2312	-	2762	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2763	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2764
2312	-	2765	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2766	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2767	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2768	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2769	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2770	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	2771
2312	-	2772	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2773	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2774	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2775	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2776	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2777	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	2778
2312	-	2779	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2780
		2781	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2782	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2783	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2784	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2785	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2786	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2787	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2788	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2789	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2790	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2791	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	2792
		2793	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		2794	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		2795	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		2796	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2328	-	2797	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		2798	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2349	-	2799
		2800	for (int i = 0; i < 12; i++)
		2801	{
		2802	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		2803	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		2804	for (int y = 0; i < 4 && y < 3; y++)
		2805	{
		2806	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		2807	}
		2808	}
		2809
2312	-	2810	}
		2811	catch (Exception e)
		2812	{
		2813
		2814	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);
		2815	}
2287	-	2816	}
2350	-	2817
2349	-	2818	#region serial channels
		2819	/// <summary>
		2820	/// Sending the serial channel values
		2821	/// </summary>
		2822	void _sendSerialData()
		2823	{
		2824	byte[] serData = new byte[12];
		2825	for (int i = 0; i < 12; i++)
		2826	{
		2827	serData[i] = unchecked((byte)(serChan[i] - 127));
		2828	}
		2829	_sendControllerMessage('y', 1, serData);
		2830	}
		2831	/// <summary>
		2832	/// init the controls for displaying
		2833	/// and setting serial control channels
		2834	/// </summary>
		2835	void _initSerialCtrl()
		2836	{
		2837	SerChan1ScaleSlider.Value = serChan[0];
		2838	textBoxSerial1.Text = serChanTitle[0];
		2839	SerChan2ScaleSlider.Value = serChan[1];
		2840	textBoxSerial2.Text = serChanTitle[1];
2350	-	2841	SerChan3ScaleSlider.Value = serChan[2];
		2842	textBoxSerial3.Text = serChanTitle[2];
2349	-	2843	//SerChan4ScaleSlider.Value = serChan[3];
		2844	//textBoxSerial4.Text = serChanTitle[3];
		2845	//trckbarSerial5.Value = serChan[4];
		2846	//textBoxSerial5.Text = serChanTitle[4];
		2847	//trckbarSerial6.Value = serChan[5];
		2848	//textBoxSerial6.Text = serChanTitle[5];
		2849	//trckbarSerial7.Value = serChan[6];
		2850	//textBoxSerial7.Text = serChanTitle[6];
		2851	//trckbarSerial8.Value = serChan[7];
		2852	//textBoxSerial8.Text = serChanTitle[7];
2312	-	2853
2349	-	2854	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		2855	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		2856	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		2857	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		2858	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		2859	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	2860	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		2861	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		2862	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	2863	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		2864	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		2865	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		2866	}
		2867	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2868	{
		2869	if (!_init)
		2870	{
		2871	serChan[0] = (int)SerChan1ScaleSlider.Value;
		2872	_sendSerialData();
		2873	}
		2874	}
		2875	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		2876	{
		2877	if (!_init)
		2878	{
		2879	serChanTitle[0] = textBoxSerial1.Text;
		2880	}
		2881	}
		2882	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		2883	{
		2884	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		2885	{
		2886	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		2887	}
		2888	}
		2889	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		2890	{
		2891	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		2892	{
		2893	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		2894	}
		2895	}
		2896	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		2897	{
		2898	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		2899	{
		2900	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		2901	}
		2902	}
		2903	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		2904	{
		2905	if (textBoxSerial1_val1.Text.Length > 0)
		2906	{
		2907	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		2908	}
		2909	}
		2910	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		2911	{
		2912	SerChan1ScaleSlider.Value = 0;
		2913	}
