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

Rev	Author	Line No.	Line
2287	-	1	using GMap.NET;
		2	using GMap.NET.MapProviders;
		3	using GMap.NET.WindowsPresentation;
		4	using MKLiveView.GMapCustomMarkers;
		5	using System;
		6	using System.Collections.Generic;
		7	using System.ComponentModel;
		8	using System.Data;
		9	using System.Diagnostics;
		10	using System.IO;
		11	using System.Linq;
		12	using System.Linq.Expressions;
		13	using System.Runtime.InteropServices;
		14	using System.Text;
		15	using System.Threading;
		16	using System.Threading.Tasks;
		17	using System.Windows;
		18	using System.Windows.Controls;
		19	using System.Windows.Data;
		20	using System.Windows.Documents;
		21	using System.Windows.Input;
		22	using System.Windows.Interop;
		23	using System.Windows.Media;
		24	using System.Windows.Media.Animation;
		25	using System.Windows.Media.Imaging;
		26	using System.Windows.Navigation;
		27	using System.Windows.Shapes;
		28	using System.Windows.Threading;
2313	-	29	using System.Globalization;
2324	-	30	using System.Xml;
		31	using System.Xml.Linq;
2287	-	32
		33	namespace MKLiveView
		34	{
		35	/// <summary>
		36	/// Interaktionslogik für MainWindow.xaml
		37	/// </summary>
		38	public partial class MainWindow : Window
		39	{
2304	-	40	#region declarations
		41
2287	-	42	GMapMarker copter;
		43	GMapMarker home;
		44	PointLatLng start;
		45	PointLatLng end;
		46	PointLatLng pHome;
2328	-	47	GMapRoute mRouteWP;
2342	-	48	GMapMarker wpActiveMarker;
2328	-	49	List<PointLatLng> wpList = new List<PointLatLng>();
2324	-	50	#region NC-Errors
2287	-	51	String[] NC_Error = new string[44]
		52	{
		53	"No Error",
		54	"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		55	"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		56	"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		57	"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		58	"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		59	"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		60	"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		61	"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		62	"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		63	"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		64	"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		65	"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		66	"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		67	"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		68	"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		69	"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		70	"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		71	"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		72	"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		73	"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		74	"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		75	"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		76	"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		77	"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		78	"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		79	"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		80	"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		81	"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		82	"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		83	"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		84	"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		85	"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		86	"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		87	"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		88	"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		89	"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		90	"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		91	"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		92	"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		93	"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		94	"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		95	"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		96	"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		97	};
2324	-	98	#endregion NC-Errors
2287	-	99	[FlagsAttribute]
		100	enum NC_HWError0 : short
		101	{
		102	None = 0,
		103	SPI_RX = 1,
		104	COMPASS_RX = 2,
		105	FC_INCOMPATIBLE = 4,
		106	COMPASS_INCOMPATIBLE = 8,
		107	GPS_RX = 16,
		108	COMPASS_VALUE = 32
		109	};
		110	[FlagsAttribute]
		111	enum FC_HWError0 : short
		112	{
		113	None = 0,
		114	GYRO_NICK = 1,
		115	GYRO_ROLL = 2,
		116	GYRO_YAW = 4,
		117	ACC_NICK = 8,
		118	ACC_ROLL = 16,
		119	ACC_TOP = 32,
		120	PRESSURE = 64,
		121	CAREFREE = 128
		122	};
		123	[FlagsAttribute]
		124	enum FC_HWError1 : short
		125	{
		126	None = 0,
		127	I2C = 1,
		128	BL_MISSING = 2,
		129	SPI_RX = 4,
		130	PPM = 8,
		131	MIXER = 16,
		132	RC_VOLTAGE = 32,
		133	ACC_NOT_CAL = 64,
		134	RES3 = 128
		135	};
		136	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		137	// Various colors for logging info
		138	private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red };
		139
		140	bool _bCBInit = true;
		141	bool _init = true;
		142	bool check_HWError = false;
		143
		144	string filePath = Directory.GetCurrentDirectory();
		145	bool bReadContinously = false;
		146	bool _debugDataAutorefresh = true;
		147	bool _navCtrlDataAutorefresh = true;
		148	bool _blctrlDataAutorefresh = true;
		149	bool _OSDAutorefresh = true;
		150	bool _bErrorLog = false;
		151	bool _bConnErr = false;
		152	bool _bFollowCopter = false;
2324	-	153	bool _bGPXLog = false;
2287	-	154
		155	bool _bSaveWinStateNormal = true;
		156	bool _bSaveWinStateFull = true;
		157
		158	double scaleNormalAll = 1;
		159	double scaleNormalTopBar = 1;
		160	double scaleNormalMotors = 1;
		161	double scaleNormalOSD = 1;
		162	double scaleNormalLOG = 1;
		163	double scaleNormalHorizon = 1;
		164
		165	double scaleFullAll = 1;
		166	double scaleFullTopBar = 1;
		167	double scaleFullMotors = 1;
		168	double scaleFullOSD = 1;
		169	double scaleFullLOG = 1;
		170	double scaleFullHorizon = 1;
		171
		172	int _iCtrlAct = 0;
		173	int iOSDPage = 0;
		174	int iOSDMax = 0;
		175	int _iLifeCounter = 0;
		176	int crcError = 0;
		177
2291	-	178	bool _bSatFix = false;
		179	Storyboard stbSatFixLostAnim;
		180	bool _bAnimSatFixActive = false;
		181	bool _bVoiceSatFixActive = false;
		182	bool _bVoiceSatFixPlay = false;
		183	int _iSatsLast = 0;
		184	int _iSatsJitter = 0;
		185
		186	bool _bMagneticFieldOK = false;
		187	Storyboard stbMagneticFieldAnim;
		188	bool _bAnimMagneticFieldActive = false;
		189	bool _bVoiceMagneticFieldActive = false;
		190	bool _bVoiceMagneticFieldPlay = false;
		191	int _iMagneticFieldLast = 0;
		192	int _iMagneticFieldJitter = 0;
		193
		194	bool _bRCLevelOK = false;
		195	Storyboard stbRCLevelAnim;
		196	bool _bAnimRCLevelActive = false;
		197	bool _bVoiceRCLevelActive = false;
		198	bool _bVoiceRCLevelPlay = false;
		199	int _iRCLevelLast = 0;
		200	int _iRCLevelJitter = 0;
		201
2287	-	202	int _iMotors = 4;
		203	int _LipoCells = 4;
		204
		205	double _dLipoVMax = 16.88;
		206	double _dLipoVMin = 12;
		207	double _dThresholdVoltageWarn = 0;
		208	double _dThresholdVoltageCrit = 0;
		209	Storyboard stbVoltageCritAnim;
		210	bool _bCritAnimVoltActive = false;
		211	bool _bCritVoiceVoltActive = false;
2291	-	212	bool _bWarnVoiceVoltActive = false;
2287	-	213	bool _bVoiceVoltPlay = false;
		214	double _dVoltLast = 0;
		215	int _iVoltJitter = 0;
		216
2291	-	217	double _dThresholdDistanceWarn = 100;
		218	Storyboard stbDistanceWarnAnim;
		219	bool _bAnimDistanceActive = false;
		220	bool _bVoiceDistanceActive = false;
		221	bool _bVoiceDistancePlay = false;
		222	double _dDistanceLast = 0;
		223	int _iDistanceJitter = 0;
		224
		225	double _dThresholdDistanceMax = 1000;
		226	int _iThresholdRC = 160;
		227	int _iThresholdMagField = 15;
		228
2295	-	229	bool _bAutoHome = false;
		230	bool _bFirstSatFix = false;
		231	int _iFirstSatFix = 0;
2291	-	232
2287	-	233	double _dTopHeight = 36;
		234
		235	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		236	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		237	string[] serChanTitle = new string[12];
		238
		239	string[] sAnalogLabel = new string[32];
		240	string[] sAnalogData = new string[32];
2324	-	241	int[] iAnalogData = new int[32];
2287	-	242
		243	int[] iTimings = new int[] {100,150,200,250,300,350,400,450,500,550,600,650,700,750,800,850,900,950,1000,1100,1200,1300,1400,1500,1600,1700,1800,1900,2000 };
		244	int[] iMotors = new int[] {3,4,5,6,7,8,9,10,11,12 };
		245	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		246	/// <summary>
		247	/// interval for sending debugdata (multiplied by 10ms)
		248	/// </summary>
		249	byte debugInterval = 10; //(=> 100ms)
		250	/// <summary>
		251	/// interval for sending BL-CTRL status (multiplied by 10ms)
		252	/// </summary>
		253	byte blctrlInterval = 75;
		254	/// <summary>
		255	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		256	/// </summary>
		257	byte navctrlInterval = 80;
		258	/// <summary>
		259	/// interval for sending OSD page update (multiplied by 10ms)
		260	/// </summary>
		261	byte OSDInterval = 85;
		262	/// <summary>
		263	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		264	/// </summary>
		265	DataTable dtAnalog = new DataTable();
		266	/// <summary>
		267	/// datatable for motordata (current,temp)
		268	/// </summary>
2315	-	269	DataTable dtMotors = new DataTable();
2287	-	270
		271	DataTable dtWaypoints = new DataTable();
2313	-	272	static volatile int _iWPCount = -1;
		273	static volatile int _iWPIndex = -1;
		274	int _iWPTimeout = 1000;
2287	-	275	bool _bGetWP = false;
2328	-	276	bool _bShowWPRoute = false;
2287	-	277	static volatile bool _bGetWPCount = false;
2324	-	278	DataTable dtGPX = new DataTable();
		279	DataRow drGPX;
		280	bool _bAirborne = false;
2355	-	281	int _wpIndex = -1, _wpCount = 0, _wpEdit = -1;
2340	-	282
2287	-	283	DispatcherTimer timer = new DispatcherTimer();
		284
		285	/// <summary>
		286	/// stuff for enabeling touch zoom for the map
		287	/// </summary>
		288	Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0);
		289	int iFirstStylusID = -1;
		290	public string connectButtonText
		291	{
		292	get
		293	{
		294	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		295	}
		296	}
		297
		298	WinState winState = new WinState();
2304	-	299	#endregion declarations
2287	-	300	public MainWindow()
		301	{
		302	InitializeComponent();
		303	_initForm();
		304	_dataTablesInit();
		305	_setupMap();
		306	_init = false;
		307	timer.Tick += new EventHandler(timerEvent);
		308	timer.Interval = new TimeSpan(0, 0, 1);
		309	timer.Start();
		310	}
		311
		312	#region init
		313	void _initForm()
		314	{
		315	_readIni();
		316	if (_bSaveWinStateNormal)
		317	_setScaleSliders(false);
		318	cBoxTimingsDebug.ItemsSource =
		319	cBoxTimingsNav.ItemsSource =
		320	cBoxTimingsBl.ItemsSource =
		321	cBoxTimingsOSD.ItemsSource =
		322	iTimings;
		323	cBoxLiPoCells.ItemsSource = sLiPoCells;
		324	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		325	_LipoMinMax();
		326	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		327	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		328	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
2291	-	329	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		330	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		331	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		332	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		333	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
2287	-	334
2291	-	335	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		336
2287	-	337	cBoxMotors.ItemsSource = iMotors;
		338	cBoxMotors.SelectedItem = _iMotors;
		339
		340	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		341	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		342	serialPortCtrl.DataReceived += processMessage;
		343
		344	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		345	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		346	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		347	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		348
		349	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		350	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		351	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		352	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
2295	-	353	checkBoxAutoSetHP.IsChecked = _bAutoHome;
2287	-	354	checkBoxFollowCopter.IsChecked = _bFollowCopter;
2324	-	355	checkBoxGPXLog.IsChecked = _bGPXLog;
2328	-	356	checkBoxShowWPRoute.IsChecked = _bShowWPRoute;
2287	-	357
2349	-	358	_initSerialCtrl();
2287	-	359	}
		360	/// <summary>
		361	/// initialize the datatables
		362	/// with columnnames etc
		363	/// </summary>
		364	void _dataTablesInit()
		365	{
2315	-	366	dtMotors.Columns.Add("#");
2313	-	367	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
2315	-	368	dtMotors.Columns.Add("Strom");
2313	-	369	else
2315	-	370	dtMotors.Columns.Add("Current");
		371	dtMotors.Columns.Add("Temp");
		372	dgvMotors1.DataContext = dtMotors.DefaultView;
2287	-	373	_initDTMotors();
		374
		375	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0));
