WebSVN - Projects - Blame - Rev 2368 - /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	}
2368	-	732	void _clearWPMarker(String text)
		733	{
		734	for (int k = 0; k < MainMap.Markers.Count;)
		735	{
		736	GMapMarker p = MainMap.Markers[k];
		737	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
		738	if (((CustomMarkerWP)p.Shape).WPText == text)
		739	{ MainMap.Markers.Remove(p); break; }
		740	else
		741	k++;
		742	else
		743	k++;
		744	}
		745	}
		746	void _renameWPMarker(string s1, string s2)
		747	{
		748	for (int k = 0; k < MainMap.Markers.Count;)
		749	{
		750	GMapMarker p = MainMap.Markers[k];
		751	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
		752	if (((CustomMarkerWP)p.Shape).WPText == s1)
		753	{ ((CustomMarkerWP)p.Shape).WPText = s2; break; }
		754	else
		755	k++;
		756	else
		757	k++;
		758	}
		759	}
2287	-	760	// access mode
		761	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		762	{
		763	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		764	MainMap.ReloadMap();
		765	}
		766	// zoom up
		767	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		768	{
		769	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		770	}
		771
		772	// zoom down
		773	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		774	{
		775	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		776	}
		777
		778	// prefetch
		779	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		780	{
		781	RectLatLng area = MainMap.SelectedArea;
		782	if (!area.IsEmpty)
		783	{
		784	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		785	{
		786	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		787
		788	if (res == MessageBoxResult.Yes)
		789	{
		790	TilePrefetcher obj = new TilePrefetcher();
		791	obj.Owner = this;
		792	obj.ShowCompleteMessage = true;
		793	obj.Start(area, i, MainMap.MapProvider, 100);
		794	}
		795	else if (res == MessageBoxResult.No)
		796	{
		797	continue;
		798	}
		799	else if (res == MessageBoxResult.Cancel)
		800	{
		801	break;
		802	}
		803	}
		804	}
		805	else
		806	{
		807	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		808	}
		809	}
		810
		811	// goto by geocoder
		812	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		813	{
		814	_goto_byGeoCoder();
		815	}
		816	// goto by geocoder
		817	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		818	{
		819	if (e.Key == System.Windows.Input.Key.Enter)
		820	_goto_byGeoCoder();
		821	}
		822	void _goto_byGeoCoder()
		823	{
		824	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		825	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		826	{
		827	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		828	}
		829	}
		830	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		831	{
		832	try
		833	{
		834	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		835	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		836
		837	MainMap.Position = new PointLatLng(lat, lng);
		838	}
		839	catch (Exception ex)
		840	{
		841	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		842	}
		843
		844	}
		845
		846	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		847	{
		848	MainMap.ReloadMap();
		849	}
		850
		851	private void MainMap_OnPositionChanged(PointLatLng point)
		852	{
		853	if (_bFollowCopter)
		854	_setCopterData(MainMap.Position);
		855	}
		856
		857	private void MainMap_OnMapZoomChanged()
		858	{
		859	if (_bFollowCopter)
		860	_setCopterData(MainMap.Position);
		861	if((int)sliderMapZoom.Value != MainMap.Zoom)
		862	sliderMapZoom.Value = MainMap.Zoom;
		863	}
		864
		865	void _setCopterData(PointLatLng p)
		866	{
		867	Dispatcher.Invoke(() =>
		868	{
		869	copter.Position = p;
		870	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		871	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		872	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		873	});
		874	if (home != null && MainMap.Markers.Contains(home))
		875	{
		876	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		877	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		878	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	879
		880	if(d*1000 < _dThresholdDistanceWarn)
		881	{
		882	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		883	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		884	{
		885	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		886	_bAnimDistanceActive = false;
		887	}
		888	}
		889	else
		890	{
		891	if (_iDistanceJitter < 20)
		892	{ _iDistanceJitter++; }
		893	if (_iDistanceJitter == 20)
		894	{
		895	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		896	{
		897	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		898	_bAnimDistanceActive = true;
		899	}
		900	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		901	{
2295	-	902	Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		903	t.Start();
2291	-	904	_bVoiceDistanceActive = true;
		905	}
		906	_iDistanceJitter++;
		907	}
		908	}
2287	-	909	}
		910	}
		911
		912	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		913	{
		914	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		915	}
		916
		917	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		918	{
		919	if (MainMap.Zoom != sliderMapZoom.Value)
		920	MainMap.Zoom = (int)sliderMapZoom.Value;
		921	}
		922	#region Touch zooming hackattack ;)
		923	/// <summary>
		924	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		925	/// </summary>
		926	bool bFirstAccess = true;
		927	double dDistance = 0;
		928	int iZoom;
		929	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		930	{
		931	var id = e.StylusDevice.Id;
		932	e.StylusDevice.Capture(MainMap);
		933	if (iFirstStylusID == -1)
		934	{
		935	iFirstStylusID = id;
		936	}
		937	else
		938	{
		939
		940	MainMap.CanDragMap = false;
		941	}
		942	}
		943	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		944	{
		945	MainMap.ReleaseStylusCapture();
		946	iFirstStylusID = -1;
		947	bFirstAccess = true;
		948	MainMap.CanDragMap = true;
		949	iZoom = 0;
		950	}
		951	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		952	{
		953	var id = e.StylusDevice.Id;
		954	var tp = e.GetPosition(MainMap);
		955
		956	// This is the first Stylus point; just record its position.
		957	if (id == iFirstStylusID)
		958	{
		959	pTouch1.X = tp.X;
		960	pTouch1.Y = tp.Y;
		961	}
		962	else
		963	if (iFirstStylusID > -1)
		964	{
		965	pTouch2.X = tp.X;
		966	pTouch2.Y = tp.Y;
		967	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		968	if (!bFirstAccess)
		969	{
		970	if (distance > dDistance)
		971	iZoom++;
		972	else
		973	if (distance < dDistance)
		974	iZoom--;
		975	}
		976	if (iZoom > 30)
		977	{
		978	iZoom = 0;
		979	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		980	}
		981	if (iZoom < -30)
		982	{
		983	iZoom = 0;
		984	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		985	}
		986	dDistance = distance;
		987	bFirstAccess = false;
		988	}
		989	}
		990	#endregion Touch zooming hackattack ;)
		991
		992	#endregion GMap
		993
		994	#region settings
		995	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		996	{
		997	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		998	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		999	}
		1000	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1001	{
		1002	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		1003	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1004	}
		1005	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1006	{
		1007	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1008	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1009	}
		1010	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1011	{
		1012	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1013	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1014	}
		1015	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1016	{
		1017	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1018	}
		1019	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1020	{
		1021	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1022	}
		1023	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1024	{
		1025	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1026	}
		1027	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1028	{
		1029	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1030	}
		1031
		1032	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1033	{
		1034	if (cBoxLiPoCells.SelectedIndex > -1)
		1035	{
		1036	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1037	_LipoMinMax();
		1038	}
		1039	}
		1040	void _LipoMinMax()
		1041	{
		1042	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1043	_dLipoVMin = (double)_LipoCells * 3;
		1044	pbTopVoltage.Maximum = _dLipoVMax;
		1045	pbTopVoltage.Minimum = _dLipoVMin;
		1046	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1047	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1048	}
		1049	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1050	{
		1051	if (cBoxMotors.SelectedIndex > -1)
		1052	{
		1053	_iMotors = cBoxMotors.SelectedIndex + 3;
		1054	Dispatcher.Invoke(() =>
		1055	{
		1056	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1057	GridMotors.Height = dgvMotors1.Height + 10;
		1058	});
		1059	}
		1060	}
		1061	void _setMotorGridSize()
		1062	{
		1063	if (dgvMotors1.Columns.Count > 2)
		1064	{
		1065	dgvMotors1.Columns[0].Width = 24;
		1066	dgvMotors1.Columns[1].Width = 50;
		1067	dgvMotors1.Columns[2].Width = 50;
		1068	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1069	GridMotors.Height = dgvMotors1.Height + 10;
		1070	}
		1071
		1072	}
		1073	#endregion settings
		1074
		1075	#region functions
		1076
		1077	#region logging
		1078	/// <summary> Log data to the terminal window. </summary>
		1079	/// <param name="msgtype"> The type of message to be written. </param>
		1080	/// <param name="msg"> The string containing the message to be shown. </param>
		1081	private void Log(LogMsgType msgtype, string msg)
		1082	{
		1083	Dispatcher.Invoke(() =>
		1084	{
		1085	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1086	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1087	// rtfTerminal.AppendText(msg + "\r");
		1088	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1089	tr.Text = msg;
		1090	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1091	rtfTerminal.AppendText("\r");
		1092	rtfTerminal.ScrollToEnd();
		1093	});
		1094	}
		1095	private void ErrorLog(LogMsgType msgtype, string msg)
		1096	{
		1097	Dispatcher.Invoke(() =>
		1098	{
		1099	TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1100	tr.Text = msg;
		1101	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1102	rtfError.AppendText("\r");
		1103	rtfError.ScrollToEnd();
		1104
		1105	_bErrorLog = true;
		1106	});
		1107	}
		1108	/// <summary>
		1109	/// Clear the line in the errorlog window
		1110	/// containing the error string when error has ceased
		1111	/// </summary>
		1112	/// <param name="s">substring of errrormessage</param>
		1113	void _clearErrorLog(string s)
		1114	{
		1115	Dispatcher.Invoke((Action)(() =>
		1116	{
		1117	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1118	TextRange foundRange = FindTextInRange(searchRange, s);
		1119
		1120	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1121
		1122
		1123	if (iStart > -1)
		1124	{
		1125	int iLength = 0;
		1126	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1127	if (iEnd > 0)
		1128	{
		1129	iLength = iEnd + 1;
		1130	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1131	if (iHttp == iLength)
		1132	{
		1133	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1134	if (iEnd2 > iLength)
		1135	{
		1136	iLength = iEnd2 + 1;
		1137	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1138
		1139	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1140	rtfError.Selection.Text = string.Empty;
		1141	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1142	}
		1143
		1144	}
		1145	else
		1146	{
		1147	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1148	rtfError.Selection.Text = string.Empty;
		1149	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1150	}
		1151	}
		1152	}
		1153	}));
		1154
		1155	}
		1156	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1157	{
		1158	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1159	if (offset < 0)
		1160	return null; // Not found
		1161
		1162	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1163	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1164
		1165	return result;
		1166	}
		1167	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1168	{
		1169	while (position != null)
		1170	{
		1171	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1172	{
		1173	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1174	if (characterCount <= count)
		1175	{
		1176	return position.GetPositionAtOffset(characterCount);
		1177	}
		1178
		1179	characterCount -= count;
		1180	}
		1181
		1182	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1183	if (nextContextPosition == null)
		1184	return position;
		1185
		1186	position = nextContextPosition;
		1187	}
		1188
		1189	return position;
		1190	}
		1191	#endregion logging
		1192
		1193	#region processing received data
		1194
		1195	private void processMessage(byte[] message)
		1196	{
		1197	if (message.Length > 0)
		1198	{
		1199	_iLifeCounter++;
		1200	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1201	//Log(LogMsgType.Incoming, message.Length.ToString());
		1202	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1203	char cmdID;
		1204	byte adr;
		1205	byte[] data;
		1206	byte[] tmp = null;
		1207	if (message[0] != '#')
		1208	{
		1209	int iFound = -1;
		1210	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1211	{ //so this is a workaround to not spam the log box
		1212	if (message[i] == 35)
		1213	{
		1214	iFound = i;
		1215	break;
		1216	}
		1217	}
		1218	if (iFound > 0)
		1219	{
		1220	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1221	tmp = new byte[message.Length - iFound];
		1222	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1223	}
		1224	s = s.Trim('\0', '\n', '\r');
		1225	if (s.Length > 0)
		1226	Log(LogMsgType.Normal, s);
		1227	if (tmp != null)
		1228	{
		1229	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1230	processMessage(tmp);
		1231	}
		1232	}
		1233	//Debug.Print(s);
		1234	else
		1235	{
		1236	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1237
		1238	if (adr == 255) { crcError++; }
		1239	else crcError = 0;
		1240	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1241	//display the active controller (FC / NC)
		1242	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...???