		2914	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		2915	{
		2916	SerChan1ScaleSlider.Value = 127;
		2917	}
		2918	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		2919	{
		2920	SerChan1ScaleSlider.Value = 254;
		2921	}
		2922	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		2923	{
		2924	if (textBoxSerial1_val2.Text.Length > 0)
		2925	{
		2926	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		2927	}
		2928	}
		2929	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		2930	{
		2931	if (textBoxSerial1_val3.Text.Length > 0)
		2932	{
		2933	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		2934	}
		2935	}
		2936
		2937	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2938	{
		2939	if (!_init)
		2940	{
		2941	serChan[1] = (int)SerChan2ScaleSlider.Value;
		2942	_sendSerialData();
		2943	}
		2944	}
		2945	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		2946	{
		2947	if (!_init)
		2948	{
		2949	serChanTitle[1] = textBoxSerial2.Text;
		2950	}
		2951	}
		2952	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		2953	{
		2954	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		2955	{
		2956	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		2957	}
		2958	}
		2959	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		2960	{
		2961	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		2962	{
		2963	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		2964	}
		2965	}
		2966	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		2967	{
		2968	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		2969	{
		2970	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		2971	}
		2972	}
		2973	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		2974	{
		2975	SerChan2ScaleSlider.Value = 0;
		2976	}
		2977	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		2978	{
		2979	SerChan2ScaleSlider.Value = 127;
		2980	}
		2981	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		2982	{
		2983	SerChan2ScaleSlider.Value = 254;
		2984	}
		2985	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		2986	{
		2987	if (textBoxSerial2_val1.Text.Length > 0)
		2988	{
		2989	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		2990	}
		2991	}
		2992	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		2993	{
		2994	if (textBoxSerial2_val2.Text.Length > 0)
		2995	{
		2996	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		2997	}
		2998	}
		2999	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3000	{
		3001	if (textBoxSerial2_val3.Text.Length > 0)
		3002	{
		3003	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3004	}
		3005	}
2350	-	3006
		3007	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3008	{
		3009	if (!_init)
		3010	{
		3011	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3012	_sendSerialData();
		3013	}
		3014	}
		3015	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3016	{
		3017	if (!_init)
		3018	{
		3019	serChanTitle[2] = textBoxSerial3.Text;
		3020	}
		3021	}
		3022	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3023	{
		3024	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3025	{
		3026	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3027	}
		3028	}
		3029	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3030	{
		3031	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3032	{
		3033	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3034	}
		3035	}
		3036	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3037	{
		3038	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3039	{
		3040	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3041	}
		3042	}
		3043	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3044	{
		3045	SerChan3ScaleSlider.Value = 0;
		3046	}
		3047	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3048	{
		3049	SerChan3ScaleSlider.Value = 127;
		3050	}
		3051	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3052	{
		3053	SerChan3ScaleSlider.Value = 254;
		3054	}
		3055	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3056	{
		3057	if (textBoxSerial3_val1.Text.Length > 0)
		3058	{
		3059	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3060	}
		3061	}
		3062	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3063	{
		3064	if (textBoxSerial3_val2.Text.Length > 0)
		3065	{
		3066	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3067	}
		3068	}
		3069	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3070	{
		3071	if (textBoxSerial3_val3.Text.Length > 0)
		3072	{
		3073	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3074	}
		3075	}
2349	-	3076	/// <summary>
		3077	/// checks the input of a textbox
		3078	/// for valid data
		3079	/// in this case values 0-254
		3080	/// </summary>
		3081	/// <param name="sender"></param>
		3082	/// <param name="e"></param>
		3083	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3084	{
		3085	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3086	e.Handled = true;
		3087	else
		3088	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3089	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3090	e.Handled = true;
		3091	else
		3092	{
		3093	int i = -1;
		3094	switch (((TextBox)sender).Name)
		3095	{
		3096	case "textBoxSerial1_val1":
		3097	i = 0;
		3098	break;
		3099	case "textBoxSerial1_val2":
		3100	i = 1;
		3101	break;
		3102	case "textBoxSerial1_val3":
		3103	i = 2;
		3104	break;
		3105	case "textBoxSerial2_val1":
		3106	i = 3;
		3107	break;
		3108	case "textBoxSerial2_val2":
		3109	i = 4;
		3110	break;
		3111	case "textBoxSerial2_val3":
		3112	i = 5;
		3113	break;
		3114	case "textBoxSerial3_val1":
		3115	i = 6;
		3116	break;
		3117	case "textBoxSerial3_val2":
		3118	i = 7;
		3119	break;
		3120	case "textBoxSerial3_val3":
		3121	i = 8;
		3122	break;