		376	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		377	style.Setters.Add(setter);
		378	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		379	style.Setters.Add(setter);
		380	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		381	style.Setters.Add(setter);
2313	-	382
		383	dtWaypoints.Columns.Add("Index",typeof(int));
2315	-	384	dtWaypoints.Columns.Add("Type", typeof(int));
2313	-	385	dtWaypoints.Columns.Add("Name",typeof(string));
2315	-	386	dtWaypoints.Columns.Add("Latitude",typeof(double));
		387	dtWaypoints.Columns.Add("Longitude",typeof(double));
2313	-	388	dtWaypoints.Columns.Add("Altitude",typeof(string));
		389	dtWaypoints.Columns.Add("Heading",typeof(string));
		390	dtWaypoints.Columns.Add("Speed",typeof(string));
		391	dtWaypoints.Columns.Add("ClimbRate",typeof(string));
		392	dtWaypoints.Columns.Add("Radius",typeof(string));
		393	dtWaypoints.Columns.Add("HoldTime",typeof(string));
		394	dtWaypoints.Columns.Add("AutoTrigger",typeof(string));
		395	dtWaypoints.Columns.Add("CamAngle",typeof(string));
		396	dtWaypoints.Columns.Add("Event",typeof(string));
		397	dtWaypoints.Columns.Add("Out1Timer",typeof(string));
		398	dtWaypoints.Columns.Add("Status",typeof(string));
		399	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		400	dgvWP.ItemsSource = dtWaypoints.DefaultView;
2287	-	401	dgvWP.ColumnHeaderStyle = new Style();
		402	dgvWP.ColumnHeaderStyle = style;
2313	-	403
2324	-	404	dtGPX.Columns.Add("Index",typeof(int));
		405	dtGPX.Columns.Add("Latitude",typeof(double));
		406	dtGPX.Columns.Add("Longitude",typeof(double));
		407	dtGPX.Columns.Add("Elevation",typeof(int));
		408	dtGPX.Columns.Add("Time",typeof(string));
		409	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		410	drGPX = dtGPX.NewRow();
2313	-	411
2287	-	412	}
		413	/// <summary>
2315	-	414	/// initialize the datatable dtMotors for motor values
2313	-	415	/// DataGridView dgvMotors1 is bound to dtMotors1
2287	-	416	/// </summary>
		417	void _initDTMotors()
		418	{
		419	for (int i = 0; i < 12; i++)
		420	{
2315	-	421	if (dtMotors.Rows.Count < 12)
		422	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
2287	-	423	else
		424	{
2315	-	425	dtMotors.Rows[i].SetField(1, "NA");
		426	dtMotors.Rows[i].SetField(2, "NA");
2287	-	427	}
		428	}
		429	}
		430
		431	#endregion init
		432
		433	#region events
		434	private void serialPortCtrl_PortOpened()
		435	{
		436	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		437	_getVersion();
		438	Thread.Sleep(100);
		439	//_OSDMenue(0);
		440	//Thread.Sleep(200);
		441	//_sendSerialData();
		442	_readCont(true);
		443	}
		444	private void serialPortCtrl_PortClosed()
		445	{
		446	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		447	_readCont(false);
		448	}
2324	-	449	bool _bToggle = false;
2287	-	450	void timerEvent(object sender, EventArgs e)
		451	{
		452	if (bReadContinously)
		453	{
		454	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		455
		456	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		457
		458	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		459	check_HWError = true;
		460	_getVersion();
		461	Thread.Sleep(10);
		462	if (_OSDAutorefresh)
		463	{
		464	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		465	_initOSDCB();
		466	_OSDMenueAutoRefresh();
		467	}
		468	if (_iLifeCounter > 0)
		469	{
		470	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		471	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		472	_iLifeCounter = 0;
		473	_bConnErr = false;
2327	-	474	if(_bAirborne && _bGPXLog)
2324	-	475	{
		476	drGPX[0] = dtGPX.Rows.Count;
		477	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		478	}
2327	-	479	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		480	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		481	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
2324	-	482	_bToggle = !_bToggle;
2287	-	483	}
		484	else
		485	{
		486	if (!_bConnErr)
		487	{
		488	Log(LogMsgType.Error, "No communication to NC/FC!");
		489	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		490	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		491	_bConnErr = true;
		492	}
		493	}
		494	}
		495	}
		496
		497	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		498	{
		499	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		500	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		501	}
		502	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		503	{
		504	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		505	if (GridMotors.IsVisible)
		506	_setMotorGridSize();
		507	}
		508	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		509	{
		510	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		511	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		512	}
		513	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		514	{
		515	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		516	}
		517	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		518	{
		519	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		520	}
		521	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		522	{
		523	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		524	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		525	}
		526
		527	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		528	{
		529	Thread t = new Thread(new ThreadStart(_getWP));
		530	t.Start();
		531	}
		532	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		533	{
2313	-	534	Thread t = new Thread(new ThreadStart(_sendWPList));
		535	t.Start();
2287	-	536	}
		537
		538	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		539	{
		540	if (!serialPortCtrl.Port.IsOpen)
		541	serialPortCtrl.Connect(true);
		542	else
		543	_readCont(!bReadContinously);
		544	}
		545	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		546	{
2347	-	547	_setHomePos();
2287	-	548	}
		549	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		550	{
2347	-	551	_clearHomePos();
2287	-	552	}
		553	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		554	{
		555	if (home != null && MainMap.Markers.Contains(home))
		556	MainMap.Position = home.Position;
		557	}
2295	-	558	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		559	{
		560	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		561	}
2287	-	562	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		563	{
		564	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		565	}
		566	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		567	{
		568	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		569	}
		570
2291	-	571	#region thresholds
2287	-	572	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		573	{
		574	if(!_init)
		575	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		576	}
		577	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		578	{
		579	if(!_init)
		580	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		581	}
		582	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		583	{
		584	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		585	}
2291	-	586
		587	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		588	{
		589	if(!_init)
		590	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		591	}
		592	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		593	{
		594	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		595	}
		596
		597	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		598	{
		599	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		600	}
		601	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		602	{
		603	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		604	}
		605	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		606	{
		607	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		608	}
		609	#endregion thresholds
		610
2287	-	611	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		612	{
		613	_switchToNC();
		614	}
		615
		616	private void Window_Loaded(object sender, RoutedEventArgs e)
		617	{
		618	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
2291	-	619	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		620	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		621	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		622	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
2287	-	623	_setMotorGridSize();
		624	}
2310	-	625	private void Window_Closing(object sender, CancelEventArgs e)
		626	{
		627	_writeIni();
2324	-	628	if(_bGPXLog && dtGPX.Rows.Count > 0)
		629	_saveGPXLog();
2310	-	630	}
2287	-	631	#endregion events
		632
		633	#region GMap
		634
		635	void _setupMap()
		636	{
		637	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		638	MainMap.MapProvider = GMapProviders.BingHybridMap;
		639	MainMap.SetPositionByKeywords("Landshut");
		640	MainMap.MinZoom = 0;
		641	MainMap.MaxZoom = 24;
		642	MainMap.Zoom = 16;
		643	MainMap.ShowCenter = true;
		644	MainMap.ShowTileGridLines = false;
		645	sliderMapZoom.Value = 16;
		646	comboBoxMapType.ItemsSource = providerList;
		647	comboBoxMapType.DisplayMemberPath = "Name";
		648	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		649
		650	// acccess mode
		651	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		652	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		653
		654	}
		655
		656	/// <summary>
		657	/// selection of relevant map providers --> if You need more, You can change the line:
		658	/// comboBoxMapType.ItemsSource = providerList;
		659	/// to:
		660	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		661	/// in _setupMap()
		662	/// or add items here:
		663	/// </summary>
		664	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		665	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		666	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		667	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		668	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		669
		670	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		671	{
		672	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		673	copter = new GMapMarker(MainMap.Position);
2318	-	674
		675	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"),"red");
		676	if (comboBoxCopterColor.SelectionBoxItem != null)
		677	{
		678	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		679	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		680	}
2287	-	681	copter.Offset = new System.Windows.Point(-18, -18);
		682	copter.ZIndex = int.MaxValue;
		683	MainMap.Markers.Add(copter);
		684	copter.Position = MainMap.Position;
		685	}
2347	-	686	void _setHomePos()
2287	-	687	{
		688	pHome = MainMap.Position;
		689	if (!MainMap.Markers.Contains(home))
		690	{
		691	home = new GMapMarker(MainMap.Position);
		692	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		693	home.Offset = new System.Windows.Point(-18, -18);
		694	// home.ZIndex = int.MaxValue;
		695	MainMap.Markers.Add(home);
		696	}
		697	home.Position = MainMap.Position;
		698	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		699	}
2347	-	700	void _setActiveWP(int iIndex)
2287	-	701	{
2347	-	702	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
		703	{
		704	Dispatcher.Invoke(() =>
		705	{
		706	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		707	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		708	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		709	MainMap.Markers.Add(wpActiveMarker);
		710	});
		711	}
		712	else
		713	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
		714
		715	}
		716	void _clearHomePos()
		717	{
2287	-	718	MainMap.Markers.Remove(home);
		719	}
2335	-	720	void _clearMapMarkers(Type markerType)
		721	{
		722	for (int k = 0; k < MainMap.Markers.Count;)
		723	{
		724	GMapMarker p = MainMap.Markers[k];
2340	-	725	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	726	MainMap.Markers.Remove(p);
		727	else
		728	k++;
		729	}
2287	-	730
2335	-	731	}
2369	-	732
		733	GMapMarker _findWPMarker(string name)
2368	-	734	{
		735	for (int k = 0; k < MainMap.Markers.Count;)
		736	{
		737	GMapMarker p = MainMap.Markers[k];
		738	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
2369	-	739	if (((CustomMarkerWP)p.Shape).WPText == name)
		740	return p;
2368	-	741	else
		742	k++;
		743	else
		744	k++;
		745	}
2369	-	746	return null;
2368	-	747	}
2369	-	748	void _clearWPMarker(string name)
		749	{
		750	GMapMarker p = _findWPMarker(name);
		751	if(p != null)
		752	MainMap.Markers.Remove(p);
		753	}
2368	-	754	void _renameWPMarker(string s1, string s2)
		755	{
2369	-	756	GMapMarker p = _findWPMarker(s1);
		757	if (p != null)
		758	((CustomMarkerWP)p.Shape).WPText = s2;
2368	-	759	}
2369	-	760	void _repositionWPMarker(PointLatLng point, string name)
		761	{
		762	GMapMarker p = _findWPMarker(name);
		763	if (p != null)
		764	p.Position = point;
		765	}
		766
2287	-	767	// access mode
		768	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		769	{
		770	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		771	MainMap.ReloadMap();
		772	}
		773	// zoom up
		774	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		775	{
		776	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		777	}
		778
		779	// zoom down
		780	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		781	{
		782	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		783	}
		784
		785	// prefetch