		1243	{
		1244	_iCtrlAct = adr;
		1245	switch (adr)
		1246	{
		1247	case 1:
		1248	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2298	-	1249	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
2287	-	1250	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1251	// _setFieldsNA(); //display fields NA for FC
		1252	break;
		1253	case 2:
		1254	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1255	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1256	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1257	break;
		1258	//case 3:
		1259	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1260	// break;
		1261	//case 4:
		1262	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1263	// break;
		1264	default:
		1265	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1266	break;
		1267	}
		1268	// _loadLabelNames();
		1269	}
		1270	// else
		1271	// Debug.Print("Address == 0?");
		1272
		1273	if (data != null && data.Length > 0)
		1274	{
		1275	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1276	s = s.Trim('\0', '\n');
		1277
		1278	switch (cmdID)
		1279	{
		1280	//case 'A': //Label names
		1281	// _processLabelNames(s);
		1282	// break;
		1283
		1284	case 'D': //Debug data
		1285	_processDebugVals(adr, data);
		1286	break;
		1287
		1288	case 'V': //Version
		1289	_processVersion(adr, data);
		1290	break;
		1291
		1292	case 'K'://BL-CTRL data
		1293	_processBLCtrl(data);
		1294	break;
		1295
		1296	case 'O': //NC Data
		1297	_processNCData(data);
		1298	break;
		1299
		1300	case 'E': //NC error-string
		1301	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1302	break;
		1303
		1304	case 'L': //OSD Menue (called by pagenumber)
		1305	_processOSDSingle(data);
		1306	break;
		1307
		1308	case 'H': //OSD Menue (with autoupdate - called by Key)
		1309	_processOSDAuto(data);
		1310	break;
		1311
		1312	case 'X': //Waypoint data
		1313	_processWPData(data);
		1314	break;
		1315
2313	-	1316	case 'W': //return new Waypoint items count after sending waypoint to copter
		1317	_iWPCount = data[0];
		1318	break;
2287	-	1319	//default:
		1320	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1321	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1322	// break;
		1323	}
		1324	}
		1325	//else
		1326	//{
		1327	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1328	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1329	//}
		1330	}
		1331	}
		1332	}
		1333	/// <summary>
		1334	/// Analog label names 'A'
		1335	/// each label name is returned as a single string
		1336	/// and added to string array sAnalogLabel[]
		1337	/// and the datatable dtAnalog
		1338	/// </summary>
		1339	/// <param name="s">the label name</param>
		1340	void _processLabelNames(string s)
		1341	{
		1342	//if (iLableIndex < 32)
		1343	//{
		1344	// sAnalogLabel[iLableIndex] = s;
		1345	// if (dtAnalog.Rows.Count < 32)
		1346	// dtAnalog.Rows.Add(s, "");
		1347	// else
		1348	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1349
		1350	// // _getAnalogLabels(iLableIndex + 1);
		1351	//}
		1352	//Debug.Print(s);
		1353	}
		1354	/// <summary>
		1355	/// Debug values 'D'
		1356	/// </summary>
		1357	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1358	/// <param name="data">the received byte array to process</param>
		1359	void _processDebugVals(byte adr, byte[] data)
		1360	{
		1361	if (data.Length == 66)
		1362	{
2324	-	1363
2287	-	1364	double v;
		1365	int index = 0;
		1366	Int16 i16 = 0;
		1367	double dTemp = 0;
		1368	for (int i = 2; i < 66; i += 2)
		1369	{
		1370	i16 = data[i + 1];
		1371	i16 = (Int16)(i16 << 8);
		1372	iAnalogData[index] = data[i] + i16;
		1373	sAnalogData[index] = (data[i] + i16).ToString();
		1374	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1375
		1376	if (adr == 2) //NC
		1377	{
		1378	switch (index)
		1379	{
		1380	case 0: //pitch (German: nick)
		1381	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1382	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1383	break;
		1384	case 1: //roll
		1385	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1386	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1387	break;
		1388	case 4: //altitude
		1389	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1390	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2324	-	1391	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1392	break;
		1393	case 7: //Voltage
		1394	v = (double)iAnalogData[index] / (double)10;
		1395	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1396	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1397	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1398	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1399	{
		1400	if (v == _dVoltLast)
		1401	if(_iVoltJitter < 20) _iVoltJitter++;
		1402	else
		1403	{
		1404	_iVoltJitter = 0;
		1405	_dVoltLast = v;
		1406	}
		1407	if (_iVoltJitter == 20)
		1408	{
		1409	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1410
		1411	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1412	{
		1413	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1414	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1415	{
		1416	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1417	_bCritAnimVoltActive = true;
		1418	}
		1419	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1420	{
2295	-	1421	Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1422	t.Start();
2287	-	1423	_bCritVoiceVoltActive = true;
		1424	}
		1425	}
		1426	else
		1427	{
		1428	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1429	{
		1430	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1431	_bCritAnimVoltActive = false;
		1432	}
		1433	_bCritVoiceVoltActive = false;
		1434
2291	-	1435	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1436	{
2295	-	1437	Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1438	t.Start();
2291	-	1439	_bWarnVoiceVoltActive = true;
2287	-	1440	}
		1441	}
		1442	}
		1443	}
		1444	else
		1445	{
		1446	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1447	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1448	{
		1449	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1450	_bCritAnimVoltActive = false;
		1451	}
		1452	_bCritVoiceVoltActive = false;
2291	-	1453	_bWarnVoiceVoltActive = false;
2287	-	1454	_iVoltJitter = 0;
		1455	}
		1456	break;
		1457	case 8: // Current
		1458	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1459	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1460	break;
		1461	case 10: //heading
2291	-	1462	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2287	-	1463	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1464	break;
		1465	case 12: // SPI error
2291	-	1466	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1467	break;
		1468	case 14: //i2c error
2291	-	1469	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1470	break;
		1471	case 20: //Earthmagnet field
2291	-	1472	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1473	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1474
		1475	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1476	{
		1477	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1478	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1479	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1480	{
		1481	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1482	_bAnimMagneticFieldActive = false;
		1483	}
		1484	}
		1485	else
		1486	{
		1487	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1488	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1489	{
		1490	if (_iMagneticFieldJitter < 20)
		1491	_iMagneticFieldJitter++;
		1492	}
		1493	else
		1494	{
		1495	_iMagneticFieldJitter = 0;
		1496	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1497	}
		1498	if(_iMagneticFieldJitter == 20)
		1499	{
		1500	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1501	{
		1502	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1503	_bAnimMagneticFieldActive = true;
		1504	}
		1505	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1506	{
2295	-	1507	Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1508	t.Start();
2291	-	1509	_bVoiceMagneticFieldActive = true;
		1510	}
		1511	}
		1512	}
2287	-	1513	break;
		1514	case 21: //GroundSpeed
		1515	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1516	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1517	break;
2291	-	1518
		1519	///******** needs testing --> not sure what position this is *************
2287	-	1520	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1521	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1522	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1523	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1524	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1525	dTemp = Math.Sqrt(dTemp) / (double)10;
		1526	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1527	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1528	break;
2291	-	1529
2287	-	1530	case 31: //Sats used
		1531	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1532	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1533	break;
		1534	}
		1535	}
		1536	index++;
		1537	}
		1538	}
		1539	else
		1540	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1541	}
		1542	/// <summary>
		1543	/// Version string 'V'
		1544	/// </summary>
		1545	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1546	/// <param name="data">the received byte array to process</param>
		1547	void _processVersion(byte adr, byte[] data)
		1548	{
		1549	if (data.Length == 12)
		1550	{
		1551	if (!check_HWError)
		1552	{
		1553	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1554	string sVersion = "";
		1555	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1556	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1557	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1558	Log(LogMsgType.Incoming, sVersion);
		1559	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1560	Log(LogMsgType.Incoming, sVersion);
		1561	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1562	}
		1563	if (data[5] > 0) //error0
		1564	{
		1565	if (adr == 1)
		1566	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		1567	if (adr == 2)
		1568	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		1569	}
		1570	if (data[6] > 0) //error1
		1571	{
		1572	if (adr == 1)
		1573	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		1574	if (adr == 2)
		1575	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		1576	}
		1577	if ((data[5] + data[6] == 0) && _bErrorLog)
		1578	_clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		1579
		1580	}
		1581	check_HWError = false;
		1582	}
		1583	/// <summary>
		1584	/// BL-Ctrl data 'K'
		1585	/// for FC you have to use a customized firmware
		1586	/// </summary>
		1587	/// <param name="data">the received byte array to process</param>
		1588	void _processBLCtrl(byte[] data)
		1589	{
		1590	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1591	{
		1592	bool bAvailable = false;
		1593	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1594	{
		1595
		1596	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1597	bAvailable = true;
		1598	else
		1599	bAvailable = false;
		1600
		1601	if (data[i] < _iMotors)
		1602	{
		1603	if (bAvailable)
		1604	{
2315	-	1605	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1606	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1607	}
		1608	else
		1609	{
2315	-	1610	dtMotors.Rows[data[i]].SetField(1, "NA");
		1611	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1612	}
		1613	}
		1614	//if (data[i] > 3 && data[i] < 8)
		1615	//{
		1616	// if (bAvailable)
		1617	// {
		1618	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1619	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1620	// }
		1621	// else
		1622	// {
		1623	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1624	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1625	// }
		1626	//}
		1627	}
		1628	}
		1629	}
		1630	/// <summary>
		1631	/// Navi-Ctrl data 'O'
		1632	/// GPS-Position, capacatiy, flying time...