		3123	case "textBoxSerial4_val1":
		3124	i = 9;
		3125	break;
		3126	case "textBoxSerial4_val2":
		3127	i = 10;
		3128	break;
		3129	case "textBoxSerial4_val3":
		3130	i = 11;
		3131	break;
		3132	}
		3133	if (i > -1)
		3134	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3135	}
		3136	}
		3137
		3138	#endregion serial channels
2315	-	3139	#region WP
2312	-	3140	void _readWPLFile()
		3141	{
		3142	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3143	fd.Filter = "Waypointlists \| *.wpl";
		3144	fd.Multiselect = false;
		3145	if (fd.ShowDialog().Value)
		3146	{
		3147	string file = fd.SafeFileName;
		3148	IniFile ini = new IniFile(fd.SafeFileName);
		3149	ini.path = fd.FileName;
		3150
		3151	try
		3152	{
		3153	string sVal = ini.IniReadValue("General", "FileVersion");
		3154	if (sVal == "")
		3155	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3156	else
		3157	{
		3158	if (Convert.ToInt16(sVal) < 3)
		3159	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3160	else
		3161	{
		3162	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3163	if (sVal == "")
		3164	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3165	else
		3166	{
		3167	int wpnum = Convert.ToInt16(sVal);
		3168	string wp;
		3169	int i;
2313	-	3170	NumberFormatInfo nfi = new NumberFormatInfo();
		3171	nfi.NumberDecimalSeparator = ".";
2312	-	3172	dtWaypoints.Rows.Clear();
2356	-	3173	_wpEdit = -1;
2327	-	3174	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	3175	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	3176	wpList.Clear();
		3177	if (mRouteWP != null)
		3178	MainMap.Markers.Remove(mRouteWP);
2363	-	3179	//if (wpActiveMarker != null)
		3180	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	3181	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3182
2312	-	3183	for (int k = 1; k <= wpnum; k++)
		3184	{
		3185	DataRow dr = dtWaypoints.NewRow();
		3186	dr.ItemArray = new object[16];
		3187	object[] o = new object[16];
		3188	i = 0;
		3189	wp = "Point" + k.ToString();
		3190	o[i] = k;
		3191	i++;
		3192	sVal = ini.IniReadValue(wp, "Type");
		3193	if (sVal != "")
2315	-	3194	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3195	i++;
		3196	sVal = ini.IniReadValue(wp, "Prefix");
		3197	if (sVal != "")
2350	-	3198	o[i] = sVal + k.ToString();
		3199	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3200	i++;
2313	-	3201	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3202	if (sVal != "")
2313	-	3203	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3204	i++;
2313	-	3205	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3206	if (sVal != "")
2313	-	3207	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3208	i++;
		3209	sVal = ini.IniReadValue(wp, "Altitude");
		3210	if (sVal != "")
2313	-	3211	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3212	i++;
		3213	sVal = ini.IniReadValue(wp, "Heading");
		3214	if (sVal != "")
		3215	o[i] = Convert.ToInt16(sVal);
		3216	i++;
		3217	sVal = ini.IniReadValue(wp, "Speed");
		3218	if (sVal != "")
2315	-	3219	o[i] = Convert.ToInt16(sVal);
2312	-	3220	i++;
		3221	sVal = ini.IniReadValue(wp, "ClimbRate");
		3222	if (sVal != "")
		3223	o[i] = Convert.ToInt16(sVal);
		3224	i++;
		3225	sVal = ini.IniReadValue(wp, "Radius");
		3226	if (sVal != "")
		3227	o[i] = Convert.ToInt16(sVal);
		3228	i++;
		3229	sVal = ini.IniReadValue(wp, "DelayTime");
		3230	if (sVal != "")
		3231	o[i] = Convert.ToInt16(sVal);
		3232	i++;
		3233	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3234	if (sVal != "")
		3235	o[i] = Convert.ToInt16(sVal); ;
		3236	i++;
		3237	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3238	if (sVal != "")
2313	-	3239	o[i] = Convert.ToInt16(sVal);
2312	-	3240	i++;
		3241	o[i] = 0;
		3242	i++;
		3243	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3244	if (sVal != "")
		3245	o[i] = Convert.ToInt16(sVal);
		3246	i++;
		3247	o[i] = "New";
		3248
		3249	dr.ItemArray = o;
		3250	dtWaypoints.Rows.Add(dr);
2363	-	3251	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1]);
2315	-	3252
2312	-	3253	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3254	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3255	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3256	Thread.Sleep(10);
		3257	}
2359	-	3258	_routeUpdate();
2312	-	3259	}
		3260	}
		3261	}
		3262
		3263	}
		3264	catch (Exception e)
		3265	{
		3266
		3267	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		3268	}
		3269
		3270	}
		3271	}
2350	-	3272	void _saveWPLFile()
		3273	{
		3274	if (dtWaypoints.Rows.Count > 0)
		3275	{
		3276	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		3277	fd.Filter = "Waypointlists \| *.wpl";
		3278	fd.AddExtension = true;
		3279	if (fd.ShowDialog().Value)
		3280	{
		3281	string file = fd.SafeFileName;
		3282	IniFile ini = new IniFile(fd.SafeFileName);
		3283	ini.path = fd.FileName;
		3284	NumberFormatInfo nfi = new NumberFormatInfo();
		3285	nfi.NumberDecimalSeparator = ".";
		3286
		3287	try
		3288	{
		3289	ini.IniWriteValue("General", "FileVersion", "3");
		3290	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		3291	ini.IniWriteValue("General", "Mapfile", "");
		3292	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		3293	{
		3294	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		3295	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		3296	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		3297	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		3298	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		3299	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		3300	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		3301	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		3302	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		3303	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		3304	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		3305	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));