		786	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		787	{
		788	RectLatLng area = MainMap.SelectedArea;
		789	if (!area.IsEmpty)
		790	{
		791	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		792	{
		793	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		794
		795	if (res == MessageBoxResult.Yes)
		796	{
		797	TilePrefetcher obj = new TilePrefetcher();
		798	obj.Owner = this;
		799	obj.ShowCompleteMessage = true;
		800	obj.Start(area, i, MainMap.MapProvider, 100);
		801	}
		802	else if (res == MessageBoxResult.No)
		803	{
		804	continue;
		805	}
		806	else if (res == MessageBoxResult.Cancel)
		807	{
		808	break;
		809	}
		810	}
		811	}
		812	else
		813	{
		814	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		815	}
		816	}
		817
		818	// goto by geocoder
		819	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		820	{
		821	_goto_byGeoCoder();
		822	}
		823	// goto by geocoder
		824	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		825	{
		826	if (e.Key == System.Windows.Input.Key.Enter)
		827	_goto_byGeoCoder();
		828	}
		829	void _goto_byGeoCoder()
		830	{
		831	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		832	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		833	{
		834	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		835	}
		836	}
		837	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		838	{
		839	try
		840	{
		841	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		842	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		843
		844	MainMap.Position = new PointLatLng(lat, lng);
		845	}
		846	catch (Exception ex)
		847	{
		848	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		849	}
		850
		851	}
		852
		853	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		854	{
		855	MainMap.ReloadMap();
		856	}
		857
		858	private void MainMap_OnPositionChanged(PointLatLng point)
		859	{
		860	if (_bFollowCopter)
		861	_setCopterData(MainMap.Position);
		862	}
		863
		864	private void MainMap_OnMapZoomChanged()
		865	{
		866	if (_bFollowCopter)
		867	_setCopterData(MainMap.Position);
		868	if((int)sliderMapZoom.Value != MainMap.Zoom)
		869	sliderMapZoom.Value = MainMap.Zoom;
		870	}
		871
		872	void _setCopterData(PointLatLng p)
		873	{
		874	Dispatcher.Invoke(() =>
		875	{
		876	copter.Position = p;
		877	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		878	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		879	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		880	});
		881	if (home != null && MainMap.Markers.Contains(home))
		882	{
		883	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		884	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		885	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	886
		887	if(d*1000 < _dThresholdDistanceWarn)
		888	{
		889	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		890	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		891	{
		892	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		893	_bAnimDistanceActive = false;
		894	}
		895	}
		896	else
		897	{
		898	if (_iDistanceJitter < 20)
		899	{ _iDistanceJitter++; }
		900	if (_iDistanceJitter == 20)
		901	{
		902	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		903	{
		904	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		905	_bAnimDistanceActive = true;
		906	}
		907	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		908	{
2295	-	909	Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		910	t.Start();
2291	-	911	_bVoiceDistanceActive = true;
		912	}
		913	_iDistanceJitter++;
		914	}
		915	}
2287	-	916	}
		917	}
		918
		919	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		920	{
		921	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		922	}
		923
		924	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		925	{
		926	if (MainMap.Zoom != sliderMapZoom.Value)
		927	MainMap.Zoom = (int)sliderMapZoom.Value;
		928	}
		929	#region Touch zooming hackattack ;)
		930	/// <summary>
		931	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		932	/// </summary>
		933	bool bFirstAccess = true;
		934	double dDistance = 0;
		935	int iZoom;
		936	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		937	{
		938	var id = e.StylusDevice.Id;
		939	e.StylusDevice.Capture(MainMap);
		940	if (iFirstStylusID == -1)
		941	{
		942	iFirstStylusID = id;
		943	}
		944	else
		945	{
		946
		947	MainMap.CanDragMap = false;
		948	}
		949	}
		950	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		951	{
		952	MainMap.ReleaseStylusCapture();
		953	iFirstStylusID = -1;
		954	bFirstAccess = true;
		955	MainMap.CanDragMap = true;
		956	iZoom = 0;
		957	}
		958	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		959	{
		960	var id = e.StylusDevice.Id;
		961	var tp = e.GetPosition(MainMap);
		962
		963	// This is the first Stylus point; just record its position.
		964	if (id == iFirstStylusID)
		965	{
		966	pTouch1.X = tp.X;
		967	pTouch1.Y = tp.Y;
		968	}
		969	else
		970	if (iFirstStylusID > -1)
		971	{
		972	pTouch2.X = tp.X;
		973	pTouch2.Y = tp.Y;
		974	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		975	if (!bFirstAccess)
		976	{
		977	if (distance > dDistance)
		978	iZoom++;
		979	else
		980	if (distance < dDistance)
		981	iZoom--;
		982	}
		983	if (iZoom > 30)
		984	{
		985	iZoom = 0;
		986	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		987	}
		988	if (iZoom < -30)
		989	{
		990	iZoom = 0;
		991	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		992	}
		993	dDistance = distance;
		994	bFirstAccess = false;
		995	}
		996	}
		997	#endregion Touch zooming hackattack ;)
		998
		999	#endregion GMap
		1000
		1001	#region settings
		1002	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1003	{
		1004	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		1005	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1006	}
		1007	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1008	{
		1009	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		1010	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1011	}
		1012	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1013	{
		1014	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1015	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1016	}
		1017	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1018	{
		1019	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1020	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1021	}
		1022	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1023	{
		1024	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1025	}
		1026	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1027	{
		1028	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1029	}
		1030	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1031	{
		1032	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1033	}
		1034	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1035	{
		1036	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1037	}
		1038
		1039	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1040	{
		1041	if (cBoxLiPoCells.SelectedIndex > -1)
		1042	{
		1043	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1044	_LipoMinMax();
		1045	}
		1046	}
		1047	void _LipoMinMax()
		1048	{
		1049	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1050	_dLipoVMin = (double)_LipoCells * 3;
		1051	pbTopVoltage.Maximum = _dLipoVMax;
		1052	pbTopVoltage.Minimum = _dLipoVMin;
		1053	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1054	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1055	}
		1056	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1057	{
		1058	if (cBoxMotors.SelectedIndex > -1)
		1059	{
		1060	_iMotors = cBoxMotors.SelectedIndex + 3;
		1061	Dispatcher.Invoke(() =>
		1062	{
		1063	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1064	GridMotors.Height = dgvMotors1.Height + 10;
		1065	});
		1066	}
		1067	}
		1068	void _setMotorGridSize()
		1069	{
		1070	if (dgvMotors1.Columns.Count > 2)
		1071	{
		1072	dgvMotors1.Columns[0].Width = 24;
		1073	dgvMotors1.Columns[1].Width = 50;
		1074	dgvMotors1.Columns[2].Width = 50;
		1075	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1076	GridMotors.Height = dgvMotors1.Height + 10;
		1077	}
		1078
		1079	}
		1080	#endregion settings
		1081
		1082	#region functions
		1083
		1084	#region logging
		1085	/// <summary> Log data to the terminal window. </summary>
		1086	/// <param name="msgtype"> The type of message to be written. </param>
		1087	/// <param name="msg"> The string containing the message to be shown. </param>
		1088	private void Log(LogMsgType msgtype, string msg)
		1089	{
		1090	Dispatcher.Invoke(() =>
		1091	{
		1092	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1093	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1094	// rtfTerminal.AppendText(msg + "\r");
		1095	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1096	tr.Text = msg;
		1097	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1098	rtfTerminal.AppendText("\r");
		1099	rtfTerminal.ScrollToEnd();
		1100	});
		1101	}
		1102	private void ErrorLog(LogMsgType msgtype, string msg)
		1103	{
		1104	Dispatcher.Invoke(() =>
		1105	{
		1106	TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1107	tr.Text = msg;
		1108	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1109	rtfError.AppendText("\r");
		1110	rtfError.ScrollToEnd();
		1111
		1112	_bErrorLog = true;
		1113	});
		1114	}
		1115	/// <summary>
		1116	/// Clear the line in the errorlog window
		1117	/// containing the error string when error has ceased
		1118	/// </summary>
		1119	/// <param name="s">substring of errrormessage</param>
		1120	void _clearErrorLog(string s)
		1121	{
		1122	Dispatcher.Invoke((Action)(() =>
		1123	{
		1124	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1125	TextRange foundRange = FindTextInRange(searchRange, s);
		1126
		1127	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1128
		1129
		1130	if (iStart > -1)
		1131	{
		1132	int iLength = 0;
		1133	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1134	if (iEnd > 0)
		1135	{
		1136	iLength = iEnd + 1;
		1137	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1138	if (iHttp == iLength)
		1139	{
		1140	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1141	if (iEnd2 > iLength)
		1142	{
		1143	iLength = iEnd2 + 1;
		1144	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1145
		1146	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1147	rtfError.Selection.Text = string.Empty;
		1148	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1149	}
		1150
		1151	}
		1152	else
		1153	{
		1154	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1155	rtfError.Selection.Text = string.Empty;
		1156	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1157	}
		1158	}
		1159	}
		1160	}));
		1161
		1162	}
		1163	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1164	{
		1165	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1166	if (offset < 0)
		1167	return null; // Not found
		1168
		1169	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1170	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1171
		1172	return result;
		1173	}
		1174	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1175	{
		1176	while (position != null)
		1177	{
		1178	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1179	{
		1180	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1181	if (characterCount <= count)
		1182	{
		1183	return position.GetPositionAtOffset(characterCount);
		1184	}
		1185
		1186	characterCount -= count;
		1187	}
		1188
		1189	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1190	if (nextContextPosition == null)
		1191	return position;
		1192
		1193	position = nextContextPosition;
		1194	}
		1195
		1196	return position;
		1197	}
		1198	#endregion logging
		1199
		1200	#region processing received data
		1201
		1202	private void processMessage(byte[] message)
		1203	{
		1204	if (message.Length > 0)
		1205	{
		1206	_iLifeCounter++;
		1207	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1208	//Log(LogMsgType.Incoming, message.Length.ToString());
		1209	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1210	char cmdID;
		1211	byte adr;
		1212	byte[] data;
		1213	byte[] tmp = null;
		1214	if (message[0] != '#')
		1215	{
		1216	int iFound = -1;
		1217	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1218	{ //so this is a workaround to not spam the log box
		1219	if (message[i] == 35)
		1220	{
		1221	iFound = i;
		1222	break;
		1223	}
		1224	}
		1225	if (iFound > 0)
		1226	{
		1227	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1228	tmp = new byte[message.Length - iFound];
		1229	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1230	}
		1231	s = s.Trim('\0', '\n', '\r');
		1232	if (s.Length > 0)
		1233	Log(LogMsgType.Normal, s);
		1234	if (tmp != null)
		1235	{
		1236	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1237	processMessage(tmp);
		1238	}
		1239	}
		1240	//Debug.Print(s);
		1241	else
		1242	{
		1243	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1244
		1245	if (adr == 255) { crcError++; }
		1246	else crcError = 0;
		1247	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1248	//display the active controller (FC / NC)
		1249	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...???