		1633	/// </summary>
		1634	/// <param name="data">the received byte array to process</param>
		1635	void _processNCData(byte[] data)
		1636	{
		1637	int i_32, i_16, iVal;
		1638	double d;
		1639	i_32 = data[4];
		1640	iVal = i_32 << 24;
		1641	i_32 = data[3];
		1642	iVal += i_32 << 16;
		1643	i_32 = data[2];
		1644	iVal += i_32 << 8;
		1645	iVal += data[1];
		1646	d = (double)iVal / Math.Pow(10, 7);
2324	-	1647	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1648
2287	-	1649	PointLatLng p = new PointLatLng();
		1650
		1651	p.Lng = d;
		1652	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1653	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1654
		1655	i_32 = data[8];
		1656	iVal = i_32 << 24;
		1657	i_32 = data[7];
		1658	iVal += i_32 << 16;
		1659	i_32 = data[6];
		1660	iVal += i_32 << 8;
		1661	iVal += data[5];
		1662	d = (double)iVal / Math.Pow(10, 7);
2324	-	1663	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1664	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1665	p.Lat = d;
2291	-	1666	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1667	{
		1668	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1669	if(_bAutoHome && !_bFirstSatFix)
		1670	{
		1671	if (_iFirstSatFix < 3)
		1672	_iFirstSatFix++;
		1673	else
		1674	{
		1675	_bFirstSatFix = true;
2347	-	1676	Dispatcher.Invoke(() => _setHomePos());
2295	-	1677	}
		1678	}
2291	-	1679	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1680	{
		1681	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1682	_bAnimSatFixActive = false;
		1683	}
		1684	if (!_bFollowCopter)
		1685	{
		1686	_setCopterData(p);
		1687	if (!MainMap.ViewArea.Contains(p))
		1688	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1689
2291	-	1690	}
		1691	else
2287	-	1692	Dispatcher.Invoke(() => MainMap.Position = p);
		1693	}
		1694	else
2291	-	1695	{
		1696	if(_bSatFix)
		1697	{
		1698	if (data[50] == _iSatsLast)
		1699	{
		1700	if (_iSatsJitter < 20) _iSatsJitter++;
		1701	}
		1702	else
		1703	{
		1704	_iSatsJitter = 0;
		1705	_iSatsLast = data[50];
		1706	}
2287	-	1707
2291	-	1708	if (_iSatsJitter == 20)
		1709	{
		1710	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1711	{
		1712	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1713	_bAnimSatFixActive = true;
		1714	}
		1715	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1716	{
2335	-	1717	Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
2295	-	1718	th.Start();
2291	-	1719	_bVoiceSatFixActive = true;
		1720	}
		1721
		1722	_bSatFix = false;
		1723	}
		1724	}
		1725	}
		1726
2287	-	1727	i_16 = data[28];
		1728	i_16 = (Int16)(i_16 << 8);
		1729	iVal = data[27] + i_16;
		1730	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1731
		1732	i_16 = data[45];
		1733	i_16 = (Int16)(i_16 << 8);
		1734	iVal = data[44] + i_16;
		1735	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1736	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1737
		1738	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2355	-	1739	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2347	-	1740	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count > 0)
2342	-	1741	{
2347	-	1742	_setActiveWP(data[48]-1);
2355	-	1743	if((data[67] & 2) == 2)
		1744	Dispatcher.Invoke(() => {
		1745	DataGridRow row;
		1746	if (_wpIndex > -1)
		1747	{
		1748	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1749	row.Background = new SolidColorBrush(Colors.Transparent);
		1750	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1751	row.BorderThickness = new Thickness(0);
		1752	}
		1753	_wpIndex = data[48] - 1;
		1754	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
2366	-	1755	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		1756	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	1757	row.BorderThickness = new Thickness(2);
		1758	dgvWP.UpdateLayout();
		1759	});
2347	-	1760	_wpIndex = data[48]-1;
2342	-	1761	}
2347	-	1762	else
		1763	{
		1764	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	1765	{
2347	-	1766	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	1767	Dispatcher.Invoke(() =>
		1768	{
		1769	DataGridRow row;
2368	-	1770	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	1771	{
		1772	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1773	row.Background = new SolidColorBrush(Colors.Transparent);
		1774	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1775	row.BorderThickness = new Thickness(0);
		1776	_wpIndex = -1;
		1777	}
		1778	});
		1779
		1780	}
2347	-	1781	}
2342	-	1782
2287	-	1783	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	1784	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	1785	_wpCount = data[49];
2287	-	1786	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1787
		1788	//--------------- Capacity used ------------------------
		1789	i_16 = data[81];
		1790	i_16 = (Int16)(i_16 << 8);
		1791	iVal = data[80] + i_16;
		1792	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1793	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1794
		1795	//--------------- Flying time ------------------------
		1796	i_16 = data[56];
		1797	i_16 = (Int16)(i_16 << 8);
		1798	iVal = data[55] + i_16;
		1799	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1800	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1801	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1802	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1803
		1804	//--------------- RC quality ------------------------
		1805	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1806	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1807
2291	-	1808	if(data[66] > _iThresholdRC)
		1809	{
		1810	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1811	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1812	{
		1813	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1814	_bAnimRCLevelActive = false;
		1815	}
		1816	}
		1817	else
		1818	{
		1819	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1820	if (_iRCLevelJitter == 20)
		1821	{
		1822	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1823	{
		1824	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1825	_bAnimRCLevelActive = true;
		1826	}
		1827	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1828	{
2295	-	1829	Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1830	th.Start();
2291	-	1831	_bVoiceRCLevelActive = true;
		1832	}
		1833	_iRCLevelJitter++;
		1834	}
		1835	}
		1836
2287	-	1837	//--------------- NC Error ------------------------
		1838	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1839	if (data[69] > 0)
		1840	_readNCError();
		1841	if (data[69] > 0 & data[69] < 44)
		1842	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
		1843	else
		1844	if (_bErrorLog) _clearErrorLog("NC Error");
		1845
2298	-	1846	//-------------FC / NC Status Flags
		1847	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1848	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1849	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1850	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1851	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1852	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1853
		1854	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1855	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1856	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1857	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1858	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1859	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
		1860	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		1861	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		1862
		1863	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1864	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1865	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1866	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1867	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1868	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1869	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	1870
		1871	//Sidebar StatusSymbols
		1872	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1873	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
		1874	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
		1875
		1876	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1877	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
		1878	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
		1879
		1880	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	1881	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
		1882	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	-	1883
		1884	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1885	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
		1886	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
		1887
		1888	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	1889	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
		1890	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
		1891	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	-	1892
2324	-	1893	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	1894	}
		1895	/// <summary>
		1896	/// Navi-Ctrl WP data struct 'X'
		1897	/// called by index
		1898	/// </summary>
		1899	/// <param name="data">the received byte array to process</param>
		1900	void _processWPData(byte[] data)
		1901	{
2313	-	1902	_iWPCount = data[0];
2287	-	1903	_bGetWPCount = false;
		1904	if (data.Length >= 28)
		1905	{
		1906	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		1907	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		1908	if (_bGetWP)
		1909	{
		1910	if (data[1] == 1)
2315	-	1911	{
2333	-	1912	Dispatcher.Invoke(() =>
		1913	{
2356	-	1914	wpList.Clear();
		1915	_clearMapMarkers(typeof(CustomMarkerWP));
		1916	if (mRouteWP != null)
		1917	MainMap.Markers.Remove(mRouteWP);
		1918	if (wpActiveMarker != null)
		1919	MainMap.Markers.Remove(wpActiveMarker);
		1920	lblWPRouteDistance.Content = "0 m";
		1921	dtWaypoints.Rows.Clear();
2368	-	1922	_wpEdit = -1;_wpIndex = -1;
2318	-	1923	});
2315	-	1924	}
2287	-	1925	DataRow dr = dtWaypoints.NewRow();
		1926	dr = Waypoints.toDataRow(data, dr);
2313	-	1927	dtWaypoints.Rows.Add(dr);
2363	-	1928	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1]);
2313	-	1929	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1930	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	1931	if (data[1] == data[0])
		1932	{
		1933	_bGetWP = false;
2368	-	1934	_routeUpdate();
2287	-	1935	}
		1936
		1937	}
		1938	}
		1939	else
		1940	{
		1941	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		1942	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		1943	}
		1944	}
		1945	/// <summary>
		1946	/// OSD Menue 'L'
		1947	/// single page called by pagenumber
		1948	/// no autoupdate
		1949	/// </summary>
		1950	/// <param name="data">the received byte array to process</param>
		1951	void _processOSDSingle(byte[] data)
		1952	{
		1953	if (data.Length == 84)
		1954	{
		1955	string sMessage = "";
		1956	iOSDPage = data[0];
		1957	iOSDMax = data[1];
		1958	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		1959	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		1960	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1961	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1962	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1963	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1964	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		1965	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		1966
		1967	}
		1968	//else
		1969	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		1970
		1971	}
		1972	/// <summary>
		1973	/// OSD Menue 'H'
		1974	/// called by keys (0x01,0x02,0x03,0x04)
		1975	/// autoupdate
		1976	/// </summary>
		1977	/// <param name="data">the received byte array to process</param>
		1978	void _processOSDAuto(byte[] data)
		1979	{
		1980	if (data.Length == 81)
		1981	{
		1982	string sMessage = "";
		1983	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		1984	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1985	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1986	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1987	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1988
		1989	}
		1990	//else
		1991	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		1992	}
		1993
		1994	#endregion processing received data
		1995
		1996	#region controller messages
		1997	/// <summary> send message to controller to request data
		1998	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1999	/// </summary>
		2000	/// <param name="CMDID"> the command ID </param>
		2001	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2002	private void _sendControllerMessage(char CMDID, byte address)
		2003	{
		2004	if (serialPortCtrl.Port.IsOpen)
		2005	{
		2006	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2007	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2008	serialStream.Write(bytes, 0, bytes.Length);
		2009
		2010	}
		2011	else
		2012	Log(LogMsgType.Error, "NOT CONNECTED!");
		2013	}
		2014	/// <summary> send message to controller to request data
		2015	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2016	/// </summary>
		2017	/// <param name="CMDID"> the command ID </param>
		2018	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2019	/// <param name="data"> additional data for the request</param>
		2020	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2021	{
		2022	if (serialPortCtrl.Port.IsOpen)
		2023	{
		2024	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2025	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2026	serialStream.Write(bytes, 0, bytes.Length);
		2027
		2028	}
		2029	else
		2030	Log(LogMsgType.Error, "NOT CONNECTED!");
		2031	}
		2032
		2033	/// <summary>
		2034	/// start/stop continous polling of controller values
		2035	/// </summary>
		2036	/// <param name="b">start/stop switch</param>
		2037	void _readCont(bool b)
		2038	{
		2039	bReadContinously = b;
		2040	if (bReadContinously)
		2041	{
		2042	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2043	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2044	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2045	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2046	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2047	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2048	}
		2049	else
		2050	{
		2051	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2052	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2053	_bConnErr = false;
		2054	}
		2055	_iLifeCounter = 0;
		2056	}
		2057
		2058	private void _getVersion()
		2059	{
		2060	_sendControllerMessage('v', 0);
		2061	}
		2062	/// <summary>
		2063	/// get FC version struct via NC
		2064	/// by sending '1' as data (not documented in wiki...)
		2065	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2066	/// </summary>
		2067	/// <param name="ctrl">controller number 1=FC</param>
		2068	private void _getVersion(byte ctrl)
		2069	{
		2070	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2071	}
		2072	/// <summary>
		2073	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2074	/// </summary>
		2075	private void _switchToNC()
		2076	{
		2077	if (serialPortCtrl.Port.IsOpen)
		2078	{
		2079	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2080	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2081	serialStream.Write(bytes, 0, bytes.Length);
		2082
		2083	Thread.Sleep(100);
		2084	_getVersion();
		2085	Thread.Sleep(100);
		2086	// _OSDMenue(0);
		2087	}
		2088	else
		2089	Log(LogMsgType.Error, "NOT CONNECTED!");
		2090	}
		2091	/// <summary>
		2092	/// switch to FC
		2093	/// </summary>
		2094	private void _switchToFC()
		2095	{
		2096	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2097	Thread.Sleep(100);
		2098	_getVersion();
		2099	Thread.Sleep(100);
		2100	// _OSDMenue(0);
		2101	}
		2102	/// <summary>
		2103	/// send RESET signal to FC
		2104	/// </summary>
		2105	private void _resetCtrl()
		2106	{
		2107	_sendControllerMessage('R', 1);
		2108	}
		2109	/// <summary>
		2110	/// poll the debug data (4sec subscription)
		2111	/// </summary>
		2112	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2113	private void _readDebugData(bool auto)
		2114	{
		2115	byte interval = auto ? debugInterval : (byte)0;
		2116	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2117	}
		2118	/// <summary>
		2119	/// poll the BL-CTRL status via NC (4sec subscription)
		2120	/// </summary>
		2121	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2122	private void _readBLCtrl(bool auto)
		2123	{
		2124	byte interval = auto ? blctrlInterval : (byte)0;
		2125	_sendControllerMessage('k', 0, new byte[1] { interval });
		2126	}
		2127	/// <summary>
		2128	/// poll the NC data struct (4sec subscription)
		2129	/// </summary>
		2130	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2131	private void _readNavData(bool auto)
		2132	{
		2133	byte interval = auto ? navctrlInterval : (byte)0;
		2134	_sendControllerMessage('o', 2, new byte[1] { interval });
		2135	}
		2136	/// <summary>
		2137	/// get the errortext for pending NC error
		2138	/// </summary>
		2139	private void _readNCError()
		2140	{
		2141	_sendControllerMessage('e', 2);
		2142	}
		2143	/// <summary>
		2144	/// request the Waypoint at index
		2145	/// </summary>
		2146	/// <param name="index"></param>
		2147	void _getpWP(int index)
		2148	{
		2149	if (serialPortCtrl.Port.IsOpen)
		2150	{
		2151	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2152	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2153	serialStream.Write(bytes, 0, bytes.Length);
		2154	}
		2155	else
		2156	Log(LogMsgType.Error, "NOT CONNECTED!");
		2157
		2158	}
		2159	void _getWP()
		2160	{
2335	-	2161	int iTimeout = 0;
2287	-	2162	_bGetWPCount = true;
2315	-	2163	_getpWP(1); //get the itemscount of wp
2335	-	2164	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2165	{
		2166	Thread.Sleep(10);
		2167	iTimeout++;
		2168	}
		2169	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2170	_getWPList();
		2171	}
		2172	void _getWPList()
		2173	{
		2174	_bGetWP = true;
2313	-	2175	int iTimeout=0;
		2176	for (int j = 0; j < _iWPCount; j++)
2287	-	2177	{
		2178	_getpWP(j + 1);
2313	-	2179	iTimeout = 0;
		2180	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2181	{
		2182	Thread.Sleep(1);
		2183	iTimeout++;
		2184	}
2287	-	2185	}
		2186	}
2363	-	2187	/// <summary>
		2188	/// Wrapper for _clearCopterWPList()
		2189	/// necessary, cause it is called by threadnew which does not like return values...