		3306	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		3307	}
		3308	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		3309	}
		3310	catch { }
		3311	}
		3312	}
		3313	else
		3314	MessageBox.Show("Nothing to save...");
		3315	}
		3316	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		3317	{
		3318	_saveWPLFile();
		3319	}
		3320	/// <summary>
		3321	/// set the selected color for the route
		3322	/// </summary>
		3323	/// <param name="color"></param>
		3324	/// <returns></returns>
2328	-	3325	Brush _getBrush(string color)
		3326	{
		3327	switch (color)
		3328	{
		3329	case "red":
		3330	return Brushes.Red;
		3331	case "green":
		3332	return Brushes.Lime;
		3333	case "blue":
		3334	return Brushes.Aqua;
		3335	case "pink":
		3336	return Brushes.Magenta;
		3337	case "yellow":
		3338	return Brushes.Yellow;
		3339	default:
		3340	return Brushes.Magenta;
		3341	}
		3342	}
2359	-	3343	void _routeUpdate()
		3344	{
		3345	Dispatcher.Invoke(() =>
		3346	{
		3347	if (comboBoxRouteColor.SelectionBoxItem != null)
		3348	{
		3349	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3350	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3351	}
		3352	else
		3353	mRouteWP = new GMapRoute(wpList, null);
		3354
		3355	if (_bShowWPRoute)
2363	-	3356	Dispatcher.Invoke(() => MainMap.Markers.Add(mRouteWP));
2359	-	3357	});
		3358
		3359	MapRoute mr = new MapRoute(wpList, "WPList");
		3360	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		3361
		3362	}
2363	-	3363
		3364	GMapMarker _createWP(PointLatLng p, string name, int type)
		3365	{
		3366	GMapMarker wpMarker = new GMapMarker(p);
		3367	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
		3368	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		3369	wpMarker.ZIndex = 100;
		3370	_setMarkerColor(wpMarker, type);
		3371	Dispatcher.Invoke(() => MainMap.Markers.Add(wpMarker));
		3372	if (type == 0)
		3373	wpList.Add(p);
		3374	return wpMarker;
		3375	}
2315	-	3376	void _setMarkerColor(GMapMarker wpMarker,int iType)
		3377	{
		3378	Dispatcher.Invoke(() =>
		3379	{
		3380	switch (iType)
		3381	{
		3382	case 0:
		3383	if (comboBoxWPColor.SelectionBoxItem != null)
		3384	{
		3385	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3386	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3387	}
		3388	else
		3389	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3390	break;
		3391	case 1:
		3392	if (comboBoxPOIColor.SelectionBoxItem != null)
		3393	{
		3394	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3395	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3396	}
		3397	else
		3398	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3399	break;
		3400	case 2:
		3401	if (comboBoxFSColor.SelectionBoxItem != null)
		3402	{
		3403	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3404	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3405	}
		3406	else
		3407	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3408	break;
		3409	default:
		3410	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3411	break;
		3412	}
		3413	});
2312	-	3414
2315	-	3415	}
		3416	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2312	-	3417	{
2315	-	3418	Dispatcher.Invoke(() =>
		3419	{
		3420	if (comboBoxWPColor.SelectionBoxItem != null)
		3421	{
		3422	for (int k = 0; k < MainMap.Markers.Count;k++)
		3423	{
		3424	GMapMarker p = MainMap.Markers[k];
		3425	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		3426	{
		3427	if (((CustomMarkerWP)p.Shape).WPType == 0)
		3428	{
		3429	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3430	((CustomMarkerWP)(p.Shape)).setColor(s);
		3431	}
		3432	}
		3433	}
		3434	}
		3435	});
2312	-	3436	}
2315	-	3437	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		3438	{
		3439	Dispatcher.Invoke(() =>
		3440	{
		3441	if (comboBoxPOIColor.SelectionBoxItem != null)
		3442	{
		3443	for (int k = 0; k < MainMap.Markers.Count; k++)
		3444	{
		3445	GMapMarker p = MainMap.Markers[k];
		3446	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		3447	{
		3448	if (((CustomMarkerWP)p.Shape).WPType == 1)
		3449	{
		3450	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3451	((CustomMarkerWP)(p.Shape)).setColor(s);
		3452	}
		3453	}
		3454	}
		3455	}
		3456	});
2287	-	3457
2315	-	3458	}
		3459	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
2287	-	3460	{
2315	-	3461	Dispatcher.Invoke(() =>
		3462	{
		3463	if (comboBoxFSColor.SelectionBoxItem != null)
		3464	{
		3465	for (int k = 0; k < MainMap.Markers.Count; k++)
		3466	{
		3467	GMapMarker p = MainMap.Markers[k];
		3468	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		3469	{
		3470	if (((CustomMarkerWP)p.Shape).WPType == 2)
		3471	{
		3472	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3473	((CustomMarkerWP)(p.Shape)).setColor(s);
		3474	}
		3475	}
		3476	}
		3477	}
		3478	});
2287	-	3479	}
2318	-	3480	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
		3481	{
		3482	Dispatcher.Invoke(() => {
		3483	if (comboBoxCopterColor.SelectionBoxItem != null)
		3484	{
		3485	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		3486	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		3487	}
		3488	else
		3489	((CustomMarkerCopter)(copter.Shape)).setColor("red");
		3490	});
		3491	}
2328	-	3492	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3493	{
		3494	Dispatcher.Invoke(() =>
		3495	{
		3496	if (comboBoxRouteColor.SelectionBoxItem != null)
		3497	{
		3498	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3499	MainMap.Markers.Remove(mRouteWP);
		3500	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3501	if (_bShowWPRoute)