		1250	{
		1251	_iCtrlAct = adr;
		1252	switch (adr)
		1253	{
		1254	case 1:
		1255	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2298	-	1256	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
2287	-	1257	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1258	// _setFieldsNA(); //display fields NA for FC
		1259	break;
		1260	case 2:
		1261	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1262	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1263	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1264	break;
		1265	//case 3:
		1266	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1267	// break;
		1268	//case 4:
		1269	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1270	// break;
		1271	default:
		1272	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1273	break;
		1274	}
		1275	// _loadLabelNames();
		1276	}
		1277	// else
		1278	// Debug.Print("Address == 0?");
		1279
		1280	if (data != null && data.Length > 0)
		1281	{
		1282	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1283	s = s.Trim('\0', '\n');
		1284
		1285	switch (cmdID)
		1286	{
		1287	//case 'A': //Label names
		1288	// _processLabelNames(s);
		1289	// break;
		1290
		1291	case 'D': //Debug data
		1292	_processDebugVals(adr, data);
		1293	break;
		1294
		1295	case 'V': //Version
		1296	_processVersion(adr, data);
		1297	break;
		1298
		1299	case 'K'://BL-CTRL data
		1300	_processBLCtrl(data);
		1301	break;
		1302
		1303	case 'O': //NC Data
		1304	_processNCData(data);
		1305	break;
		1306
		1307	case 'E': //NC error-string
		1308	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1309	break;
		1310
		1311	case 'L': //OSD Menue (called by pagenumber)
		1312	_processOSDSingle(data);
		1313	break;
		1314
		1315	case 'H': //OSD Menue (with autoupdate - called by Key)
		1316	_processOSDAuto(data);
		1317	break;
		1318
		1319	case 'X': //Waypoint data
		1320	_processWPData(data);
		1321	break;
		1322
2313	-	1323	case 'W': //return new Waypoint items count after sending waypoint to copter
		1324	_iWPCount = data[0];
		1325	break;
2287	-	1326	//default:
		1327	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1328	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1329	// break;
		1330	}
		1331	}
		1332	//else
		1333	//{
		1334	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1335	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1336	//}
		1337	}
		1338	}
		1339	}
		1340	/// <summary>
		1341	/// Analog label names 'A'
		1342	/// each label name is returned as a single string
		1343	/// and added to string array sAnalogLabel[]
		1344	/// and the datatable dtAnalog
		1345	/// </summary>
		1346	/// <param name="s">the label name</param>
		1347	void _processLabelNames(string s)
		1348	{
		1349	//if (iLableIndex < 32)
		1350	//{
		1351	// sAnalogLabel[iLableIndex] = s;
		1352	// if (dtAnalog.Rows.Count < 32)
		1353	// dtAnalog.Rows.Add(s, "");
		1354	// else
		1355	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1356
		1357	// // _getAnalogLabels(iLableIndex + 1);
		1358	//}
		1359	//Debug.Print(s);
		1360	}
		1361	/// <summary>
		1362	/// Debug values 'D'
		1363	/// </summary>
		1364	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1365	/// <param name="data">the received byte array to process</param>
		1366	void _processDebugVals(byte adr, byte[] data)
		1367	{
		1368	if (data.Length == 66)
		1369	{
2324	-	1370
2287	-	1371	double v;
		1372	int index = 0;
		1373	Int16 i16 = 0;
		1374	double dTemp = 0;
		1375	for (int i = 2; i < 66; i += 2)
		1376	{
		1377	i16 = data[i + 1];
		1378	i16 = (Int16)(i16 << 8);
		1379	iAnalogData[index] = data[i] + i16;
		1380	sAnalogData[index] = (data[i] + i16).ToString();
		1381	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1382
		1383	if (adr == 2) //NC
		1384	{
		1385	switch (index)
		1386	{
		1387	case 0: //pitch (German: nick)
		1388	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1389	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1390	break;
		1391	case 1: //roll
		1392	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1393	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1394	break;
		1395	case 4: //altitude
		1396	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1397	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2324	-	1398	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1399	break;
		1400	case 7: //Voltage
		1401	v = (double)iAnalogData[index] / (double)10;
		1402	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1403	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1404	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1405	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1406	{
		1407	if (v == _dVoltLast)
		1408	if(_iVoltJitter < 20) _iVoltJitter++;
		1409	else
		1410	{
		1411	_iVoltJitter = 0;
		1412	_dVoltLast = v;
		1413	}
		1414	if (_iVoltJitter == 20)
		1415	{
		1416	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1417
		1418	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1419	{
		1420	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1421	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1422	{
		1423	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1424	_bCritAnimVoltActive = true;
		1425	}
		1426	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1427	{
2295	-	1428	Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1429	t.Start();
2287	-	1430	_bCritVoiceVoltActive = true;
		1431	}
		1432	}
		1433	else
		1434	{
		1435	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1436	{
		1437	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1438	_bCritAnimVoltActive = false;
		1439	}
		1440	_bCritVoiceVoltActive = false;
		1441
2291	-	1442	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1443	{
2295	-	1444	Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1445	t.Start();
2291	-	1446	_bWarnVoiceVoltActive = true;
2287	-	1447	}
		1448	}
		1449	}
		1450	}
		1451	else
		1452	{
		1453	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1454	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1455	{
		1456	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1457	_bCritAnimVoltActive = false;
		1458	}
		1459	_bCritVoiceVoltActive = false;
2291	-	1460	_bWarnVoiceVoltActive = false;
2287	-	1461	_iVoltJitter = 0;
		1462	}
		1463	break;
		1464	case 8: // Current
		1465	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1466	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1467	break;
		1468	case 10: //heading
2291	-	1469	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2287	-	1470	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1471	break;
		1472	case 12: // SPI error
2291	-	1473	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1474	break;
		1475	case 14: //i2c error
2291	-	1476	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1477	break;
		1478	case 20: //Earthmagnet field
2291	-	1479	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1480	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1481
		1482	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1483	{
		1484	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1485	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1486	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1487	{
		1488	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1489	_bAnimMagneticFieldActive = false;
		1490	}
		1491	}
		1492	else
		1493	{
		1494	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1495	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1496	{
		1497	if (_iMagneticFieldJitter < 20)
		1498	_iMagneticFieldJitter++;
		1499	}
		1500	else
		1501	{
		1502	_iMagneticFieldJitter = 0;
		1503	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1504	}
		1505	if(_iMagneticFieldJitter == 20)
		1506	{
		1507	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1508	{
		1509	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1510	_bAnimMagneticFieldActive = true;
		1511	}
		1512	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1513	{
2295	-	1514	Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1515	t.Start();
2291	-	1516	_bVoiceMagneticFieldActive = true;
		1517	}
		1518	}
		1519	}
2287	-	1520	break;
		1521	case 21: //GroundSpeed
		1522	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1523	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1524	break;
2291	-	1525
		1526	///******** needs testing --> not sure what position this is *************
2287	-	1527	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1528	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1529	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1530	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1531	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1532	dTemp = Math.Sqrt(dTemp) / (double)10;
		1533	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1534	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1535	break;
2291	-	1536
2287	-	1537	case 31: //Sats used
		1538	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1539	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1540	break;
		1541	}
		1542	}
		1543	index++;
		1544	}
		1545	}
		1546	else
		1547	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1548	}
		1549	/// <summary>
		1550	/// Version string 'V'
		1551	/// </summary>
		1552	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1553	/// <param name="data">the received byte array to process</param>
		1554	void _processVersion(byte adr, byte[] data)
		1555	{
		1556	if (data.Length == 12)
		1557	{
		1558	if (!check_HWError)
		1559	{
		1560	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1561	string sVersion = "";
		1562	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1563	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1564	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1565	Log(LogMsgType.Incoming, sVersion);
		1566	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1567	Log(LogMsgType.Incoming, sVersion);
		1568	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1569	}
		1570	if (data[5] > 0) //error0
		1571	{
		1572	if (adr == 1)
		1573	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		1574	if (adr == 2)
		1575	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		1576	}
		1577	if (data[6] > 0) //error1
		1578	{
		1579	if (adr == 1)
		1580	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		1581	if (adr == 2)
		1582	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		1583	}
		1584	if ((data[5] + data[6] == 0) && _bErrorLog)
		1585	_clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		1586
		1587	}
		1588	check_HWError = false;
		1589	}
		1590	/// <summary>
		1591	/// BL-Ctrl data 'K'
		1592	/// for FC you have to use a customized firmware
		1593	/// </summary>
		1594	/// <param name="data">the received byte array to process</param>
		1595	void _processBLCtrl(byte[] data)
		1596	{
		1597	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1598	{
		1599	bool bAvailable = false;
		1600	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1601	{
		1602
		1603	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1604	bAvailable = true;
		1605	else
		1606	bAvailable = false;
		1607
		1608	if (data[i] < _iMotors)
		1609	{
		1610	if (bAvailable)
		1611	{
2315	-	1612	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1613	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1614	}
		1615	else
		1616	{
2315	-	1617	dtMotors.Rows[data[i]].SetField(1, "NA");
		1618	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1619	}
		1620	}
		1621	//if (data[i] > 3 && data[i] < 8)
		1622	//{
		1623	// if (bAvailable)
		1624	// {
		1625	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1626	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1627	// }
		1628	// else
		1629	// {
		1630	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1631	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1632	// }
		1633	//}
		1634	}
		1635	}
		1636	}
		1637	/// <summary>
		1638	/// Navi-Ctrl data 'O'
		1639	/// GPS-Position, capacatiy, flying time...