		2190	/// </summary>
2340	-	2191	void clearCopterWPList()
2313	-	2192	{
2340	-	2193	_clearCopterWPList();
		2194	}
2363	-	2195	/// <summary>
		2196	/// clear the WP list of the copter
		2197	/// by sending 'invalid' and index '0'
		2198	/// </summary>
		2199	/// <returns></returns>
2340	-	2200	bool _clearCopterWPList()
		2201	{
2335	-	2202	int iTimeout = 0;
2313	-	2203	if (serialPortCtrl.Port.IsOpen)
		2204	{
		2205	byte[] bData = new byte[30];
		2206	for (int i = 0; i < 30; i++)
		2207	bData[i] = 0;
		2208	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2209	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2210	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2211
2313	-	2212	_iWPCount = -1;
2340	-	2213	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2214	{
2313	-	2215	Thread.Sleep(10);
2335	-	2216	iTimeout++;
		2217	}
2313	-	2218	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2219	if (_iWPCount > -1)
2340	-	2220	return true;
		2221	else
		2222	Log(LogMsgType.Error, "Timeout while sending list!");
		2223	}
		2224	else
		2225	Log(LogMsgType.Error, "NOT CONNECTED!");
		2226
		2227	return false;
		2228	}
		2229	void _sendWPList()
		2230	{
2362	-	2231	_sendWPList(0);
		2232	}
		2233	void _sendWPList(int iStart)
		2234	{
2340	-	2235	int iTimeout = 0;
		2236	if (serialPortCtrl.Port.IsOpen)
		2237	{
		2238	if (_clearCopterWPList())
2313	-	2239	{
2362	-	2240	int k = 1;
		2241	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	2242	{
2362	-	2243	k = iStart > 0 ? k : -1;
		2244	_sendWayPoint(dtWaypoints.Rows[i], k, 'w');
2313	-	2245
2335	-	2246	_iWPCount = -1;
		2247	iTimeout = 0;
		2248	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2249	{
		2250	Thread.Sleep(10);
		2251	iTimeout++;
		2252	}
		2253	if (_iWPCount == -1)
		2254	{
		2255	Log(LogMsgType.Error, "Timeout while sending list!");
		2256	break;
		2257	}
		2258	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	2259	k++;
2335	-	2260	}
2313	-	2261	}
		2262	}
		2263	else
		2264	Log(LogMsgType.Error, "NOT CONNECTED!");
		2265
		2266	}
2356	-	2267	bool _sendWayPoint(DataRow dr, int index, char command)
2340	-	2268	{
2313	-	2269
2340	-	2270	if (serialPortCtrl.Port.IsOpen)
		2271	{
		2272	byte[] bData = new byte[30];
		2273	for (int i = 0; i < 30; i++)
		2274	bData[i] = 0;
		2275	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2276	byte[] bytes;
		2277	int iVal;
		2278	double dVal;
		2279	NumberFormatInfo nfi = new NumberFormatInfo();
		2280	nfi.NumberDecimalSeparator = ",";
		2281
		2282	//longitude
		2283	dVal = Convert.ToDouble(dr[4], nfi);
		2284	iVal = (int)(dVal * Math.Pow(10, 7));
		2285	bData[0] = (byte)(iVal & 0xff);
		2286	bData[1] = (byte)((iVal >> 8) & 0xff);
		2287	bData[2] = (byte)((iVal >> 16) & 0xff);
		2288	bData[3] = (byte)(iVal >> 24);
		2289	//latitude
		2290	dVal = Convert.ToDouble(dr[3], nfi);
		2291	iVal = (int)(dVal * Math.Pow(10, 7));
		2292	bData[4] = (byte)(iVal & 0xff);
		2293	bData[5] = (byte)((iVal >> 8) & 0xff);
		2294	bData[6] = (byte)((iVal >> 16) & 0xff);
		2295	bData[7] = (byte)(iVal >> 24);
		2296	//altitude
		2297	dVal = Convert.ToDouble(dr[5], nfi);
		2298	iVal = (int)(dVal * 10);
		2299	bData[8] = (byte)(iVal & 0xff);
		2300	bData[9] = (byte)((iVal >> 8) & 0xff);
		2301	bData[10] = (byte)((iVal >> 16) & 0xff);
		2302	bData[11] = (byte)(iVal >> 24);
		2303	//Status 'NEWDATA'
		2304	bData[12] = 1;
		2305	//heading
		2306	iVal = Convert.ToInt16(dr[6]);
		2307	bData[13] = (byte)(iVal & 0xff);
		2308	bData[14] = (byte)((iVal >> 8) & 0xff);
		2309	//ToleranceRadius
		2310	bData[15] = Convert.ToByte(dr[9]);
		2311	//HoldTime
		2312	bData[16] = Convert.ToByte(dr[10]);
		2313	//Event_Flag
		2314	bData[17] = Convert.ToByte(dr[13]);
		2315	//Index
		2316	bData[18] = index > 0 ? (byte)index : Convert.ToByte((int)dr[0]);
		2317	//Type
		2318	bData[19] = Convert.ToByte(dr[1]);
		2319	//WP_EventChannelValue
		2320	bData[20] = Convert.ToByte(dr[14]);
		2321	//AltitudeRate
		2322	bData[21] = Convert.ToByte(dr[8]);
		2323	//Speed
		2324	bData[22] = Convert.ToByte(dr[7]);
		2325	//CamAngle
		2326	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2327	//Name
2362	-	2328	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		2329	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	2330	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2331	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2332	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2333	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2334	//Autotrigger
		2335	bData[28] = Convert.ToByte(dr[11]);
		2336
2356	-	2337	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	2338	serialStream.Write(bytes, 0, bytes.Length);
		2339
		2340	return true;
		2341	}
		2342
		2343	return false;
		2344	}
2287	-	2345	#region OSD-Menue
		2346
		2347	/// <summary>
		2348	/// one time query of the OSD Menue with pagenumber
		2349	/// </summary>
		2350	/// <param name="iMenue">Menue page</param>
		2351	void _OSDMenue(int iMenue)
		2352	{
		2353	if (serialPortCtrl.Port.IsOpen)
		2354	{
		2355	if (iMenue > iOSDMax)
		2356	iMenue = 0;
		2357	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2358	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2359	serialStream.Write(bytes, 0, bytes.Length);
		2360	}
		2361	else
		2362	Log(LogMsgType.Error, "NOT CONNECTED!");
		2363
		2364	}
		2365	/// <summary>
		2366	/// call the OSDMenue and start autorefresh
		2367	/// usually by sending a menuekey
		2368	/// 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)
		2369	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2370	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2371	/// </summary>
		2372	void _OSDMenueAutoRefresh()
		2373	{
		2374	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2375	}
		2376	void _OSDMenueAutoRefresh(byte key)
		2377	{
		2378	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2379	}
		2380	/// <summary>
		2381	/// initialize the OSD menue combobox
		2382	/// combox is filled by numbers from 0 to max pagenumber
		2383	/// </summary>
		2384	void _initOSDCB()
		2385	{
		2386	_bCBInit = true;
		2387	if (iOSDMax == 0)
		2388	{
		2389	_OSDMenue(0);
		2390	Thread.Sleep(10);
		2391	}
		2392	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2393	for (int i = 0; i <= iOSDMax; i++)
		2394	{
		2395	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2396	}
		2397	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2398	_bCBInit = false;
		2399	}
		2400	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2401	{
		2402	iOSDPage++;
		2403	if (iOSDPage > iOSDMax)
		2404	iOSDPage = 0;
		2405
		2406	_OSDMenue(iOSDPage);
		2407	}
		2408	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2409	{
		2410	iOSDPage--;
		2411	if (iOSDPage < 0)
		2412	iOSDPage = iOSDMax;
		2413
		2414	_OSDMenue(iOSDPage);
		2415	}
		2416	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2417	{
		2418	_OSDMenueAutoRefresh(8);
		2419	}
		2420	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2421	{
		2422	_OSDMenueAutoRefresh(4);
		2423	}
		2424	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2425	{
		2426	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2427	_OSDMenue(cbOSD.SelectedIndex);
		2428	}
		2429	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2430	{
		2431	Dispatcher.Invoke(() =>
		2432	{
		2433	TextRange tr;
		2434	if (bNew)
		2435	{
		2436	rtfOSD.SelectAll();
		2437	rtfOSD.Selection.Text = string.Empty;
		2438	}
		2439	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2440	tr.Text = msg;
		2441	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2442	// rtfOSD.AppendText("\r");
		2443	rtfOSD.ScrollToEnd();
		2444
		2445	});
		2446	}
		2447
		2448	#endregion OSD-Menue
		2449
		2450	#endregion controller messages
		2451
2295	-	2452	void _mediaPlayer(string file)
		2453	{
		2454	if (File.Exists(file))
		2455	{
		2456	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		2457	mp.Open(file);
		2458	mp.Play();
		2459	}
		2460	}
2310	-	2461
2362	-	2462	#region ui
2310	-	2463	/// <summary>
		2464	/// Switch between fullscreen and normal window mode
		2465	/// save & restore scaling settings
		2466	/// </summary>
		2467	/// <param name="sender"></param>
		2468	/// <param name="e"></param>
2287	-	2469	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2470	{
		2471	if (winState.isMaximized)
		2472	{
		2473	winState.Restore(this);
		2474	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2475	if(_bSaveWinStateFull)
		2476	_saveScaleSliders(true);
		2477	if(_bSaveWinStateNormal)
		2478	_setScaleSliders(false);
		2479	}
		2480	else
		2481	{
		2482	winState.Maximize(this);
		2483	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2484	if(_bSaveWinStateNormal)
		2485	_saveScaleSliders(false);
		2486	if(_bSaveWinStateFull)
		2487	_setScaleSliders(true);
		2488	}
		2489	}
		2490
		2491	/// <summary>
		2492	/// reset the scaling of all UI elements to default
		2493	/// </summary>
		2494	/// <param name="sender"></param>
		2495	/// <param name="e"></param>
		2496	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2497	{
		2498	UIScaleHorizonSlider.Value =
		2499	UIScaleLOGSlider.Value =
		2500	UIScaleMotorsSlider.Value =
		2501	UIScaleOSDSlider.Value =
		2502	UIScaleSlider.Value =
		2503	UIScaleTopSlider.Value = 1;
		2504	}
		2505	/// <summary>
		2506	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2507	/// </summary>
		2508	/// <param name="sender"></param>
		2509	/// <param name="e"></param>
		2510	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2511	{
		2512	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2513	if (GridMotors != null)
		2514	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2515	if (GridSideBar != null)
		2516	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2517	if (GridOSD != null)
		2518	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2519	if (GridData != null)
		2520	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2521	if (GridWP != null)
		2522	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2523	}
2310	-	2524	/// <summary>
		2525	/// restore the saved scalings for the fullscreen/normal window mode
		2526	/// </summary>
		2527	/// <param name="bFull">the mode the window is set to</param>
2287	-	2528	void _setScaleSliders(bool bFull)
		2529	{
		2530	if(bFull)
		2531	{
		2532	UIScaleSlider.Value = scaleFullAll;
		2533	UIScaleTopSlider.Value = scaleFullTopBar;
		2534	UIScaleMotorsSlider.Value = scaleFullMotors;
		2535	UIScaleOSDSlider.Value = scaleFullOSD;
		2536	UIScaleLOGSlider.Value = scaleFullLOG;
		2537	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2538	}
		2539	else
		2540	{
		2541	UIScaleSlider.Value = scaleNormalAll;
		2542	UIScaleTopSlider.Value = scaleNormalTopBar;
		2543	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2544	UIScaleOSDSlider.Value = scaleNormalOSD;
		2545	UIScaleLOGSlider.Value = scaleNormalLOG;
		2546	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2547	}
		2548	}
		2549
2310	-	2550	/// <summary>
		2551	/// save the scalings for the actual window mode
		2552	/// </summary>
		2553	/// <param name="bFull">the actual window mode</param>
2287	-	2554	void _saveScaleSliders(bool bFull)
		2555	{
		2556
		2557	if (bFull)
		2558	{
		2559	scaleFullAll = UIScaleSlider.Value;
		2560	scaleFullTopBar = UIScaleTopSlider.Value;
		2561	scaleFullMotors = UIScaleMotorsSlider.Value;
		2562	scaleFullOSD = UIScaleOSDSlider.Value;
		2563	scaleFullLOG = UIScaleLOGSlider.Value;
		2564	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2565	}
		2566	else
		2567	{
		2568	scaleNormalAll = UIScaleSlider.Value;
		2569	scaleNormalTopBar = UIScaleTopSlider.Value;
		2570	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2571	scaleNormalOSD = UIScaleOSDSlider.Value;
		2572	scaleNormalLOG = UIScaleLOGSlider.Value;
		2573	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2574	}
		2575	}
2362	-	2576	#endregion ui
2287	-	2577
		2578	/// <summary>
		2579	/// read settings from ini-file
		2580	/// </summary>
		2581	void _readIni()
		2582	{
		2583	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2584	_writeIni();
		2585	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2586	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2587	try
		2588	{
2287	-	2589
2312	-	2590	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2591	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2592	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2593	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2594	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2595	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2596	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2597	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2598
2312	-	2599	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2600	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2601	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2602	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2603	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2604	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2605	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2606	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2607
2312	-	2608	sVal = ini.IniReadValue("topBar", "voltage");
		2609	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2610	sVal = ini.IniReadValue("topBar", "capacity");
		2611	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2612	sVal = ini.IniReadValue("topBar", "current");
		2613	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2614	sVal = ini.IniReadValue("topBar", "flightTime");
		2615	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2616	sVal = ini.IniReadValue("topBar", "distanceHP");
		2617	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2618	sVal = ini.IniReadValue("topBar", "height");
		2619	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2620	sVal = ini.IniReadValue("topBar", "speed");