		3502	MainMap.Markers.Add(mRouteWP);
		3503	}
		3504	});
		3505	}
		3506	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3507	{
		3508	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3509	if (_bShowWPRoute)
		3510	{
		3511	if (mRouteWP != null)
		3512	MainMap.Markers.Add(mRouteWP);
		3513	}
		3514	else
		3515	{
		3516	if (mRouteWP != null)
		3517	MainMap.Markers.Remove(mRouteWP);
		3518	}
		3519	}
2315	-	3520	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3521	{
2315	-	3522	_readWPLFile();
2287	-	3523	}
2335	-	3524	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3525	{
		3526	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	3527	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	3528	wpList.Clear();
		3529	if (mRouteWP != null)
		3530	MainMap.Markers.Remove(mRouteWP);
2347	-	3531	//if (wpActiveMarker != null)
		3532	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	3533	dtWaypoints.Rows.Clear();
2356	-	3534	_wpEdit = -1;
2335	-	3535	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3536	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3537	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3538	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3539	}
2340	-	3540	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3541	{
		3542	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3543	t.Start();
		3544	}
2355	-	3545	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	3546	{
		3547	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3548	{
2362	-	3549	//if (_wpCount > 0)
		3550	// _sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1,'s');
		3551	//else
		3552	// _sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1,'s');
2363	-	3553
2362	-	3554	int index = dgvWP.SelectedIndex;
		3555	Thread t = new Thread(() => _sendWPList(index));
		3556	t.Start();
2354	-	3557
		3558	Dispatcher.Invoke(() => {
		3559	DataGridRow row;
2356	-	3560	if (_wpIndex > -1 && _wpIndex < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	3561	{
		3562	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		3563	row.Background = new SolidColorBrush(Colors.Transparent);
		3564	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3565	row.BorderThickness = new Thickness(0);
		3566	}
		3567	_wpIndex = dgvWP.SelectedIndex;
		3568	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		3569	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		3570	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		3571	row.BorderThickness = new Thickness(2);
2355	-	3572	dgvWP.UpdateLayout();
2354	-	3573	});
2340	-	3574	}
		3575	}
2355	-	3576	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		3577	{
2359	-	3578	_dgvWPselectEditRow();
		3579	}
		3580	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		3581	{
		3582	}
		3583	void _dgvWPselectEditRow()
		3584	{
2355	-	3585	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3586	{
		3587	Dispatcher.Invoke(() => {
		3588	DataGridRow row;
		3589	if (_wpEdit > -1)
		3590	{
		3591	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3592	row.Background = new SolidColorBrush(Colors.Transparent);
		3593	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3594	row.BorderThickness = new Thickness(0);
		3595	}
		3596	_wpEdit = dgvWP.SelectedIndex;
		3597	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3598	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		3599	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		3600	row.BorderThickness = new Thickness(2);
		3601	dgvWP.UpdateLayout();
2340	-	3602
2355	-	3603	_setWPEditFields(_wpEdit);
		3604	});
		3605	}
		3606	}
		3607	void _setWPEditFields(int index)
		3608	{
		3609	int iVal;
		3610	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		3611	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		3612	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		3613	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		3614	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		3615	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		3616	if (iVal == 0)
		3617	{
		3618	cbWPEditHeading.SelectedIndex = 0;
		3619	tbWPEditHeading.Text = " - - -";
		3620	tbWPEditHeading.IsReadOnly = true;
		3621	}
		3622	if (iVal > 0 && iVal < 360)
		3623	{
		3624	cbWPEditHeading.SelectedIndex = 2;
		3625	tbWPEditHeading.Text = iVal.ToString();
		3626	tbWPEditHeading.IsReadOnly = false;
		3627	}
		3628	if (iVal < 0)
		3629	{
		3630	cbWPEditHeading.SelectedIndex = 1;
		3631	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		3632	tbWPEditHeading.IsReadOnly = false;
		3633	}
		3634	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		3635	if (iVal == 0)
		3636	{
		3637	cbWPEditSpeed.SelectedIndex = 0;
		3638	tbWPEditSpeed.Text = "MAX";
		3639	tbWPEditSpeed.IsReadOnly = true;
		3640	}
		3641	if (iVal > 0 && iVal < 248)
		3642	{
		3643	cbWPEditSpeed.SelectedIndex = 1;
		3644	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		3645	tbWPEditSpeed.IsReadOnly = false;
		3646	}
		3647	if (iVal > 247)
		3648	{
		3649	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		3650	tbWPEditSpeed.Text = "";
		3651	tbWPEditSpeed.IsReadOnly = true;
		3652	}
		3653	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		3654	if (iVal == 255)
		3655	{
		3656	cbWPEditClimbrate.SelectedIndex = 0;
		3657	tbWPEditClimbrate.Text = "AUTO";
		3658	tbWPEditClimbrate.IsReadOnly = true;
		3659	}
		3660	else
		3661	{
		3662	cbWPEditClimbrate.SelectedIndex = 1;
		3663	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		3664	tbWPEditClimbrate.IsReadOnly = false;
		3665	}
		3666	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		3667	tbWPEditRadius.Text = iVal.ToString();
		3668	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		3669	tbWPEditHoldtime.Text = iVal.ToString();