		1640	/// </summary>
		1641	/// <param name="data">the received byte array to process</param>
		1642	void _processNCData(byte[] data)
		1643	{
		1644	int i_32, i_16, iVal;
		1645	double d;
		1646	i_32 = data[4];
		1647	iVal = i_32 << 24;
		1648	i_32 = data[3];
		1649	iVal += i_32 << 16;
		1650	i_32 = data[2];
		1651	iVal += i_32 << 8;
		1652	iVal += data[1];
		1653	d = (double)iVal / Math.Pow(10, 7);
2324	-	1654	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1655
2287	-	1656	PointLatLng p = new PointLatLng();
		1657
		1658	p.Lng = d;
		1659	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1660	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1661
		1662	i_32 = data[8];
		1663	iVal = i_32 << 24;
		1664	i_32 = data[7];
		1665	iVal += i_32 << 16;
		1666	i_32 = data[6];
		1667	iVal += i_32 << 8;
		1668	iVal += data[5];
		1669	d = (double)iVal / Math.Pow(10, 7);
2324	-	1670	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1671	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1672	p.Lat = d;
2291	-	1673	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1674	{
		1675	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1676	if(_bAutoHome && !_bFirstSatFix)
		1677	{
		1678	if (_iFirstSatFix < 3)
		1679	_iFirstSatFix++;
		1680	else
		1681	{
		1682	_bFirstSatFix = true;
2347	-	1683	Dispatcher.Invoke(() => _setHomePos());
2295	-	1684	}
		1685	}
2291	-	1686	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1687	{
		1688	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1689	_bAnimSatFixActive = false;
		1690	}
		1691	if (!_bFollowCopter)
		1692	{
		1693	_setCopterData(p);
		1694	if (!MainMap.ViewArea.Contains(p))
		1695	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1696
2291	-	1697	}
		1698	else
2287	-	1699	Dispatcher.Invoke(() => MainMap.Position = p);
		1700	}
		1701	else
2291	-	1702	{
		1703	if(_bSatFix)
		1704	{
		1705	if (data[50] == _iSatsLast)
		1706	{
		1707	if (_iSatsJitter < 20) _iSatsJitter++;
		1708	}
		1709	else
		1710	{
		1711	_iSatsJitter = 0;
		1712	_iSatsLast = data[50];
		1713	}
2287	-	1714
2291	-	1715	if (_iSatsJitter == 20)
		1716	{
		1717	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1718	{
		1719	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1720	_bAnimSatFixActive = true;
		1721	}
		1722	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1723	{
2335	-	1724	Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
2295	-	1725	th.Start();
2291	-	1726	_bVoiceSatFixActive = true;
		1727	}
		1728
		1729	_bSatFix = false;
		1730	}
		1731	}
		1732	}
		1733
2287	-	1734	i_16 = data[28];
		1735	i_16 = (Int16)(i_16 << 8);
		1736	iVal = data[27] + i_16;
		1737	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1738
		1739	i_16 = data[45];
		1740	i_16 = (Int16)(i_16 << 8);
		1741	iVal = data[44] + i_16;
		1742	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1743	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1744
		1745	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2355	-	1746	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2347	-	1747	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count > 0)
2342	-	1748	{
2347	-	1749	_setActiveWP(data[48]-1);
2355	-	1750	if((data[67] & 2) == 2)
		1751	Dispatcher.Invoke(() => {
		1752	DataGridRow row;
		1753	if (_wpIndex > -1)
		1754	{
		1755	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1756	row.Background = new SolidColorBrush(Colors.Transparent);
		1757	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1758	row.BorderThickness = new Thickness(0);
		1759	}
		1760	_wpIndex = data[48] - 1;
		1761	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
2366	-	1762	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		1763	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	1764	row.BorderThickness = new Thickness(2);
		1765	dgvWP.UpdateLayout();
		1766	});
2347	-	1767	_wpIndex = data[48]-1;
2342	-	1768	}
2347	-	1769	else
		1770	{
		1771	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	1772	{
2347	-	1773	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	1774	Dispatcher.Invoke(() =>
		1775	{
		1776	DataGridRow row;
2368	-	1777	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	1778	{
		1779	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1780	row.Background = new SolidColorBrush(Colors.Transparent);
		1781	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1782	row.BorderThickness = new Thickness(0);
		1783	_wpIndex = -1;
		1784	}
		1785	});
		1786
		1787	}
2347	-	1788	}
2342	-	1789
2287	-	1790	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	1791	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	1792	_wpCount = data[49];
2287	-	1793	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1794
		1795	//--------------- Capacity used ------------------------
		1796	i_16 = data[81];
		1797	i_16 = (Int16)(i_16 << 8);
		1798	iVal = data[80] + i_16;
		1799	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1800	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1801
		1802	//--------------- Flying time ------------------------
		1803	i_16 = data[56];
		1804	i_16 = (Int16)(i_16 << 8);
		1805	iVal = data[55] + i_16;
		1806	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1807	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1808	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1809	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1810
		1811	//--------------- RC quality ------------------------
		1812	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1813	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1814
2291	-	1815	if(data[66] > _iThresholdRC)
		1816	{
		1817	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1818	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1819	{
		1820	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1821	_bAnimRCLevelActive = false;
		1822	}
		1823	}
		1824	else
		1825	{
		1826	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1827	if (_iRCLevelJitter == 20)
		1828	{
		1829	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1830	{
		1831	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1832	_bAnimRCLevelActive = true;
		1833	}
		1834	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1835	{
2295	-	1836	Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1837	th.Start();
2291	-	1838	_bVoiceRCLevelActive = true;
		1839	}
		1840	_iRCLevelJitter++;
		1841	}
		1842	}
		1843
2287	-	1844	//--------------- NC Error ------------------------
		1845	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1846	if (data[69] > 0)
		1847	_readNCError();
		1848	if (data[69] > 0 & data[69] < 44)
		1849	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
		1850	else
		1851	if (_bErrorLog) _clearErrorLog("NC Error");
		1852
2298	-	1853	//-------------FC / NC Status Flags
		1854	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1855	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1856	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1857	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1858	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1859	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1860
		1861	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1862	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1863	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1864	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1865	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1866	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
		1867	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		1868	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		1869
		1870	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1871	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1872	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1873	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1874	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1875	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1876	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	1877
		1878	//Sidebar StatusSymbols
		1879	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1880	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
		1881	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
		1882
		1883	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1884	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
		1885	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
		1886
		1887	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	1888	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
		1889	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	-	1890
		1891	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1892	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
		1893	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
		1894
		1895	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	1896	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
		1897	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
		1898	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	-	1899
2324	-	1900	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	1901	}
		1902	/// <summary>
		1903	/// Navi-Ctrl WP data struct 'X'
		1904	/// called by index
		1905	/// </summary>
		1906	/// <param name="data">the received byte array to process</param>
		1907	void _processWPData(byte[] data)
		1908	{
2313	-	1909	_iWPCount = data[0];
2287	-	1910	_bGetWPCount = false;
		1911	if (data.Length >= 28)
		1912	{
		1913	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		1914	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		1915	if (_bGetWP)
		1916	{
		1917	if (data[1] == 1)
2315	-	1918	{
2333	-	1919	Dispatcher.Invoke(() =>
		1920	{
2356	-	1921	wpList.Clear();
		1922	_clearMapMarkers(typeof(CustomMarkerWP));
		1923	if (mRouteWP != null)
		1924	MainMap.Markers.Remove(mRouteWP);
		1925	if (wpActiveMarker != null)
		1926	MainMap.Markers.Remove(wpActiveMarker);
		1927	lblWPRouteDistance.Content = "0 m";
		1928	dtWaypoints.Rows.Clear();
2368	-	1929	_wpEdit = -1;_wpIndex = -1;
2318	-	1930	});
2315	-	1931	}
2287	-	1932	DataRow dr = dtWaypoints.NewRow();
		1933	dr = Waypoints.toDataRow(data, dr);
2313	-	1934	dtWaypoints.Rows.Add(dr);
2363	-	1935	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1]);
2313	-	1936	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1937	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	1938	if (data[1] == data[0])
		1939	{
		1940	_bGetWP = false;
2368	-	1941	_routeUpdate();
2287	-	1942	}
		1943
		1944	}
		1945	}
		1946	else
		1947	{
		1948	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		1949	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		1950	}
		1951	}
		1952	/// <summary>
		1953	/// OSD Menue 'L'
		1954	/// single page called by pagenumber
		1955	/// no autoupdate
		1956	/// </summary>
		1957	/// <param name="data">the received byte array to process</param>
		1958	void _processOSDSingle(byte[] data)
		1959	{
		1960	if (data.Length == 84)
		1961	{
		1962	string sMessage = "";
		1963	iOSDPage = data[0];
		1964	iOSDMax = data[1];
		1965	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		1966	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		1967	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1968	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1969	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1970	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1971	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		1972	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		1973
		1974	}
		1975	//else
		1976	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		1977
		1978	}
		1979	/// <summary>
		1980	/// OSD Menue 'H'
		1981	/// called by keys (0x01,0x02,0x03,0x04)
		1982	/// autoupdate
		1983	/// </summary>
		1984	/// <param name="data">the received byte array to process</param>
		1985	void _processOSDAuto(byte[] data)
		1986	{
		1987	if (data.Length == 81)
		1988	{
		1989	string sMessage = "";
		1990	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		1991	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1992	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1993	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1994	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1995
		1996	}
		1997	//else
		1998	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		1999	}
		2000
		2001	#endregion processing received data
		2002
		2003	#region controller messages
		2004	/// <summary> send message to controller to request data
		2005	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2006	/// </summary>
		2007	/// <param name="CMDID"> the command ID </param>
		2008	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2009	private void _sendControllerMessage(char CMDID, byte address)
		2010	{
		2011	if (serialPortCtrl.Port.IsOpen)
		2012	{
		2013	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2014	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2015	serialStream.Write(bytes, 0, bytes.Length);
		2016
		2017	}
		2018	else
		2019	Log(LogMsgType.Error, "NOT CONNECTED!");
		2020	}
		2021	/// <summary> send message to controller to request data
		2022	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2023	/// </summary>
		2024	/// <param name="CMDID"> the command ID </param>
		2025	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2026	/// <param name="data"> additional data for the request</param>
		2027	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2028	{
		2029	if (serialPortCtrl.Port.IsOpen)
		2030	{
		2031	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2032	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2033	serialStream.Write(bytes, 0, bytes.Length);
		2034
		2035	}
		2036	else
		2037	Log(LogMsgType.Error, "NOT CONNECTED!");
		2038	}
		2039
		2040	/// <summary>
		2041	/// start/stop continous polling of controller values
		2042	/// </summary>
		2043	/// <param name="b">start/stop switch</param>
		2044	void _readCont(bool b)
		2045	{
		2046	bReadContinously = b;
		2047	if (bReadContinously)
		2048	{
		2049	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2050	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2051	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2052	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2053	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2054	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2055	}
		2056	else
		2057	{
		2058	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2059	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2060	_bConnErr = false;
		2061	}
		2062	_iLifeCounter = 0;
		2063	}
		2064
		2065	private void _getVersion()
		2066	{
		2067	_sendControllerMessage('v', 0);
		2068	}
		2069	/// <summary>
		2070	/// get FC version struct via NC
		2071	/// by sending '1' as data (not documented in wiki...)