		2621	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2622	sVal = ini.IniReadValue("topBar", "magneticField");
		2623	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2624	sVal = ini.IniReadValue("topBar", "satellites");
		2625	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2626	sVal = ini.IniReadValue("topBar", "rc");
		2627	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2628
2312	-	2629	sVal = ini.IniReadValue("style", "saveFullScreen");
		2630	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2631	sVal = ini.IniReadValue("style", "saveNormalState");
		2632	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2633
2312	-	2634	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2635	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2636	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2637	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2638	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2639	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2640	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2641	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2642	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2643	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2644	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2645	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2646
2312	-	2647	sVal = ini.IniReadValue("style", "scaleFullAll");
		2648	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2649	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2650	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2651	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2652	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2653	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2654	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2655	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2656	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2657	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2658	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2659
2312	-	2660	sVal = ini.IniReadValue("general", "LiPoCells");
		2661	_LipoCells = Convert.ToInt16(sVal);
		2662	sVal = ini.IniReadValue("general", "Motors");
		2663	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2664
2312	-	2665	sVal = ini.IniReadValue("map", "followMe");
		2666	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2667	sVal = ini.IniReadValue("map", "AutoSetHome");
		2668	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2669	sVal = ini.IniReadValue("map", "GPXLog");
		2670	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2671
2312	-	2672	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2673	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2674	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2675	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2676	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2677	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2678	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2679	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2680	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2681	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2682	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2683	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2684	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2685	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2686	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2687	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2688	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2689	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2690	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2691	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2692	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2693	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2694
		2695	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2696	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2697	sVal = ini.IniReadValue("waypoints", "poicolor");
		2698	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2699	sVal = ini.IniReadValue("waypoints", "fscolor");
		2700	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2701	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2702	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	2703	sVal = ini.IniReadValue("waypoints", "routecolor");
		2704	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		2705	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		2706	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2349	-	2707
		2708	for (int i = 0; i < 12; i++)
		2709	{
		2710	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		2711	if (sVal != "")
		2712	serChan[i] = Convert.ToInt16(sVal);
		2713	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		2714	if (sVal != "")
		2715	serChanTitle[i] = sVal;
		2716	for (int y = 0; i < 4 && y < 3; y++)
		2717	{
		2718	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		2719	if (sVal != "")
		2720	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		2721	}
		2722	}
		2723
2312	-	2724	}
		2725	catch (Exception e)
		2726	{
2287	-	2727
2312	-	2728	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2729	}
		2730
2287	-	2731	}
		2732
		2733	/// <summary>
		2734	/// save settings to ini-file
		2735	/// </summary>
		2736	void _writeIni()
		2737	{
		2738
		2739	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2740	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2741
2312	-	2742	try
		2743	{
2287	-	2744
2312	-	2745	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2746	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2747	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2748	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2749
2312	-	2750	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2751	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2752	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2753	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2754
2312	-	2755	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2756	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2757
2312	-	2758	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2759	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	2760	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	2761
2312	-	2762	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2763	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2764	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2765	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2766	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2767	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2768	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2769	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2770	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2771	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2772
2312	-	2773	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2774	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2775
2312	-	2776	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2777	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2778	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2779	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2780	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2781	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	2782
2312	-	2783	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2784	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2785	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2786	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2787	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2788	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	2789
2312	-	2790	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2791
		2792	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2793	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2794	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2795	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2796	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2797	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2798	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2799	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2800	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2801	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2802	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	2803
		2804	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		2805	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		2806	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		2807	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2328	-	2808	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		2809	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2349	-	2810
		2811	for (int i = 0; i < 12; i++)
		2812	{
		2813	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		2814	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		2815	for (int y = 0; i < 4 && y < 3; y++)
		2816	{
		2817	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		2818	}
		2819	}
		2820
2312	-	2821	}
		2822	catch (Exception e)
		2823	{
		2824
		2825	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);
		2826	}
2287	-	2827	}
2350	-	2828
2349	-	2829	#region serial channels
		2830	/// <summary>
		2831	/// Sending the serial channel values
		2832	/// </summary>
		2833	void _sendSerialData()
		2834	{
		2835	byte[] serData = new byte[12];
		2836	for (int i = 0; i < 12; i++)
		2837	{
		2838	serData[i] = unchecked((byte)(serChan[i] - 127));
		2839	}
		2840	_sendControllerMessage('y', 1, serData);
		2841	}
		2842	/// <summary>
		2843	/// init the controls for displaying
		2844	/// and setting serial control channels
		2845	/// </summary>
		2846	void _initSerialCtrl()
		2847	{
		2848	SerChan1ScaleSlider.Value = serChan[0];
		2849	textBoxSerial1.Text = serChanTitle[0];
		2850	SerChan2ScaleSlider.Value = serChan[1];
		2851	textBoxSerial2.Text = serChanTitle[1];
2350	-	2852	SerChan3ScaleSlider.Value = serChan[2];
		2853	textBoxSerial3.Text = serChanTitle[2];
2349	-	2854	//SerChan4ScaleSlider.Value = serChan[3];
		2855	//textBoxSerial4.Text = serChanTitle[3];
		2856	//trckbarSerial5.Value = serChan[4];
		2857	//textBoxSerial5.Text = serChanTitle[4];
		2858	//trckbarSerial6.Value = serChan[5];
		2859	//textBoxSerial6.Text = serChanTitle[5];
		2860	//trckbarSerial7.Value = serChan[6];
		2861	//textBoxSerial7.Text = serChanTitle[6];
		2862	//trckbarSerial8.Value = serChan[7];
		2863	//textBoxSerial8.Text = serChanTitle[7];
2312	-	2864
2349	-	2865	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		2866	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		2867	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		2868	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		2869	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		2870	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	2871	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		2872	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		2873	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	2874	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		2875	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		2876	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		2877	}
		2878	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2879	{
		2880	if (!_init)
		2881	{
		2882	serChan[0] = (int)SerChan1ScaleSlider.Value;
		2883	_sendSerialData();
		2884	}
		2885	}
		2886	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		2887	{
		2888	if (!_init)
		2889	{
		2890	serChanTitle[0] = textBoxSerial1.Text;
		2891	}
		2892	}
		2893	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		2894	{
		2895	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		2896	{
		2897	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		2898	}
		2899	}
		2900	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		2901	{
		2902	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		2903	{
		2904	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		2905	}
		2906	}
		2907	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		2908	{
		2909	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		2910	{
		2911	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		2912	}
		2913	}
		2914	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		2915	{
		2916	if (textBoxSerial1_val1.Text.Length > 0)
		2917	{
		2918	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		2919	}
		2920	}
		2921	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		2922	{
		2923	SerChan1ScaleSlider.Value = 0;
		2924	}
		2925	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		2926	{
		2927	SerChan1ScaleSlider.Value = 127;
		2928	}
		2929	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		2930	{
		2931	SerChan1ScaleSlider.Value = 254;
		2932	}
		2933	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		2934	{
		2935	if (textBoxSerial1_val2.Text.Length > 0)
		2936	{
		2937	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		2938	}
		2939	}
		2940	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		2941	{
		2942	if (textBoxSerial1_val3.Text.Length > 0)
		2943	{
		2944	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		2945	}
		2946	}
		2947
		2948	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2949	{
		2950	if (!_init)
		2951	{
		2952	serChan[1] = (int)SerChan2ScaleSlider.Value;
		2953	_sendSerialData();
		2954	}
		2955	}
		2956	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		2957	{
		2958	if (!_init)
		2959	{
		2960	serChanTitle[1] = textBoxSerial2.Text;
		2961	}
		2962	}
		2963	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		2964	{
		2965	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		2966	{