		3670	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		3671	tbWPEditAutoTrigger.Text = iVal.ToString();
		3672	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		3673	if (iVal == 0)
		3674	{
		3675	cbWPEditCamAngle.SelectedIndex = 0;
		3676	tbWPEditCamAngle.Text = " - - - ";
		3677	tbWPEditCamAngle.IsReadOnly = true;
		3678	}
		3679	if (iVal < 0 \| iVal == 255)
		3680	{
		3681	cbWPEditCamAngle.SelectedIndex = 1;
		3682	tbWPEditCamAngle.Text = "AUTO";
		3683	tbWPEditCamAngle.IsReadOnly = true;
		3684	}
		3685	if (iVal > 0 & iVal < 255)
		3686	{
		3687	cbWPEditCamAngle.SelectedIndex = 2;
		3688	tbWPEditCamAngle.Text = iVal.ToString();
		3689	tbWPEditCamAngle.IsReadOnly = false;
		3690	}
		3691	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		3692	tbWPEditOut1.Text = iVal.ToString();
		3693
		3694	}
		3695
2361	-	3696	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		3697	{
2363	-	3698	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3699	{
		3700	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		3701	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3702	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3703	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		3704	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		3705	switch (cbWPEditHeading.SelectedIndex)
		3706	{
		3707	case 0:
		3708	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		3709	break;
		3710	case 1:
		3711	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		3712	break;
		3713	case 2:
		3714	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		3715	break;
		3716	}
		3717	switch (cbWPEditSpeed.SelectedIndex)
		3718	{
		3719	case 0:
		3720	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		3721	break;
		3722	case 1:
		3723	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3724	break;
		3725	case 2:
		3726	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3727	break;
		3728	}
		3729	switch (cbWPEditClimbrate.SelectedIndex)
		3730	{
		3731	case 0:
		3732	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		3733	break;
		3734	case 1:
		3735	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		3736	break;
		3737	}
		3738	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		3739	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		3740	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		3741	switch (cbWPEditCamAngle.SelectedIndex)
		3742	{
		3743	case 0:
		3744	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		3745	break;
		3746	case 1:
		3747	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		3748	break;
		3749	case 2:
		3750	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		3751	break;
		3752	}
		3753	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	3754
2363	-	3755	_clearMapMarkers(typeof(CustomMarkerWP));
		3756	_clearMapMarkers(typeof(CustomMarkerWPActive));
		3757	wpList.Clear();
		3758	if (mRouteWP != null)
		3759	MainMap.Markers.Remove(mRouteWP);
		3760
		3761	for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		3762	{
		3763	_createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		3764	}
		3765	_routeUpdate();
		3766	dgvWP.Items.Refresh();
		3767
		3768	}
		3769
2361	-	3770	}
		3771	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		3772	{
		3773
		3774	}
		3775	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		3776	{
		3777	if(!((TextBox)sender).IsReadOnly)
		3778	{
		3779	KeyPad.Keypad k = new KeyPad.Keypad(this);
		3780
2363	-	3781	switch (((TextBox)sender).Name)
		3782	{
		3783	case "tbWPEditLat":
		3784	k.Title = "Latitude";
		3785	k.LENGTH = 17;
		3786	k.MAX = 359.9;
		3787	break;
		3788	case "tbWPEditLon":
		3789	k.Title = "Longitude";
		3790	k.LENGTH = 17;
		3791	k.MAX = 359.9;
		3792	break;
		3793	case "tbWPEditAlt":
		3794	k.Title = "Altitude";
		3795	k.LENGTH = 3;
		3796	k.MAX = 254;
		3797	k.disableDecimal();
		3798	break;
		3799	case "tbWPEditHeading":
		3800	k.Title = "Heading";
		3801	k.LENGTH = 3;
		3802	k.MAX = 359;
		3803	k.MIN = 1;
		3804	k.disableDecimal();
		3805	break;
		3806	case "tbWPEditSpeed":
		3807	k.Title = "Speed";
		3808	k.LENGTH = 4;
		3809	k.MAX = 24.7;
		3810	k.MIN = 0.1;
		3811	break;
		3812	case "tbWPEditClimbrate":
		3813	k.Title = "Climbrate";
		3814	k.LENGTH = 4;
		3815	k.MAX = 25.4;
		3816	k.MIN = 0.1;
		3817	break;
		3818	case "tbWPEditRadius":
		3819	k.Title = "Radius";
		3820	k.LENGTH = 3;
		3821	k.MAX = 254;
		3822	k.disableDecimal();
		3823	break;
		3824	case "tbWPEditHoldtime":
		3825	k.Title = "Holdtime";
		3826	k.LENGTH = 3;
		3827	k.MAX = 254;
		3828	break;
		3829	case "tbWPEditAutoTrigger":
		3830	k.Title = "Autotrigger";
		3831	k.LENGTH = 3;
		3832	k.MAX = 254;
		3833	k.disableDecimal();
		3834	break;
		3835	case "tbWPEditCamAngle":
		3836	k.Title = "Camera angle";
		3837	k.LENGTH = 3;
		3838	k.MAX = 254;
		3839	k.MIN = 1;
		3840	k.disableDecimal();
		3841	break;
		3842	case "tbWPEditOut1":
		3843	k.Title = "OUT1 timer interval";
		3844	k.LENGTH = 3;
		3845	k.MAX = 254;
		3846	k.disableDecimal();
		3847	break;
		3848	}
		3849	k.Result = ((TextBox)sender).Text;
		3850	if(k.ShowDialog() == true && k.Result.Length > 0)
		3851	((TextBox)sender).Text = k.Result;
2361	-	3852	}
		3853	}
		3854
2356	-	3855	private void tbWPEditHeading_KeyDown(object sender, KeyEventArgs e)
		3856	{
		3857	if(!tbWPEditHeading.IsReadOnly)
		3858	{
		3859	//var x = KeyInterop.VirtualKeyFromKey(e.Key);
		3860	KeyConverter x = new KeyConverter();
		3861	string s = x.ConvertToString(e.Key);
		3862
		3863	if ("1234567890,\b".IndexOf(s) < 0) //general check for valid chars(0-9) and backspace (\b)
		3864	e.Handled = true;
		3865	else
		3866	if ("\b".IndexOf(s) < 0)
		3867	if (Convert.ToInt16(((TextBox)sender).Text + s) > 360) //if valid and not backspace, check for upper limit of the resulting number