		2072	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2073	/// </summary>
		2074	/// <param name="ctrl">controller number 1=FC</param>
		2075	private void _getVersion(byte ctrl)
		2076	{
		2077	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2078	}
		2079	/// <summary>
		2080	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2081	/// </summary>
		2082	private void _switchToNC()
		2083	{
		2084	if (serialPortCtrl.Port.IsOpen)
		2085	{
		2086	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2087	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2088	serialStream.Write(bytes, 0, bytes.Length);
		2089
		2090	Thread.Sleep(100);
		2091	_getVersion();
		2092	Thread.Sleep(100);
		2093	// _OSDMenue(0);
		2094	}
		2095	else
		2096	Log(LogMsgType.Error, "NOT CONNECTED!");
		2097	}
		2098	/// <summary>
		2099	/// switch to FC
		2100	/// </summary>
		2101	private void _switchToFC()
		2102	{
		2103	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2104	Thread.Sleep(100);
		2105	_getVersion();
		2106	Thread.Sleep(100);
		2107	// _OSDMenue(0);
		2108	}
		2109	/// <summary>
		2110	/// send RESET signal to FC
		2111	/// </summary>
		2112	private void _resetCtrl()
		2113	{
		2114	_sendControllerMessage('R', 1);
		2115	}
		2116	/// <summary>
		2117	/// poll the debug data (4sec subscription)
		2118	/// </summary>
		2119	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2120	private void _readDebugData(bool auto)
		2121	{
		2122	byte interval = auto ? debugInterval : (byte)0;
		2123	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2124	}
		2125	/// <summary>
		2126	/// poll the BL-CTRL status via NC (4sec subscription)
		2127	/// </summary>
		2128	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2129	private void _readBLCtrl(bool auto)
		2130	{
		2131	byte interval = auto ? blctrlInterval : (byte)0;
		2132	_sendControllerMessage('k', 0, new byte[1] { interval });
		2133	}
		2134	/// <summary>
		2135	/// poll the NC data struct (4sec subscription)
		2136	/// </summary>
		2137	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2138	private void _readNavData(bool auto)
		2139	{
		2140	byte interval = auto ? navctrlInterval : (byte)0;
		2141	_sendControllerMessage('o', 2, new byte[1] { interval });
		2142	}
		2143	/// <summary>
		2144	/// get the errortext for pending NC error
		2145	/// </summary>
		2146	private void _readNCError()
		2147	{
		2148	_sendControllerMessage('e', 2);
		2149	}
		2150	/// <summary>
		2151	/// request the Waypoint at index
		2152	/// </summary>
		2153	/// <param name="index"></param>
		2154	void _getpWP(int index)
		2155	{
		2156	if (serialPortCtrl.Port.IsOpen)
		2157	{
		2158	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2159	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2160	serialStream.Write(bytes, 0, bytes.Length);
		2161	}
		2162	else
		2163	Log(LogMsgType.Error, "NOT CONNECTED!");
		2164
		2165	}
		2166	void _getWP()
		2167	{
2335	-	2168	int iTimeout = 0;
2287	-	2169	_bGetWPCount = true;
2315	-	2170	_getpWP(1); //get the itemscount of wp
2335	-	2171	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2172	{
		2173	Thread.Sleep(10);
		2174	iTimeout++;
		2175	}
		2176	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2177	_getWPList();
		2178	}
		2179	void _getWPList()
		2180	{
		2181	_bGetWP = true;
2313	-	2182	int iTimeout=0;
		2183	for (int j = 0; j < _iWPCount; j++)
2287	-	2184	{
		2185	_getpWP(j + 1);
2313	-	2186	iTimeout = 0;
		2187	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2188	{
		2189	Thread.Sleep(1);
		2190	iTimeout++;
		2191	}
2287	-	2192	}
		2193	}
2363	-	2194	/// <summary>
		2195	/// Wrapper for _clearCopterWPList()
		2196	/// necessary, cause it is called by threadnew which does not like return values...
		2197	/// </summary>
2340	-	2198	void clearCopterWPList()
2313	-	2199	{
2340	-	2200	_clearCopterWPList();
		2201	}
2363	-	2202	/// <summary>
		2203	/// clear the WP list of the copter
		2204	/// by sending 'invalid' and index '0'
		2205	/// </summary>
		2206	/// <returns></returns>
2340	-	2207	bool _clearCopterWPList()
		2208	{
2335	-	2209	int iTimeout = 0;
2313	-	2210	if (serialPortCtrl.Port.IsOpen)
		2211	{
		2212	byte[] bData = new byte[30];
		2213	for (int i = 0; i < 30; i++)
		2214	bData[i] = 0;
		2215	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2216	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2217	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2218
2313	-	2219	_iWPCount = -1;
2340	-	2220	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2221	{
2313	-	2222	Thread.Sleep(10);
2335	-	2223	iTimeout++;
		2224	}
2313	-	2225	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2226	if (_iWPCount > -1)
2340	-	2227	return true;
		2228	else
		2229	Log(LogMsgType.Error, "Timeout while sending list!");
		2230	}
		2231	else
		2232	Log(LogMsgType.Error, "NOT CONNECTED!");
		2233
		2234	return false;
		2235	}
		2236	void _sendWPList()
		2237	{
2362	-	2238	_sendWPList(0);
		2239	}
		2240	void _sendWPList(int iStart)
		2241	{
2340	-	2242	int iTimeout = 0;
		2243	if (serialPortCtrl.Port.IsOpen)
		2244	{
		2245	if (_clearCopterWPList())
2313	-	2246	{
2362	-	2247	int k = 1;
		2248	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	2249	{
2362	-	2250	k = iStart > 0 ? k : -1;
		2251	_sendWayPoint(dtWaypoints.Rows[i], k, 'w');
2313	-	2252
2335	-	2253	_iWPCount = -1;
		2254	iTimeout = 0;
		2255	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2256	{
		2257	Thread.Sleep(10);
		2258	iTimeout++;
		2259	}
		2260	if (_iWPCount == -1)
		2261	{
		2262	Log(LogMsgType.Error, "Timeout while sending list!");
		2263	break;
		2264	}
		2265	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	2266	k++;
2335	-	2267	}
2313	-	2268	}
		2269	}
		2270	else
		2271	Log(LogMsgType.Error, "NOT CONNECTED!");
		2272
		2273	}
2356	-	2274	bool _sendWayPoint(DataRow dr, int index, char command)
2340	-	2275	{
2313	-	2276
2340	-	2277	if (serialPortCtrl.Port.IsOpen)
		2278	{
		2279	byte[] bData = new byte[30];
		2280	for (int i = 0; i < 30; i++)
		2281	bData[i] = 0;
		2282	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2283	byte[] bytes;
		2284	int iVal;
		2285	double dVal;
		2286	NumberFormatInfo nfi = new NumberFormatInfo();
		2287	nfi.NumberDecimalSeparator = ",";
		2288
		2289	//longitude
		2290	dVal = Convert.ToDouble(dr[4], nfi);
		2291	iVal = (int)(dVal * Math.Pow(10, 7));
		2292	bData[0] = (byte)(iVal & 0xff);
		2293	bData[1] = (byte)((iVal >> 8) & 0xff);
		2294	bData[2] = (byte)((iVal >> 16) & 0xff);
		2295	bData[3] = (byte)(iVal >> 24);
		2296	//latitude
		2297	dVal = Convert.ToDouble(dr[3], nfi);
		2298	iVal = (int)(dVal * Math.Pow(10, 7));
		2299	bData[4] = (byte)(iVal & 0xff);
		2300	bData[5] = (byte)((iVal >> 8) & 0xff);
		2301	bData[6] = (byte)((iVal >> 16) & 0xff);
		2302	bData[7] = (byte)(iVal >> 24);
		2303	//altitude
		2304	dVal = Convert.ToDouble(dr[5], nfi);
		2305	iVal = (int)(dVal * 10);
		2306	bData[8] = (byte)(iVal & 0xff);
		2307	bData[9] = (byte)((iVal >> 8) & 0xff);
		2308	bData[10] = (byte)((iVal >> 16) & 0xff);
		2309	bData[11] = (byte)(iVal >> 24);
		2310	//Status 'NEWDATA'
		2311	bData[12] = 1;
		2312	//heading
		2313	iVal = Convert.ToInt16(dr[6]);
		2314	bData[13] = (byte)(iVal & 0xff);
		2315	bData[14] = (byte)((iVal >> 8) & 0xff);
		2316	//ToleranceRadius
		2317	bData[15] = Convert.ToByte(dr[9]);
		2318	//HoldTime
		2319	bData[16] = Convert.ToByte(dr[10]);
		2320	//Event_Flag
		2321	bData[17] = Convert.ToByte(dr[13]);
		2322	//Index
		2323	bData[18] = index > 0 ? (byte)index : Convert.ToByte((int)dr[0]);
		2324	//Type
		2325	bData[19] = Convert.ToByte(dr[1]);
		2326	//WP_EventChannelValue
		2327	bData[20] = Convert.ToByte(dr[14]);
		2328	//AltitudeRate
		2329	bData[21] = Convert.ToByte(dr[8]);
		2330	//Speed
		2331	bData[22] = Convert.ToByte(dr[7]);
		2332	//CamAngle
		2333	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2334	//Name
2362	-	2335	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		2336	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	2337	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2338	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2339	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2340	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2341	//Autotrigger
		2342	bData[28] = Convert.ToByte(dr[11]);
		2343
2356	-	2344	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	2345	serialStream.Write(bytes, 0, bytes.Length);
		2346
		2347	return true;
		2348	}
		2349
		2350	return false;
		2351	}
2287	-	2352	#region OSD-Menue
		2353
		2354	/// <summary>
		2355	/// one time query of the OSD Menue with pagenumber
		2356	/// </summary>
		2357	/// <param name="iMenue">Menue page</param>
		2358	void _OSDMenue(int iMenue)
		2359	{
		2360	if (serialPortCtrl.Port.IsOpen)
		2361	{
		2362	if (iMenue > iOSDMax)
		2363	iMenue = 0;
		2364	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2365	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2366	serialStream.Write(bytes, 0, bytes.Length);
		2367	}
		2368	else
		2369	Log(LogMsgType.Error, "NOT CONNECTED!");
		2370
		2371	}
		2372	/// <summary>
		2373	/// call the OSDMenue and start autorefresh
		2374	/// usually by sending a menuekey
		2375	/// 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)
		2376	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2377	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2378	/// </summary>
		2379	void _OSDMenueAutoRefresh()
		2380	{
		2381	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2382	}
		2383	void _OSDMenueAutoRefresh(byte key)
		2384	{
		2385	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2386	}
		2387	/// <summary>
		2388	/// initialize the OSD menue combobox
		2389	/// combox is filled by numbers from 0 to max pagenumber
		2390	/// </summary>
		2391	void _initOSDCB()
		2392	{
		2393	_bCBInit = true;
		2394	if (iOSDMax == 0)
		2395	{
		2396	_OSDMenue(0);
		2397	Thread.Sleep(10);
		2398	}
		2399	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2400	for (int i = 0; i <= iOSDMax; i++)
		2401	{
		2402	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2403	}
		2404	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2405	_bCBInit = false;
		2406	}
		2407	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2408	{
		2409	iOSDPage++;
		2410	if (iOSDPage > iOSDMax)
		2411	iOSDPage = 0;
		2412
		2413	_OSDMenue(iOSDPage);
		2414	}
		2415	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2416	{
		2417	iOSDPage--;
		2418	if (iOSDPage < 0)
		2419	iOSDPage = iOSDMax;
		2420
		2421	_OSDMenue(iOSDPage);
		2422	}
		2423	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2424	{
		2425	_OSDMenueAutoRefresh(8);
		2426	}
		2427	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2428	{
		2429	_OSDMenueAutoRefresh(4);
		2430	}
		2431	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2432	{
		2433	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2434	_OSDMenue(cbOSD.SelectedIndex);
		2435	}
		2436	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2437	{
		2438	Dispatcher.Invoke(() =>
		2439	{
		2440	TextRange tr;
		2441	if (bNew)
		2442	{
		2443	rtfOSD.SelectAll();
		2444	rtfOSD.Selection.Text = string.Empty;
		2445	}
		2446	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2447	tr.Text = msg;
		2448	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2449	// rtfOSD.AppendText("\r");
		2450	rtfOSD.ScrollToEnd();
		2451
		2452	});
		2453	}
		2454
		2455	#endregion OSD-Menue
		2456
		2457	#endregion controller messages
		2458
2295	-	2459	void _mediaPlayer(string file)
		2460	{
		2461	if (File.Exists(file))
		2462	{
		2463	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		2464	mp.Open(file);
		2465	mp.Play();
		2466	}
		2467	}
2310	-	2468
2362	-	2469	#region ui
2310	-	2470	/// <summary>
		2471	/// Switch between fullscreen and normal window mode
		2472	/// save & restore scaling settings
		2473	/// </summary>
		2474	/// <param name="sender"></param>
		2475	/// <param name="e"></param>
2287	-	2476	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2477	{
		2478	if (winState.isMaximized)
		2479	{
		2480	winState.Restore(this);
		2481	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2482	if(_bSaveWinStateFull)
		2483	_saveScaleSliders(true);
		2484	if(_bSaveWinStateNormal)
		2485	_setScaleSliders(false);
		2486	}
		2487	else
		2488	{
		2489	winState.Maximize(this);
		2490	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2491	if(_bSaveWinStateNormal)
		2492	_saveScaleSliders(false);
		2493	if(_bSaveWinStateFull)
		2494	_setScaleSliders(true);
		2495	}
		2496	}
		2497
		2498	/// <summary>
		2499	/// reset the scaling of all UI elements to default
		2500	/// </summary>
		2501	/// <param name="sender"></param>
		2502	/// <param name="e"></param>
		2503	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2504	{
		2505	UIScaleHorizonSlider.Value =
		2506	UIScaleLOGSlider.Value =
		2507	UIScaleMotorsSlider.Value =
		2508	UIScaleOSDSlider.Value =
		2509	UIScaleSlider.Value =
		2510	UIScaleTopSlider.Value = 1;