		2967	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		2968	}
		2969	}
		2970	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		2971	{
		2972	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		2973	{
		2974	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		2975	}
		2976	}
		2977	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		2978	{
		2979	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		2980	{
		2981	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		2982	}
		2983	}
		2984	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		2985	{
		2986	SerChan2ScaleSlider.Value = 0;
		2987	}
		2988	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		2989	{
		2990	SerChan2ScaleSlider.Value = 127;
		2991	}
		2992	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		2993	{
		2994	SerChan2ScaleSlider.Value = 254;
		2995	}
		2996	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		2997	{
		2998	if (textBoxSerial2_val1.Text.Length > 0)
		2999	{
		3000	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3001	}
		3002	}
		3003	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3004	{
		3005	if (textBoxSerial2_val2.Text.Length > 0)
		3006	{
		3007	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3008	}
		3009	}
		3010	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3011	{
		3012	if (textBoxSerial2_val3.Text.Length > 0)
		3013	{
		3014	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3015	}
		3016	}
2350	-	3017
		3018	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3019	{
		3020	if (!_init)
		3021	{
		3022	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3023	_sendSerialData();
		3024	}
		3025	}
		3026	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3027	{
		3028	if (!_init)
		3029	{
		3030	serChanTitle[2] = textBoxSerial3.Text;
		3031	}
		3032	}
		3033	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3034	{
		3035	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3036	{
		3037	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3038	}
		3039	}
		3040	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3041	{
		3042	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3043	{
		3044	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3045	}
		3046	}
		3047	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3048	{
		3049	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3050	{
		3051	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3052	}
		3053	}
		3054	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3055	{
		3056	SerChan3ScaleSlider.Value = 0;
		3057	}
		3058	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3059	{
		3060	SerChan3ScaleSlider.Value = 127;
		3061	}
		3062	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3063	{
		3064	SerChan3ScaleSlider.Value = 254;
		3065	}
		3066	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3067	{
		3068	if (textBoxSerial3_val1.Text.Length > 0)
		3069	{
		3070	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3071	}
		3072	}
		3073	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3074	{
		3075	if (textBoxSerial3_val2.Text.Length > 0)
		3076	{
		3077	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3078	}
		3079	}
		3080	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3081	{
		3082	if (textBoxSerial3_val3.Text.Length > 0)
		3083	{
		3084	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3085	}
		3086	}
2349	-	3087	/// <summary>
		3088	/// checks the input of a textbox
		3089	/// for valid data
		3090	/// in this case values 0-254
		3091	/// </summary>
		3092	/// <param name="sender"></param>
		3093	/// <param name="e"></param>
		3094	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3095	{
		3096	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3097	e.Handled = true;
		3098	else
		3099	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3100	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3101	e.Handled = true;
		3102	else
		3103	{
		3104	int i = -1;
		3105	switch (((TextBox)sender).Name)
		3106	{
		3107	case "textBoxSerial1_val1":
		3108	i = 0;
		3109	break;
		3110	case "textBoxSerial1_val2":
		3111	i = 1;
		3112	break;
		3113	case "textBoxSerial1_val3":
		3114	i = 2;
		3115	break;
		3116	case "textBoxSerial2_val1":
		3117	i = 3;
		3118	break;
		3119	case "textBoxSerial2_val2":
		3120	i = 4;
		3121	break;
		3122	case "textBoxSerial2_val3":
		3123	i = 5;
		3124	break;
		3125	case "textBoxSerial3_val1":
		3126	i = 6;
		3127	break;
		3128	case "textBoxSerial3_val2":
		3129	i = 7;
		3130	break;
		3131	case "textBoxSerial3_val3":
		3132	i = 8;
		3133	break;
		3134	case "textBoxSerial4_val1":
		3135	i = 9;
		3136	break;
		3137	case "textBoxSerial4_val2":
		3138	i = 10;
		3139	break;
		3140	case "textBoxSerial4_val3":
		3141	i = 11;
		3142	break;
		3143	}
		3144	if (i > -1)
		3145	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3146	}
		3147	}
		3148
		3149	#endregion serial channels
2315	-	3150	#region WP
2312	-	3151	void _readWPLFile()
		3152	{
		3153	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3154	fd.Filter = "Waypointlists \| *.wpl";
		3155	fd.Multiselect = false;
		3156	if (fd.ShowDialog().Value)
		3157	{
		3158	string file = fd.SafeFileName;
		3159	IniFile ini = new IniFile(fd.SafeFileName);
		3160	ini.path = fd.FileName;
		3161
		3162	try
		3163	{
		3164	string sVal = ini.IniReadValue("General", "FileVersion");
		3165	if (sVal == "")
		3166	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3167	else
		3168	{
		3169	if (Convert.ToInt16(sVal) < 3)
		3170	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3171	else
		3172	{
		3173	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3174	if (sVal == "")
		3175	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3176	else
		3177	{
		3178	int wpnum = Convert.ToInt16(sVal);
		3179	string wp;
		3180	int i;
2313	-	3181	NumberFormatInfo nfi = new NumberFormatInfo();
		3182	nfi.NumberDecimalSeparator = ".";
2312	-	3183	dtWaypoints.Rows.Clear();
2368	-	3184	_wpEdit = -1;_wpIndex = -1;
2327	-	3185	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	3186	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	3187	wpList.Clear();
		3188	if (mRouteWP != null)
		3189	MainMap.Markers.Remove(mRouteWP);
2363	-	3190	//if (wpActiveMarker != null)
		3191	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	3192	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3193
2312	-	3194	for (int k = 1; k <= wpnum; k++)
		3195	{
		3196	DataRow dr = dtWaypoints.NewRow();
		3197	dr.ItemArray = new object[16];
		3198	object[] o = new object[16];
		3199	i = 0;
		3200	wp = "Point" + k.ToString();
		3201	o[i] = k;
		3202	i++;
		3203	sVal = ini.IniReadValue(wp, "Type");
		3204	if (sVal != "")
2315	-	3205	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3206	i++;
		3207	sVal = ini.IniReadValue(wp, "Prefix");
		3208	if (sVal != "")
2350	-	3209	o[i] = sVal + k.ToString();
		3210	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3211	i++;
2313	-	3212	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3213	if (sVal != "")
2313	-	3214	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3215	i++;
2313	-	3216	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3217	if (sVal != "")
2313	-	3218	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3219	i++;
		3220	sVal = ini.IniReadValue(wp, "Altitude");
		3221	if (sVal != "")
2313	-	3222	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3223	i++;
		3224	sVal = ini.IniReadValue(wp, "Heading");
		3225	if (sVal != "")
		3226	o[i] = Convert.ToInt16(sVal);
		3227	i++;
		3228	sVal = ini.IniReadValue(wp, "Speed");
		3229	if (sVal != "")
2315	-	3230	o[i] = Convert.ToInt16(sVal);
2312	-	3231	i++;
		3232	sVal = ini.IniReadValue(wp, "ClimbRate");
		3233	if (sVal != "")
		3234	o[i] = Convert.ToInt16(sVal);
		3235	i++;
		3236	sVal = ini.IniReadValue(wp, "Radius");
		3237	if (sVal != "")
		3238	o[i] = Convert.ToInt16(sVal);
		3239	i++;
		3240	sVal = ini.IniReadValue(wp, "DelayTime");
		3241	if (sVal != "")
		3242	o[i] = Convert.ToInt16(sVal);
		3243	i++;
		3244	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3245	if (sVal != "")
		3246	o[i] = Convert.ToInt16(sVal); ;
		3247	i++;
		3248	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3249	if (sVal != "")
2313	-	3250	o[i] = Convert.ToInt16(sVal);
2312	-	3251	i++;
		3252	o[i] = 0;
		3253	i++;
		3254	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3255	if (sVal != "")
		3256	o[i] = Convert.ToInt16(sVal);
		3257	i++;
		3258	o[i] = "New";
		3259
		3260	dr.ItemArray = o;
		3261	dtWaypoints.Rows.Add(dr);
2363	-	3262	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1]);
2315	-	3263
2312	-	3264	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3265	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3266	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3267	Thread.Sleep(10);
		3268	}
2359	-	3269	_routeUpdate();
2312	-	3270	}
		3271	}
		3272	}
		3273
		3274	}
		3275	catch (Exception e)
		3276	{
		3277
		3278	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		3279	}
		3280
		3281	}
		3282	}
2350	-	3283	void _saveWPLFile()
		3284	{
		3285	if (dtWaypoints.Rows.Count > 0)
		3286	{
		3287	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		3288	fd.Filter = "Waypointlists \| *.wpl";
		3289	fd.AddExtension = true;
		3290	if (fd.ShowDialog().Value)
		3291	{
		3292	string file = fd.SafeFileName;
		3293	IniFile ini = new IniFile(fd.SafeFileName);
		3294	ini.path = fd.FileName;
		3295	NumberFormatInfo nfi = new NumberFormatInfo();
		3296	nfi.NumberDecimalSeparator = ".";
		3297
		3298	try
		3299	{
		3300	ini.IniWriteValue("General", "FileVersion", "3");
		3301	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		3302	ini.IniWriteValue("General", "Mapfile", "");
		3303	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		3304	{
		3305	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		3306	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		3307	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		3308	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		3309	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		3310	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		3311	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		3312	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		3313	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		3314	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		3315	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		3316	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));
		3317	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		3318	}
		3319	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		3320	}
		3321	catch { }
		3322	}
		3323	}
		3324	else
		3325	MessageBox.Show("Nothing to save...");
		3326	}
		3327	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		3328	{
		3329	_saveWPLFile();
		3330	}
		3331	/// <summary>
		3332	/// set the selected color for the route
		3333	/// </summary>
		3334	/// <param name="color"></param>
		3335	/// <returns></returns>
2328	-	3336	Brush _getBrush(string color)
		3337	{
		3338	switch (color)
		3339	{
		3340	case "red":
		3341	return Brushes.Red;
		3342	case "green":
		3343	return Brushes.Lime;
		3344	case "blue":
		3345	return Brushes.Aqua;
		3346	case "pink":
		3347	return Brushes.Magenta;
		3348	case "yellow":
		3349	return Brushes.Yellow;
		3350	default:
		3351	return Brushes.Magenta;
		3352	}
		3353	}
2359	-	3354	void _routeUpdate()
		3355	{
		3356	Dispatcher.Invoke(() =>
		3357	{
		3358	if (comboBoxRouteColor.SelectionBoxItem != null)
		3359	{
		3360	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3361	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3362	}
		3363	else
		3364	mRouteWP = new GMapRoute(wpList, null);
		3365
		3366	if (_bShowWPRoute)
2368	-	3367	MainMap.Markers.Add(mRouteWP);
2359	-	3368	});
		3369
		3370	MapRoute mr = new MapRoute(wpList, "WPList");
		3371	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		3372	}
2363	-	3373	GMapMarker _createWP(PointLatLng p, string name, int type)
		3374	{
		3375	GMapMarker wpMarker = new GMapMarker(p);
		3376	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
		3377	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		3378	wpMarker.ZIndex = 100;
		3379	_setMarkerColor(wpMarker, type);
		3380	Dispatcher.Invoke(() => MainMap.Markers.Add(wpMarker));
		3381	if (type == 0)
		3382	wpList.Add(p);
		3383	return wpMarker;
		3384	}
2315	-	3385	void _setMarkerColor(GMapMarker wpMarker,int iType)
		3386	{
		3387	Dispatcher.Invoke(() =>
		3388	{
		3389	switch (iType)
		3390	{
		3391	case 0:
		3392	if (comboBoxWPColor.SelectionBoxItem != null)
		3393	{
		3394	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3395	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3396	}
		3397	else
		3398	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3399	break;
		3400	case 1:
		3401	if (comboBoxPOIColor.SelectionBoxItem != null)
		3402	{
		3403	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3404	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3405	}
		3406	else
		3407	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3408	break;
		3409	case 2:
		3410	if (comboBoxFSColor.SelectionBoxItem != null)
		3411	{
		3412	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3413	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3414	}
		3415	else
		3416	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3417	break;
		3418	default:
		3419	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3420	break;
		3421	}
		3422	});
2312	-	3423
2315	-	3424	}
		3425	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2312	-	3426	{
2315	-	3427	Dispatcher.Invoke(() =>
		3428	{
		3429	if (comboBoxWPColor.SelectionBoxItem != null)
		3430	{
		3431	for (int k = 0; k < MainMap.Markers.Count;k++)
		3432	{
		3433	GMapMarker p = MainMap.Markers[k];