		3868	e.Handled = true;
		3869
		3870	}
		3871	}
2361	-	3872	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	3873	{
2359	-	3874	object[] o = new object[16];
2356	-	3875
2359	-	3876	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		3877	o[1] = 0;
		3878	// cbWPEditType.SelectedIndex = 0;
		3879	// tbWPEditPrefix.Text = "P";
		3880	o[2] = "P" + o[0].ToString();
		3881	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		3882	o[3] = copter.Position.Lat;
		3883	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		3884	o[4] = copter.Position.Lng;
		3885	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		3886	o[5] = iAnalogData[4].ToString();
2356	-	3887
2359	-	3888	// cbWPEditHeading.SelectedIndex = 2;
		3889	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		3890	// tbWPEditHeading.IsReadOnly = false;
2356	-	3891
2359	-	3892	// cbWPEditSpeed.SelectedIndex = 1;
		3893	// tbWPEditSpeed.Text = "5.0";
		3894	// tbWPEditSpeed.IsReadOnly = false;
		3895	o[7] = "50";
2356	-	3896
2359	-	3897	// cbWPEditClimbrate.SelectedIndex = 1;
		3898	// tbWPEditClimbrate.Text = "5.0";
		3899	// tbWPEditClimbrate.IsReadOnly = false;
		3900	o[8] = "50";
2356	-	3901
2359	-	3902	// tbWPEditRadius.Text = "10";
		3903	o[9] = "10";
		3904	// tbWPEditHoldtime.Text = "5";
		3905	o[10] = "5";
		3906	// tbWPEditAutoTrigger.Text = "0";
		3907	o[11] = "0";
		3908	// cbWPEditCamAngle.SelectedIndex = 1;
		3909	// tbWPEditCamAngle.Text = "AUTO";
		3910	// tbWPEditCamAngle.IsReadOnly = true;
		3911	o[12] = "255";
2356	-	3912
2359	-	3913	o[13] = "0";
		3914	// tbWPEditOut1.Text = "0";
		3915	o[14] = "0";
		3916	o[15] = "0";
		3917
		3918	dtWaypoints.Rows.Add(o);
		3919	GMapMarker wpMarker = new GMapMarker(new PointLatLng((double)o[3], (double)o[4]));
		3920	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, (string)o[2], (int)o[1]);
		3921	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		3922	wpMarker.ZIndex = 100;
		3923	_setMarkerColor(wpMarker, (int)o[1]);
		3924	MainMap.Markers.Add(wpMarker);
		3925	wpList.Add(new PointLatLng((double)o[3], (double)o[4]));
		3926	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		3927	if (mRouteWP != null)
		3928	MainMap.Markers.Remove(mRouteWP);
		3929	_routeUpdate();
		3930	Dispatcher.Invoke(() => {
		3931	dgvWP.Items.Refresh();
		3932	dgvWP.SelectedIndex = (int)o[0] -1;
		3933	dgvWP.UpdateLayout();
		3934	_dgvWPselectEditRow();
		3935	});
2356	-	3936	}
		3937
2315	-	3938	#endregion WP
2324	-	3939	#region GPX
		3940	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		3941	{
		3942	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		3943	}
		3944	void _gpxAdd(double lat,double lon, int elevation)
		3945	{
		3946	DataRow dr = dtGPX.NewRow();
		3947	dr[0] = dtGPX.Rows.Count - 1;
		3948	dr[1] = lat;
		3949	dr[2] = lon;
		3950	dr[3] = elevation;
		3951	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		3952	dtGPX.Rows.Add(dr);
		3953	}
		3954	void _saveGPXLog()
		3955	{
		3956	if (!Directory.Exists("GPXLog"))
		3957	Directory.CreateDirectory("GPXLog");
		3958	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		3959	XmlTextWriter myXmlTextWriter = null;
		3960	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		3961	NumberFormatInfo nfi = new NumberFormatInfo();
		3962	nfi.NumberDecimalSeparator = ".";
2315	-	3963
2324	-	3964	try
		3965	{
		3966	myXmlTextWriter.Formatting = Formatting.Indented;
		3967
		3968	myXmlTextWriter.WriteStartDocument();
		3969
		3970	myXmlTextWriter.WriteStartElement("gpx");
		3971
		3972	myXmlTextWriter.WriteAttributeString("version", "1.0");
		3973	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		3974	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		3975	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		3976	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		3977
		3978	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		3979
		3980	myXmlTextWriter.WriteStartElement("trk");
		3981	myXmlTextWriter.WriteStartElement("trkseg");
		3982	for(int i = 0; i< dtGPX.Rows.Count;i++)
		3983	{
		3984	myXmlTextWriter.WriteStartElement("trkpt");
		3985	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		3986	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		3987	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		3988	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		3989	myXmlTextWriter.WriteEndElement();
		3990	}
		3991	myXmlTextWriter.WriteEndElement();
		3992	myXmlTextWriter.WriteEndElement();
		3993	myXmlTextWriter.WriteEndElement();
		3994	}
		3995	catch (Exception e)
		3996	{
		3997	Console.WriteLine("Exception: {0}", e.ToString());
		3998	}
		3999	finally
		4000	{
		4001	if (myXmlTextWriter != null)
		4002	{
		4003	myXmlTextWriter.Close();
		4004	}
		4005	}
		4006	}
2356	-	4007
2324	-	4008	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		4009	{
		4010	_loadGPXLog();
		4011	}
2327	-	4012	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		4013	{
		4014	_clearMapMarkers(typeof(GMapRoute));
		4015	}
2324	-	4016	void _loadGPXLog()
		4017	{
		4018
		4019	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4020	fd.Filter = "GPX-Logfile \| *.gpx";
		4021	fd.Multiselect = false;
		4022	if (fd.ShowDialog().Value)
		4023	{
		4024	string file = fd.FileName;
		4025	try
		4026	{
		4027	XDocument gpxDoc = XDocument.Load(file);
		4028	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		4029
		4030	NumberFormatInfo nfi = new NumberFormatInfo();
		4031	nfi.NumberDecimalSeparator = ".";
		4032
		4033	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		4034	select new
		4035	{
		4036	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		4037	Segs = (
		4038	from trackpoint in track.Descendants(gpx + "trkpt")