		2511	}
		2512	/// <summary>
		2513	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2514	/// </summary>
		2515	/// <param name="sender"></param>
		2516	/// <param name="e"></param>
		2517	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2518	{
		2519	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2520	if (GridMotors != null)
		2521	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2522	if (GridSideBar != null)
		2523	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2524	if (GridOSD != null)
		2525	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2526	if (GridData != null)
		2527	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2528	if (GridWP != null)
		2529	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2530	}
2310	-	2531	/// <summary>
		2532	/// restore the saved scalings for the fullscreen/normal window mode
		2533	/// </summary>
		2534	/// <param name="bFull">the mode the window is set to</param>
2287	-	2535	void _setScaleSliders(bool bFull)
		2536	{
		2537	if(bFull)
		2538	{
		2539	UIScaleSlider.Value = scaleFullAll;
		2540	UIScaleTopSlider.Value = scaleFullTopBar;
		2541	UIScaleMotorsSlider.Value = scaleFullMotors;
		2542	UIScaleOSDSlider.Value = scaleFullOSD;
		2543	UIScaleLOGSlider.Value = scaleFullLOG;
		2544	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2545	}
		2546	else
		2547	{
		2548	UIScaleSlider.Value = scaleNormalAll;
		2549	UIScaleTopSlider.Value = scaleNormalTopBar;
		2550	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2551	UIScaleOSDSlider.Value = scaleNormalOSD;
		2552	UIScaleLOGSlider.Value = scaleNormalLOG;
		2553	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2554	}
		2555	}
		2556
2310	-	2557	/// <summary>
		2558	/// save the scalings for the actual window mode
		2559	/// </summary>
		2560	/// <param name="bFull">the actual window mode</param>
2287	-	2561	void _saveScaleSliders(bool bFull)
		2562	{
		2563
		2564	if (bFull)
		2565	{
		2566	scaleFullAll = UIScaleSlider.Value;
		2567	scaleFullTopBar = UIScaleTopSlider.Value;
		2568	scaleFullMotors = UIScaleMotorsSlider.Value;
		2569	scaleFullOSD = UIScaleOSDSlider.Value;
		2570	scaleFullLOG = UIScaleLOGSlider.Value;
		2571	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2572	}
		2573	else
		2574	{
		2575	scaleNormalAll = UIScaleSlider.Value;
		2576	scaleNormalTopBar = UIScaleTopSlider.Value;
		2577	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2578	scaleNormalOSD = UIScaleOSDSlider.Value;
		2579	scaleNormalLOG = UIScaleLOGSlider.Value;
		2580	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2581	}
		2582	}
2362	-	2583	#endregion ui
2287	-	2584
		2585	/// <summary>
		2586	/// read settings from ini-file
		2587	/// </summary>
		2588	void _readIni()
		2589	{
		2590	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2591	_writeIni();
		2592	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2593	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2594	try
		2595	{
2287	-	2596
2312	-	2597	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2598	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2599	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2600	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2601	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2602	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2603	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2604	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2605
2312	-	2606	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2607	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2608	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2609	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2610	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2611	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2612	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2613	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2614
2312	-	2615	sVal = ini.IniReadValue("topBar", "voltage");
		2616	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2617	sVal = ini.IniReadValue("topBar", "capacity");
		2618	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2619	sVal = ini.IniReadValue("topBar", "current");
		2620	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2621	sVal = ini.IniReadValue("topBar", "flightTime");
		2622	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2623	sVal = ini.IniReadValue("topBar", "distanceHP");
		2624	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2625	sVal = ini.IniReadValue("topBar", "height");
		2626	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2627	sVal = ini.IniReadValue("topBar", "speed");
		2628	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2629	sVal = ini.IniReadValue("topBar", "magneticField");
		2630	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2631	sVal = ini.IniReadValue("topBar", "satellites");
		2632	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2633	sVal = ini.IniReadValue("topBar", "rc");
		2634	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2635
2312	-	2636	sVal = ini.IniReadValue("style", "saveFullScreen");
		2637	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2638	sVal = ini.IniReadValue("style", "saveNormalState");
		2639	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2640
2312	-	2641	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2642	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2643	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2644	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2645	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2646	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2647	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2648	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2649	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2650	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2651	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2652	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2653
2312	-	2654	sVal = ini.IniReadValue("style", "scaleFullAll");
		2655	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2656	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2657	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2658	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2659	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2660	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2661	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2662	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2663	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2664	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2665	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2666
2312	-	2667	sVal = ini.IniReadValue("general", "LiPoCells");
		2668	_LipoCells = Convert.ToInt16(sVal);
		2669	sVal = ini.IniReadValue("general", "Motors");
		2670	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2671
2312	-	2672	sVal = ini.IniReadValue("map", "followMe");
		2673	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2674	sVal = ini.IniReadValue("map", "AutoSetHome");
		2675	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2676	sVal = ini.IniReadValue("map", "GPXLog");
		2677	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2678
2312	-	2679	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2680	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2681	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2682	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2683	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2684	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2685	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2686	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2687	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2688	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2689	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2690	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2691	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2692	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2693	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2694	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2695	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2696	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2697	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2698	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2699	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2700	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2701
		2702	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2703	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2704	sVal = ini.IniReadValue("waypoints", "poicolor");
		2705	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2706	sVal = ini.IniReadValue("waypoints", "fscolor");
		2707	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2708	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2709	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	2710	sVal = ini.IniReadValue("waypoints", "routecolor");
		2711	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		2712	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		2713	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2349	-	2714
		2715	for (int i = 0; i < 12; i++)
		2716	{
		2717	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		2718	if (sVal != "")
		2719	serChan[i] = Convert.ToInt16(sVal);
		2720	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		2721	if (sVal != "")
		2722	serChanTitle[i] = sVal;
		2723	for (int y = 0; i < 4 && y < 3; y++)
		2724	{
		2725	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		2726	if (sVal != "")
		2727	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		2728	}
		2729	}
		2730
2312	-	2731	}
		2732	catch (Exception e)
		2733	{
2287	-	2734
2312	-	2735	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2736	}
		2737
2287	-	2738	}
		2739
		2740	/// <summary>
		2741	/// save settings to ini-file
		2742	/// </summary>
		2743	void _writeIni()
		2744	{
		2745
		2746	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2747	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2748
2312	-	2749	try
		2750	{
2287	-	2751
2312	-	2752	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2753	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2754	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2755	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2756
2312	-	2757	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2758	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2759	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2760	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2761
2312	-	2762	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2763	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2764
2312	-	2765	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2766	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	2767	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	2768
2312	-	2769	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2770	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2771	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2772	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2773	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2774	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2775	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2776	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2777	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2778	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2779
2312	-	2780	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2781	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2782
2312	-	2783	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2784	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2785	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2786	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2787	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2788	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	2789
2312	-	2790	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2791	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2792	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2793	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2794	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2795	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	2796
2312	-	2797	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2798
		2799	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2800	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2801	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2802	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2803	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2804	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2805	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2806	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2807	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2808	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2809	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	2810