		3434	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		3435	{
		3436	if (((CustomMarkerWP)p.Shape).WPType == 0)
		3437	{
		3438	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3439	((CustomMarkerWP)(p.Shape)).setColor(s);
		3440	}
		3441	}
		3442	}
		3443	}
		3444	});
2312	-	3445	}
2315	-	3446	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		3447	{
		3448	Dispatcher.Invoke(() =>
		3449	{
		3450	if (comboBoxPOIColor.SelectionBoxItem != null)
		3451	{
		3452	for (int k = 0; k < MainMap.Markers.Count; k++)
		3453	{
		3454	GMapMarker p = MainMap.Markers[k];
		3455	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		3456	{
		3457	if (((CustomMarkerWP)p.Shape).WPType == 1)
		3458	{
		3459	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3460	((CustomMarkerWP)(p.Shape)).setColor(s);
		3461	}
		3462	}
		3463	}
		3464	}
		3465	});
2287	-	3466
2315	-	3467	}
		3468	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
2287	-	3469	{
2315	-	3470	Dispatcher.Invoke(() =>
		3471	{
		3472	if (comboBoxFSColor.SelectionBoxItem != null)
		3473	{
		3474	for (int k = 0; k < MainMap.Markers.Count; k++)
		3475	{
		3476	GMapMarker p = MainMap.Markers[k];
		3477	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		3478	{
		3479	if (((CustomMarkerWP)p.Shape).WPType == 2)
		3480	{
		3481	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3482	((CustomMarkerWP)(p.Shape)).setColor(s);
		3483	}
		3484	}
		3485	}
		3486	}
		3487	});
2287	-	3488	}
2318	-	3489	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
		3490	{
		3491	Dispatcher.Invoke(() => {
		3492	if (comboBoxCopterColor.SelectionBoxItem != null)
		3493	{
		3494	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		3495	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		3496	}
		3497	else
		3498	((CustomMarkerCopter)(copter.Shape)).setColor("red");
		3499	});
		3500	}
2328	-	3501	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3502	{
		3503	Dispatcher.Invoke(() =>
		3504	{
		3505	if (comboBoxRouteColor.SelectionBoxItem != null)
		3506	{
		3507	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3508	MainMap.Markers.Remove(mRouteWP);
		3509	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3510	if (_bShowWPRoute)
		3511	MainMap.Markers.Add(mRouteWP);
		3512	}
		3513	});
		3514	}
		3515	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3516	{
		3517	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3518	if (_bShowWPRoute)
		3519	{
		3520	if (mRouteWP != null)
		3521	MainMap.Markers.Add(mRouteWP);
		3522	}
		3523	else
		3524	{
		3525	if (mRouteWP != null)
		3526	MainMap.Markers.Remove(mRouteWP);
		3527	}
		3528	}
2315	-	3529	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3530	{
2315	-	3531	_readWPLFile();
2287	-	3532	}
2335	-	3533	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3534	{
		3535	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	3536	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	3537	wpList.Clear();
		3538	if (mRouteWP != null)
		3539	MainMap.Markers.Remove(mRouteWP);
2347	-	3540	//if (wpActiveMarker != null)
		3541	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	3542	dtWaypoints.Rows.Clear();
2356	-	3543	_wpEdit = -1;
2368	-	3544	_wpIndex = -1;
2335	-	3545	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3546	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3547	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3548	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3549	}
2340	-	3550	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3551	{
		3552	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3553	t.Start();
		3554	}
2355	-	3555	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	3556	{
		3557	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3558	{
2362	-	3559	//if (_wpCount > 0)
2366	-	3560	// _sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's');
2362	-	3561	//else
2366	-	3562	// _sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's');
2363	-	3563
2362	-	3564	int index = dgvWP.SelectedIndex;
		3565	Thread t = new Thread(() => _sendWPList(index));
		3566	t.Start();
2354	-	3567
		3568	Dispatcher.Invoke(() => {
		3569	DataGridRow row;
2368	-	3570	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	3571	{
2368	-	3572	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	3573	row.Background = new SolidColorBrush(Colors.Transparent);
		3574	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3575	row.BorderThickness = new Thickness(0);
		3576	}
2368	-	3577	_wpEdit = dgvWP.SelectedIndex;
		3578	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2366	-	3579	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		3580	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2354	-	3581	row.BorderThickness = new Thickness(2);
2355	-	3582	dgvWP.UpdateLayout();
2354	-	3583	});
2340	-	3584	}
		3585	}
2355	-	3586	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		3587	{
2359	-	3588	_dgvWPselectEditRow();
		3589	}
		3590	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		3591	{
		3592	}
		3593	void _dgvWPselectEditRow()
		3594	{
2355	-	3595	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3596	{
2368	-	3597	Dispatcher.Invoke(() => {
2355	-	3598	DataGridRow row;
2368	-	3599	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	3600	{
		3601	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3602	row.Background = new SolidColorBrush(Colors.Transparent);
		3603	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3604	row.BorderThickness = new Thickness(0);
		3605	}
		3606	_wpEdit = dgvWP.SelectedIndex;
		3607	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3608	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		3609	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		3610	row.BorderThickness = new Thickness(2);
		3611	dgvWP.UpdateLayout();
2340	-	3612
2355	-	3613	_setWPEditFields(_wpEdit);
		3614	});
		3615	}
		3616	}
		3617	void _setWPEditFields(int index)
		3618	{
		3619	int iVal;
		3620	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		3621	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		3622	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		3623	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		3624	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		3625	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		3626	if (iVal == 0)
		3627	{
		3628	cbWPEditHeading.SelectedIndex = 0;
		3629	tbWPEditHeading.Text = " - - -";
		3630	tbWPEditHeading.IsReadOnly = true;
		3631	}
		3632	if (iVal > 0 && iVal < 360)
		3633	{
		3634	cbWPEditHeading.SelectedIndex = 2;
		3635	tbWPEditHeading.Text = iVal.ToString();
		3636	tbWPEditHeading.IsReadOnly = false;
		3637	}
		3638	if (iVal < 0)
		3639	{
		3640	cbWPEditHeading.SelectedIndex = 1;
		3641	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		3642	tbWPEditHeading.IsReadOnly = false;
		3643	}
		3644	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		3645	if (iVal == 0)
		3646	{
		3647	cbWPEditSpeed.SelectedIndex = 0;
		3648	tbWPEditSpeed.Text = "MAX";
		3649	tbWPEditSpeed.IsReadOnly = true;
		3650	}
		3651	if (iVal > 0 && iVal < 248)
		3652	{
		3653	cbWPEditSpeed.SelectedIndex = 1;
		3654	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		3655	tbWPEditSpeed.IsReadOnly = false;
		3656	}
		3657	if (iVal > 247)
		3658	{
		3659	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		3660	tbWPEditSpeed.Text = "";
		3661	tbWPEditSpeed.IsReadOnly = true;
		3662	}
		3663	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		3664	if (iVal == 255)
		3665	{
		3666	cbWPEditClimbrate.SelectedIndex = 0;
		3667	tbWPEditClimbrate.Text = "AUTO";
		3668	tbWPEditClimbrate.IsReadOnly = true;
		3669	}
		3670	else
		3671	{
		3672	cbWPEditClimbrate.SelectedIndex = 1;
		3673	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		3674	tbWPEditClimbrate.IsReadOnly = false;
		3675	}
		3676	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		3677	tbWPEditRadius.Text = iVal.ToString();
		3678	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		3679	tbWPEditHoldtime.Text = iVal.ToString();
		3680	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		3681	tbWPEditAutoTrigger.Text = iVal.ToString();
		3682	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		3683	if (iVal == 0)
		3684	{
		3685	cbWPEditCamAngle.SelectedIndex = 0;
		3686	tbWPEditCamAngle.Text = " - - - ";
		3687	tbWPEditCamAngle.IsReadOnly = true;
		3688	}
		3689	if (iVal < 0 \| iVal == 255)
		3690	{
		3691	cbWPEditCamAngle.SelectedIndex = 1;
		3692	tbWPEditCamAngle.Text = "AUTO";
		3693	tbWPEditCamAngle.IsReadOnly = true;
		3694	}
		3695	if (iVal > 0 & iVal < 255)
		3696	{
		3697	cbWPEditCamAngle.SelectedIndex = 2;
		3698	tbWPEditCamAngle.Text = iVal.ToString();
		3699	tbWPEditCamAngle.IsReadOnly = false;
		3700	}
		3701	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		3702	tbWPEditOut1.Text = iVal.ToString();
		3703
		3704	}
		3705
2361	-	3706	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		3707	{
2363	-	3708	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3709	{
		3710	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		3711	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3712	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3713	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		3714	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		3715	switch (cbWPEditHeading.SelectedIndex)
		3716	{
		3717	case 0:
		3718	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		3719	break;
		3720	case 1:
		3721	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		3722	break;
		3723	case 2:
		3724	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		3725	break;
		3726	}
		3727	switch (cbWPEditSpeed.SelectedIndex)
		3728	{
		3729	case 0:
		3730	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		3731	break;
		3732	case 1:
		3733	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3734	break;
		3735	case 2:
		3736	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3737	break;
		3738	}
		3739	switch (cbWPEditClimbrate.SelectedIndex)
		3740	{
		3741	case 0:
		3742	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		3743	break;
		3744	case 1:
		3745	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		3746	break;
		3747	}
		3748	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		3749	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		3750	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		3751	switch (cbWPEditCamAngle.SelectedIndex)
		3752	{
		3753	case 0:
		3754	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		3755	break;
		3756	case 1:
		3757	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		3758	break;
		3759	case 2:
		3760	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		3761	break;
		3762	}
		3763	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	3764
2363	-	3765	_clearMapMarkers(typeof(CustomMarkerWP));
		3766	_clearMapMarkers(typeof(CustomMarkerWPActive));
		3767	wpList.Clear();
		3768	if (mRouteWP != null)
		3769	MainMap.Markers.Remove(mRouteWP);
		3770
		3771	for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		3772	{
		3773	_createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		3774	}
		3775	_routeUpdate();
		3776	dgvWP.Items.Refresh();
		3777
		3778	}
		3779
2361	-	3780	}
		3781	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		3782	{
2368	-	3783	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3784	{
		3785	int index = dgvWP.SelectedIndex;
		3786	Dispatcher.Invoke(() => {
		3787	DataGridRow row;
		3788	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		3789	{
		3790	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3791	row.Background = new SolidColorBrush(Colors.Transparent);
		3792	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3793	row.BorderThickness = new Thickness(0);
		3794	}
		3795	if ((int)dtWaypoints.Rows[index][1] == 0)
		3796	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
		3797	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
		3798	dtWaypoints.Rows[index].Delete();
		3799	_wpIndex = -1;
		3800	_wpEdit = -1;
		3801	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		3802	{
		3803	dtWaypoints.Rows[i][0] = i + 1;
		3804	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		3805	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		3806	_renameWPMarker(s1, s2);
		3807	dtWaypoints.Rows[i][2] = s2;
		3808	}
		3809	lblWPCount.Content = dtWaypoints.Rows.Count;
		3810	if (mRouteWP != null)
		3811	MainMap.Markers.Remove(mRouteWP);
		3812	_routeUpdate();
2361	-	3813
2368	-	3814	dgvWP.UpdateLayout();
		3815	});
		3816	}
2361	-	3817	}
2366	-	3818	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		3819	{
		3820	_wpWEdit(sender);
		3821	}
2361	-	3822	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		3823	{
2366	-	3824	_wpWEdit(sender);
		3825	}
		3826	void _wpWEdit(object sender)
		3827	{
		3828	if (!((TextBox)sender).IsReadOnly)
2361	-	3829	{
		3830	KeyPad.Keypad k = new KeyPad.Keypad(this);
		3831
2363	-	3832	switch (((TextBox)sender).Name)
		3833	{
		3834	case "tbWPEditLat":
		3835	k.Title = "Latitude";
		3836	k.LENGTH = 17;
		3837	k.MAX = 359.9;
		3838	break;
		3839	case "tbWPEditLon":
		3840	k.Title = "Longitude";
		3841	k.LENGTH = 17;
		3842	k.MAX = 359.9;
		3843	break;
		3844	case "tbWPEditAlt":
		3845	k.Title = "Altitude";
		3846	k.LENGTH = 3;
		3847	k.MAX = 254;
		3848	k.disableDecimal();
		3849	break;
		3850	case "tbWPEditHeading":
		3851	k.Title = "Heading";
		3852	k.LENGTH = 3;
		3853	k.MAX = 359;
		3854	k.MIN = 1;
		3855	k.disableDecimal();
		3856	break;
		3857	case "tbWPEditSpeed":
		3858	k.Title = "Speed";
		3859	k.LENGTH = 4;
		3860	k.MAX = 24.7;
		3861	k.MIN = 0.1;
		3862	break;
		3863	case "tbWPEditClimbrate":
		3864	k.Title = "Climbrate";
		3865	k.LENGTH = 4;
		3866	k.MAX = 25.4;
		3867	k.MIN = 0.1;
		3868	break;
		3869	case "tbWPEditRadius":
		3870	k.Title = "Radius";
		3871	k.LENGTH = 3;
		3872	k.MAX = 254;
		3873	k.disableDecimal();