		4039	select new
		4040	{
		4041	Latitude = trackpoint.Attribute("lat").Value,
		4042	Longitude = trackpoint.Attribute("lon").Value,
		4043	Elevation = trackpoint.Element(gpx + "ele") != null ?
		4044	trackpoint.Element(gpx + "ele").Value : null,
		4045	Time = trackpoint.Element(gpx + "time") != null ?
		4046	trackpoint.Element(gpx + "time").Value : null
		4047	}
		4048	)
		4049	};
		4050
		4051	List<PointLatLng> wpl = new List<PointLatLng>();
		4052	foreach(var trk in tracks)
		4053	{
		4054	foreach(var trkseg in trk.Segs)
		4055	{
		4056	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		4057	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		4058	}
		4059
		4060	}
		4061	if(wpl.Count() > 0)
		4062	{
2327	-	4063	_clearMapMarkers(typeof(GMapRoute));
		4064	//for (int k = 0; k < MainMap.Markers.Count;)
		4065	//{
		4066	// GMapMarker p = MainMap.Markers[k];
		4067	// if (p.Shape.GetType() == typeof(GMapRoute))
		4068	// MainMap.Markers.Remove(p);
		4069	// else
		4070	// k++;
		4071	//}
2324	-	4072	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	4073	Dispatcher.Invoke(() =>
		4074	{
		4075	GMapRoute mRoute;
		4076	if (comboBoxRouteColor.SelectionBoxItem != null)
		4077	{
		4078	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4079	mRoute = new GMapRoute(wpList, _getBrush(s));
		4080	}
		4081	else
		4082	mRoute = new GMapRoute(wpList, null);
2324	-	4083
2328	-	4084	MainMap.Markers.Add(mRoute);
		4085	});
2324	-	4086	}
		4087
		4088	}
		4089	catch (Exception e)
		4090	{
		4091	Console.WriteLine("Exception: {0}", e.ToString());
		4092	}
		4093	}
		4094	}
		4095	#endregion GPX
2315	-	4096	#endregion functions
2287	-	4097	}
2315	-	4098	/// <summary>
		4099	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		4100	/// </summary>
2313	-	4101	public class waypointsConverter : IValueConverter
		4102	{
		4103	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		4104	{
		4105	if (value != null)
		4106	{
		4107	switch ((string)parameter)
		4108	{
		4109	case "Latitude":
		4110	return value.ToString() + " °";
		4111	case "Longitude":
		4112	return value.ToString() + " °";
		4113	case "Radius":
		4114	return value.ToString() + " m";
		4115	case "Altitude":
		4116	return value.ToString() + " m";
		4117	case "ClimbRate":
		4118	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		4119	case "DelayTime":
		4120	return value.ToString() + " s";
		4121	case "Heading":
		4122	return Waypoints.Heading(System.Convert.ToInt32(value));
		4123	case "Speed":
		4124	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		4125	case "CamAngle":
		4126	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		4127	case "Type":
		4128	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		4129	case "AutoTrigger":
		4130	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		4131	case "Status":
2355	-	4132	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	4133	}
		4134
		4135	return value.ToString();
		4136	}
		4137	else return value;
		4138	}
		4139
		4140	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		4141	{
		4142	throw new NotImplementedException();
		4143	}
		4144	}
		4145
2287	-	4146	public class IniFile
		4147	{
		4148	public string path;
		4149
		4150	[DllImport("kernel32")]
		4151	private static extern long WritePrivateProfileString(string section,
		4152	string key, string val, string filePath);
		4153
		4154	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		4155	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		4156	uint nSize, string lpFileName);
		4157
		4158	[DllImport("kernel32")]
		4159	private static extern int GetPrivateProfileString(string section,
		4160	string key, string def, StringBuilder retVal,
		4161	int size, string filePath);
		4162
		4163	public IniFile(string INIPath)
		4164	{
		4165	path = INIPath;
		4166	}
		4167
		4168	public void IniWriteValue(string Section, string Key, string Value)
		4169	{
		4170	WritePrivateProfileString(Section, Key, Value, this.path);
		4171	}
		4172
		4173	public string IniReadValue(string Section, string Key)
		4174	{
		4175	StringBuilder temp = new StringBuilder(255);
		4176	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		4177	return temp.ToString();
		4178	}
		4179	//Ini_sections auslesen in String-Array
		4180	public string[] IniSectionNames()
		4181	{
		4182
		4183	// uint MAX_BUFFER = 32767;
		4184	uint MAX_BUFFER = 8388608;
		4185	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		4186	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		4187	if (bytesReturned == 0)
		4188	{
		4189	Marshal.FreeCoTaskMem(pReturnedString);
		4190	return null;
		4191	}
		4192	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		4193	Marshal.FreeCoTaskMem(pReturnedString);
		4194	//use of Substring below removes terminating null for split
		4195	return local.Substring(0, local.Length - 1).Split('\0');
		4196
		4197
		4198	}
		4199	}
		4200
		4201	/// <summary>
		4202	/// Selected Win AI Function Calls
		4203	/// </summary>
		4204	public class WinApi
		4205	{
		4206	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		4207	public static extern int GetSystemMetrics(int which);
		4208	[DllImport("user32.dll")]
		4209	public static extern void
		4210	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		4211	int X, int Y, int width, int height, uint flags);
		4212
		4213	private const int SM_CXSCREEN = 0;
		4214	private const int SM_CYSCREEN = 1;
		4215	private static IntPtr HWND_TOP = IntPtr.Zero;
		4216	private const int SWP_SHOWWINDOW = 64; // 0x0040
		4217
		4218	public static int ScreenX
		4219	{
		4220	get { return GetSystemMetrics(SM_CXSCREEN); }
		4221	}
		4222
		4223	public static int ScreenY
		4224	{
		4225	get { return GetSystemMetrics(SM_CYSCREEN); }
		4226	}
		4227
		4228	public static void SetWinFullScreen(IntPtr hwnd)
		4229	{
		4230	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		4231	}
		4232	}
		4233	/// <summary>
		4234	/// Class used to preserve / restore state of the window
		4235	/// </summary>
		4236	public class WinState
		4237	{
		4238	private WindowState winState;
		4239	private WindowStyle brdStyle;
		4240	private bool topMost;
		4241	private Rect restore;
		4242	private bool IsMaximized = false;
		4243
		4244	public bool isMaximized
		4245	{
		4246	get { return IsMaximized; }
		4247	}
		4248	public void Maximize(Window targetForm)
		4249	{
		4250	if (!IsMaximized)
		4251	{
		4252	IsMaximized = true;
		4253	Save(targetForm);
		4254	targetForm.WindowState = WindowState.Maximized;
		4255	targetForm.WindowStyle = WindowStyle.None;
		4256	targetForm.Topmost = true;
		4257	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		4258	}
		4259	}
		4260
		4261	public void Save(Window targetForm)
		4262	{
		4263	winState = targetForm.WindowState;
		4264	brdStyle = targetForm.WindowStyle;
		4265	topMost = targetForm.Topmost;
		4266	restore = targetForm.RestoreBounds;
		4267	}
		4268	public void Restore(Window targetForm)
		4269	{
		4270	targetForm.WindowState = winState;
		4271	targetForm.WindowStyle = brdStyle;
		4272	targetForm.Topmost = topMost;
		4273
		4274	targetForm.Left = restore.Left;
		4275	targetForm.Top = restore.Top;
		4276	targetForm.Height = restore.Height;
		4277	targetForm.Width = restore.Width;
		4278	IsMaximized = false;
		4279	}
		4280	}
		4281
		4282	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2363 - Rev