		3874	break;
		3875	case "tbWPEditHoldtime":
		3876	k.Title = "Holdtime";
		3877	k.LENGTH = 3;
		3878	k.MAX = 254;
		3879	break;
		3880	case "tbWPEditAutoTrigger":
		3881	k.Title = "Autotrigger";
		3882	k.LENGTH = 3;
		3883	k.MAX = 254;
		3884	k.disableDecimal();
		3885	break;
		3886	case "tbWPEditCamAngle":
		3887	k.Title = "Camera angle";
		3888	k.LENGTH = 3;
		3889	k.MAX = 254;
		3890	k.MIN = 1;
		3891	k.disableDecimal();
		3892	break;
		3893	case "tbWPEditOut1":
		3894	k.Title = "OUT1 timer interval";
		3895	k.LENGTH = 3;
		3896	k.MAX = 254;
		3897	k.disableDecimal();
		3898	break;
		3899	}
		3900	k.Result = ((TextBox)sender).Text;
2366	-	3901	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	3902	((TextBox)sender).Text = k.Result;
2361	-	3903	}
2366	-	3904
2361	-	3905	}
2356	-	3906	private void tbWPEditHeading_KeyDown(object sender, KeyEventArgs e)
		3907	{
		3908	if(!tbWPEditHeading.IsReadOnly)
		3909	{
		3910	//var x = KeyInterop.VirtualKeyFromKey(e.Key);
		3911	KeyConverter x = new KeyConverter();
		3912	string s = x.ConvertToString(e.Key);
		3913
		3914	if ("1234567890,\b".IndexOf(s) < 0) //general check for valid chars(0-9) and backspace (\b)
		3915	e.Handled = true;
		3916	else
		3917	if ("\b".IndexOf(s) < 0)
		3918	if (Convert.ToInt16(((TextBox)sender).Text + s) > 360) //if valid and not backspace, check for upper limit of the resulting number
		3919	e.Handled = true;
		3920
		3921	}
		3922	}
2361	-	3923	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	3924	{
2359	-	3925	object[] o = new object[16];
2356	-	3926
2359	-	3927	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		3928	o[1] = 0;
		3929	// cbWPEditType.SelectedIndex = 0;
		3930	// tbWPEditPrefix.Text = "P";
		3931	o[2] = "P" + o[0].ToString();
		3932	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		3933	o[3] = copter.Position.Lat;
		3934	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		3935	o[4] = copter.Position.Lng;
		3936	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		3937	o[5] = iAnalogData[4].ToString();
2356	-	3938
2359	-	3939	// cbWPEditHeading.SelectedIndex = 2;
		3940	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		3941	// tbWPEditHeading.IsReadOnly = false;
2356	-	3942
2359	-	3943	// cbWPEditSpeed.SelectedIndex = 1;
		3944	// tbWPEditSpeed.Text = "5.0";
		3945	// tbWPEditSpeed.IsReadOnly = false;
		3946	o[7] = "50";
2356	-	3947
2359	-	3948	// cbWPEditClimbrate.SelectedIndex = 1;
		3949	// tbWPEditClimbrate.Text = "5.0";
		3950	// tbWPEditClimbrate.IsReadOnly = false;
		3951	o[8] = "50";
2356	-	3952
2359	-	3953	// tbWPEditRadius.Text = "10";
		3954	o[9] = "10";
		3955	// tbWPEditHoldtime.Text = "5";
		3956	o[10] = "5";
		3957	// tbWPEditAutoTrigger.Text = "0";
		3958	o[11] = "0";
		3959	// cbWPEditCamAngle.SelectedIndex = 1;
		3960	// tbWPEditCamAngle.Text = "AUTO";
		3961	// tbWPEditCamAngle.IsReadOnly = true;
		3962	o[12] = "255";
2356	-	3963
2359	-	3964	o[13] = "0";
		3965	// tbWPEditOut1.Text = "0";
		3966	o[14] = "0";
		3967	o[15] = "0";
		3968
		3969	dtWaypoints.Rows.Add(o);
2368	-	3970	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1]);
2359	-	3971	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		3972	if (mRouteWP != null)
		3973	MainMap.Markers.Remove(mRouteWP);
		3974	_routeUpdate();
		3975	Dispatcher.Invoke(() => {
		3976	dgvWP.Items.Refresh();
		3977	dgvWP.SelectedIndex = (int)o[0] -1;
		3978	dgvWP.UpdateLayout();
		3979	_dgvWPselectEditRow();
		3980	});
2356	-	3981	}
		3982
2315	-	3983	#endregion WP
2324	-	3984	#region GPX
		3985	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		3986	{
		3987	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		3988	}
		3989	void _gpxAdd(double lat,double lon, int elevation)
		3990	{
		3991	DataRow dr = dtGPX.NewRow();
		3992	dr[0] = dtGPX.Rows.Count - 1;
		3993	dr[1] = lat;
		3994	dr[2] = lon;
		3995	dr[3] = elevation;
		3996	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		3997	dtGPX.Rows.Add(dr);
		3998	}
		3999	void _saveGPXLog()
		4000	{
		4001	if (!Directory.Exists("GPXLog"))
		4002	Directory.CreateDirectory("GPXLog");
		4003	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		4004	XmlTextWriter myXmlTextWriter = null;
		4005	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		4006	NumberFormatInfo nfi = new NumberFormatInfo();
		4007	nfi.NumberDecimalSeparator = ".";
2315	-	4008
2324	-	4009	try
		4010	{
		4011	myXmlTextWriter.Formatting = Formatting.Indented;
		4012
		4013	myXmlTextWriter.WriteStartDocument();
		4014
		4015	myXmlTextWriter.WriteStartElement("gpx");
		4016
		4017	myXmlTextWriter.WriteAttributeString("version", "1.0");
		4018	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		4019	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		4020	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		4021	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		4022
		4023	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		4024
		4025	myXmlTextWriter.WriteStartElement("trk");
		4026	myXmlTextWriter.WriteStartElement("trkseg");
		4027	for(int i = 0; i< dtGPX.Rows.Count;i++)
		4028	{
		4029	myXmlTextWriter.WriteStartElement("trkpt");
		4030	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		4031	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		4032	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		4033	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		4034	myXmlTextWriter.WriteEndElement();
		4035	}
		4036	myXmlTextWriter.WriteEndElement();
		4037	myXmlTextWriter.WriteEndElement();
		4038	myXmlTextWriter.WriteEndElement();
		4039	}
		4040	catch (Exception e)
		4041	{
		4042	Console.WriteLine("Exception: {0}", e.ToString());
		4043	}
		4044	finally
		4045	{
		4046	if (myXmlTextWriter != null)
		4047	{
		4048	myXmlTextWriter.Close();
		4049	}
		4050	}
		4051	}
2356	-	4052
2324	-	4053	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		4054	{
		4055	_loadGPXLog();
		4056	}
2327	-	4057	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		4058	{
		4059	_clearMapMarkers(typeof(GMapRoute));
		4060	}
2324	-	4061	void _loadGPXLog()
		4062	{
		4063
		4064	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4065	fd.Filter = "GPX-Logfile \| *.gpx";
		4066	fd.Multiselect = false;
		4067	if (fd.ShowDialog().Value)
		4068	{
		4069	string file = fd.FileName;
		4070	try
		4071	{
		4072	XDocument gpxDoc = XDocument.Load(file);
		4073	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		4074
		4075	NumberFormatInfo nfi = new NumberFormatInfo();
		4076	nfi.NumberDecimalSeparator = ".";
		4077
		4078	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		4079	select new
		4080	{
		4081	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		4082	Segs = (
		4083	from trackpoint in track.Descendants(gpx + "trkpt")
		4084	select new
		4085	{
		4086	Latitude = trackpoint.Attribute("lat").Value,
		4087	Longitude = trackpoint.Attribute("lon").Value,
		4088	Elevation = trackpoint.Element(gpx + "ele") != null ?
		4089	trackpoint.Element(gpx + "ele").Value : null,
		4090	Time = trackpoint.Element(gpx + "time") != null ?
		4091	trackpoint.Element(gpx + "time").Value : null
		4092	}
		4093	)
		4094	};
		4095
		4096	List<PointLatLng> wpl = new List<PointLatLng>();
		4097	foreach(var trk in tracks)
		4098	{
		4099	foreach(var trkseg in trk.Segs)
		4100	{
		4101	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		4102	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		4103	}
		4104
		4105	}
		4106	if(wpl.Count() > 0)
		4107	{
2327	-	4108	_clearMapMarkers(typeof(GMapRoute));
2324	-	4109	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	4110	Dispatcher.Invoke(() =>
		4111	{
		4112	GMapRoute mRoute;
		4113	if (comboBoxRouteColor.SelectionBoxItem != null)
		4114	{
		4115	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	4116	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	4117	}
		4118	else
2366	-	4119	mRoute = new GMapRoute(wpl, null);
2324	-	4120
2328	-	4121	MainMap.Markers.Add(mRoute);
		4122	});
2324	-	4123	}
		4124
		4125	}
		4126	catch (Exception e)
		4127	{
		4128	Console.WriteLine("Exception: {0}", e.ToString());
		4129	}
		4130	}
		4131	}
		4132	#endregion GPX
2315	-	4133	#endregion functions
2287	-	4134	}
2315	-	4135	/// <summary>
		4136	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		4137	/// </summary>
2313	-	4138	public class waypointsConverter : IValueConverter
		4139	{
		4140	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		4141	{
		4142	if (value != null)
		4143	{
		4144	switch ((string)parameter)
		4145	{
		4146	case "Latitude":
		4147	return value.ToString() + " °";
		4148	case "Longitude":
		4149	return value.ToString() + " °";
		4150	case "Radius":
		4151	return value.ToString() + " m";
		4152	case "Altitude":
		4153	return value.ToString() + " m";
		4154	case "ClimbRate":
		4155	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		4156	case "DelayTime":
		4157	return value.ToString() + " s";
		4158	case "Heading":
		4159	return Waypoints.Heading(System.Convert.ToInt32(value));
		4160	case "Speed":
		4161	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		4162	case "CamAngle":
		4163	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		4164	case "Type":
		4165	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		4166	case "AutoTrigger":
		4167	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		4168	case "Status":
2355	-	4169	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	4170	}
		4171
		4172	return value.ToString();
		4173	}
		4174	else return value;
		4175	}
		4176
		4177	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		4178	{
		4179	throw new NotImplementedException();
		4180	}
		4181	}
		4182
2287	-	4183	public class IniFile
		4184	{
		4185	public string path;
		4186
		4187	[DllImport("kernel32")]
		4188	private static extern long WritePrivateProfileString(string section,
		4189	string key, string val, string filePath);
		4190
		4191	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		4192	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		4193	uint nSize, string lpFileName);
		4194
		4195	[DllImport("kernel32")]
		4196	private static extern int GetPrivateProfileString(string section,
		4197	string key, string def, StringBuilder retVal,
		4198	int size, string filePath);
		4199
		4200	public IniFile(string INIPath)
		4201	{
		4202	path = INIPath;
		4203	}
		4204
		4205	public void IniWriteValue(string Section, string Key, string Value)
		4206	{
		4207	WritePrivateProfileString(Section, Key, Value, this.path);
		4208	}
		4209
		4210	public string IniReadValue(string Section, string Key)
		4211	{
		4212	StringBuilder temp = new StringBuilder(255);
		4213	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		4214	return temp.ToString();
		4215	}
		4216	//Ini_sections auslesen in String-Array
		4217	public string[] IniSectionNames()
		4218	{
		4219
		4220	// uint MAX_BUFFER = 32767;
		4221	uint MAX_BUFFER = 8388608;
		4222	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		4223	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		4224	if (bytesReturned == 0)
		4225	{
		4226	Marshal.FreeCoTaskMem(pReturnedString);
		4227	return null;
		4228	}
		4229	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		4230	Marshal.FreeCoTaskMem(pReturnedString);
		4231	//use of Substring below removes terminating null for split
		4232	return local.Substring(0, local.Length - 1).Split('\0');
		4233
		4234
		4235	}
		4236	}
		4237
		4238	/// <summary>
		4239	/// Selected Win AI Function Calls
		4240	/// </summary>
		4241	public class WinApi
		4242	{
		4243	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		4244	public static extern int GetSystemMetrics(int which);
		4245	[DllImport("user32.dll")]
		4246	public static extern void
		4247	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		4248	int X, int Y, int width, int height, uint flags);
		4249
		4250	private const int SM_CXSCREEN = 0;
		4251	private const int SM_CYSCREEN = 1;
		4252	private static IntPtr HWND_TOP = IntPtr.Zero;
		4253	private const int SWP_SHOWWINDOW = 64; // 0x0040
		4254
		4255	public static int ScreenX
		4256	{
		4257	get { return GetSystemMetrics(SM_CXSCREEN); }
		4258	}
		4259
		4260	public static int ScreenY
		4261	{
		4262	get { return GetSystemMetrics(SM_CYSCREEN); }
		4263	}
		4264
		4265	public static void SetWinFullScreen(IntPtr hwnd)
		4266	{
		4267	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		4268	}
		4269	}
		4270	/// <summary>
		4271	/// Class used to preserve / restore state of the window
		4272	/// </summary>
		4273	public class WinState
		4274	{
		4275	private WindowState winState;
		4276	private WindowStyle brdStyle;
		4277	private bool topMost;
		4278	private Rect restore;
		4279	private bool IsMaximized = false;
		4280
		4281	public bool isMaximized
		4282	{
		4283	get { return IsMaximized; }
		4284	}
		4285	public void Maximize(Window targetForm)
		4286	{
		4287	if (!IsMaximized)
		4288	{
		4289	IsMaximized = true;
		4290	Save(targetForm);
		4291	targetForm.WindowState = WindowState.Maximized;
		4292	targetForm.WindowStyle = WindowStyle.None;
		4293	targetForm.Topmost = true;
		4294	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		4295	}
		4296	}
		4297
		4298	public void Save(Window targetForm)
		4299	{
		4300	winState = targetForm.WindowState;
		4301	brdStyle = targetForm.WindowStyle;
		4302	topMost = targetForm.Topmost;
		4303	restore = targetForm.RestoreBounds;
		4304	}
		4305	public void Restore(Window targetForm)
		4306	{
		4307	targetForm.WindowState = winState;
		4308	targetForm.WindowStyle = brdStyle;
		4309	targetForm.Topmost = topMost;
		4310
		4311	targetForm.Left = restore.Left;
		4312	targetForm.Top = restore.Top;
		4313	targetForm.Height = restore.Height;
		4314	targetForm.Width = restore.Width;
		4315	IsMaximized = false;
		4316	}
		4317	}
		4318
		4319	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs - Rev 2368