		2811	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		2812	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		2813	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		2814	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2328	-	2815	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		2816	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2349	-	2817
		2818	for (int i = 0; i < 12; i++)
		2819	{
		2820	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		2821	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		2822	for (int y = 0; i < 4 && y < 3; y++)
		2823	{
		2824	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		2825	}
		2826	}
		2827
2312	-	2828	}
		2829	catch (Exception e)
		2830	{
		2831
		2832	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);
		2833	}
2287	-	2834	}
2350	-	2835
2349	-	2836	#region serial channels
		2837	/// <summary>
		2838	/// Sending the serial channel values
		2839	/// </summary>
		2840	void _sendSerialData()
		2841	{
		2842	byte[] serData = new byte[12];
		2843	for (int i = 0; i < 12; i++)
		2844	{
		2845	serData[i] = unchecked((byte)(serChan[i] - 127));
		2846	}
		2847	_sendControllerMessage('y', 1, serData);
		2848	}
		2849	/// <summary>
		2850	/// init the controls for displaying
		2851	/// and setting serial control channels
		2852	/// </summary>
		2853	void _initSerialCtrl()
		2854	{
		2855	SerChan1ScaleSlider.Value = serChan[0];
		2856	textBoxSerial1.Text = serChanTitle[0];
		2857	SerChan2ScaleSlider.Value = serChan[1];
		2858	textBoxSerial2.Text = serChanTitle[1];
2350	-	2859	SerChan3ScaleSlider.Value = serChan[2];
		2860	textBoxSerial3.Text = serChanTitle[2];
2349	-	2861	//SerChan4ScaleSlider.Value = serChan[3];
		2862	//textBoxSerial4.Text = serChanTitle[3];
		2863	//trckbarSerial5.Value = serChan[4];
		2864	//textBoxSerial5.Text = serChanTitle[4];
		2865	//trckbarSerial6.Value = serChan[5];
		2866	//textBoxSerial6.Text = serChanTitle[5];
		2867	//trckbarSerial7.Value = serChan[6];
		2868	//textBoxSerial7.Text = serChanTitle[6];
		2869	//trckbarSerial8.Value = serChan[7];
		2870	//textBoxSerial8.Text = serChanTitle[7];
2312	-	2871
2349	-	2872	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		2873	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		2874	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		2875	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		2876	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		2877	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	2878	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		2879	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		2880	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	2881	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		2882	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		2883	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		2884	}
		2885	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2886	{
		2887	if (!_init)
		2888	{
		2889	serChan[0] = (int)SerChan1ScaleSlider.Value;
		2890	_sendSerialData();
		2891	}
		2892	}
		2893	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		2894	{
		2895	if (!_init)
		2896	{
		2897	serChanTitle[0] = textBoxSerial1.Text;
		2898	}
		2899	}
		2900	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		2901	{
		2902	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		2903	{
		2904	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		2905	}
		2906	}
		2907	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		2908	{
		2909	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		2910	{
		2911	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		2912	}
		2913	}
		2914	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		2915	{
		2916	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		2917	{
		2918	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		2919	}
		2920	}
		2921	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		2922	{
		2923	if (textBoxSerial1_val1.Text.Length > 0)
		2924	{
		2925	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		2926	}
		2927	}
		2928	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		2929	{
		2930	SerChan1ScaleSlider.Value = 0;
		2931	}
		2932	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		2933	{
		2934	SerChan1ScaleSlider.Value = 127;
		2935	}
		2936	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		2937	{
		2938	SerChan1ScaleSlider.Value = 254;
		2939	}
		2940	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		2941	{
		2942	if (textBoxSerial1_val2.Text.Length > 0)
		2943	{
		2944	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		2945	}
		2946	}
		2947	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		2948	{
		2949	if (textBoxSerial1_val3.Text.Length > 0)
		2950	{
		2951	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		2952	}
		2953	}
		2954
		2955	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2956	{
		2957	if (!_init)
		2958	{
		2959	serChan[1] = (int)SerChan2ScaleSlider.Value;
		2960	_sendSerialData();
		2961	}
		2962	}
		2963	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		2964	{
		2965	if (!_init)
		2966	{
		2967	serChanTitle[1] = textBoxSerial2.Text;
		2968	}
		2969	}
		2970	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		2971	{
		2972	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		2973	{
		2974	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		2975	}
		2976	}
		2977	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		2978	{
		2979	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		2980	{
		2981	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		2982	}
		2983	}
		2984	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		2985	{
		2986	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		2987	{
		2988	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		2989	}
		2990	}
		2991	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		2992	{
		2993	SerChan2ScaleSlider.Value = 0;
		2994	}
		2995	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		2996	{
		2997	SerChan2ScaleSlider.Value = 127;
		2998	}
		2999	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3000	{
		3001	SerChan2ScaleSlider.Value = 254;
		3002	}
		3003	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3004	{
		3005	if (textBoxSerial2_val1.Text.Length > 0)
		3006	{
		3007	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3008	}
		3009	}
		3010	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3011	{
		3012	if (textBoxSerial2_val2.Text.Length > 0)
		3013	{
		3014	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3015	}
		3016	}
		3017	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3018	{
		3019	if (textBoxSerial2_val3.Text.Length > 0)
		3020	{
		3021	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3022	}
		3023	}
2350	-	3024
		3025	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3026	{
		3027	if (!_init)
		3028	{
		3029	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3030	_sendSerialData();
		3031	}
		3032	}
		3033	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3034	{
		3035	if (!_init)
		3036	{
		3037	serChanTitle[2] = textBoxSerial3.Text;
		3038	}
		3039	}
		3040	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3041	{
		3042	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3043	{
		3044	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3045	}
		3046	}
		3047	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3048	{
		3049	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3050	{
		3051	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3052	}
		3053	}
		3054	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3055	{
		3056	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3057	{
		3058	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3059	}
		3060	}
		3061	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3062	{
		3063	SerChan3ScaleSlider.Value = 0;
		3064	}
		3065	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3066	{
		3067	SerChan3ScaleSlider.Value = 127;
		3068	}
		3069	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3070	{
		3071	SerChan3ScaleSlider.Value = 254;
		3072	}
		3073	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3074	{
		3075	if (textBoxSerial3_val1.Text.Length > 0)
		3076	{
		3077	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3078	}
		3079	}
		3080	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3081	{
		3082	if (textBoxSerial3_val2.Text.Length > 0)
		3083	{
		3084	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3085	}
		3086	}
		3087	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3088	{
		3089	if (textBoxSerial3_val3.Text.Length > 0)
		3090	{
		3091	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3092	}
		3093	}
2349	-	3094	/// <summary>
		3095	/// checks the input of a textbox
		3096	/// for valid data
		3097	/// in this case values 0-254
		3098	/// </summary>
		3099	/// <param name="sender"></param>
		3100	/// <param name="e"></param>
		3101	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3102	{
		3103	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3104	e.Handled = true;
		3105	else
		3106	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3107	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3108	e.Handled = true;
		3109	else
		3110	{
		3111	int i = -1;
		3112	switch (((TextBox)sender).Name)
		3113	{
		3114	case "textBoxSerial1_val1":
		3115	i = 0;
		3116	break;
		3117	case "textBoxSerial1_val2":
		3118	i = 1;
		3119	break;
		3120	case "textBoxSerial1_val3":
		3121	i = 2;
		3122	break;
		3123	case "textBoxSerial2_val1":
		3124	i = 3;
		3125	break;
		3126	case "textBoxSerial2_val2":
		3127	i = 4;
		3128	break;
		3129	case "textBoxSerial2_val3":
		3130	i = 5;
		3131	break;
		3132	case "textBoxSerial3_val1":
		3133	i = 6;
		3134	break;
		3135	case "textBoxSerial3_val2":
		3136	i = 7;
		3137	break;
		3138	case "textBoxSerial3_val3":
		3139	i = 8;
		3140	break;
		3141	case "textBoxSerial4_val1":
		3142	i = 9;
		3143	break;
		3144	case "textBoxSerial4_val2":
		3145	i = 10;
		3146	break;
		3147	case "textBoxSerial4_val3":
		3148	i = 11;
		3149	break;
		3150	}
		3151	if (i > -1)
		3152	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3153	}
		3154	}
		3155
		3156	#endregion serial channels
2315	-	3157	#region WP
2312	-	3158	void _readWPLFile()
		3159	{
		3160	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3161	fd.Filter = "Waypointlists \| *.wpl";
		3162	fd.Multiselect = false;
		3163	if (fd.ShowDialog().Value)
		3164	{
		3165	string file = fd.SafeFileName;
		3166	IniFile ini = new IniFile(fd.SafeFileName);
		3167	ini.path = fd.FileName;
		3168
		3169	try
		3170	{
		3171	string sVal = ini.IniReadValue("General", "FileVersion");
		3172	if (sVal == "")
		3173	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3174	else
		3175	{
		3176	if (Convert.ToInt16(sVal) < 3)
		3177	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3178	else
		3179	{
		3180	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3181	if (sVal == "")
		3182	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3183	else
		3184	{
		3185	int wpnum = Convert.ToInt16(sVal);
		3186	string wp;
		3187	int i;
2313	-	3188	NumberFormatInfo nfi = new NumberFormatInfo();
		3189	nfi.NumberDecimalSeparator = ".";
2312	-	3190	dtWaypoints.Rows.Clear();
2368	-	3191	_wpEdit = -1;_wpIndex = -1;
2327	-	3192	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	3193	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	3194	wpList.Clear();
		3195	if (mRouteWP != null)
		3196	MainMap.Markers.Remove(mRouteWP);
2363	-	3197	//if (wpActiveMarker != null)
		3198	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	3199	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3200
2312	-	3201	for (int k = 1; k <= wpnum; k++)
		3202	{
		3203	DataRow dr = dtWaypoints.NewRow();
		3204	dr.ItemArray = new object[16];
		3205	object[] o = new object[16];
		3206	i = 0;
		3207	wp = "Point" + k.ToString();
		3208	o[i] = k;
		3209	i++;
		3210	sVal = ini.IniReadValue(wp, "Type");
		3211	if (sVal != "")
2315	-	3212	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3213	i++;
		3214	sVal = ini.IniReadValue(wp, "Prefix");
		3215	if (sVal != "")
2350	-	3216	o[i] = sVal + k.ToString();
		3217	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3218	i++;
2313	-	3219	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3220	if (sVal != "")
2313	-	3221	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3222	i++;
2313	-	3223	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3224	if (sVal != "")
2313	-	3225	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3226	i++;
		3227	sVal = ini.IniReadValue(wp, "Altitude");
		3228	if (sVal != "")
2313	-	3229	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3230	i++;
		3231	sVal = ini.IniReadValue(wp, "Heading");
		3232	if (sVal != "")
		3233	o[i] = Convert.ToInt16(sVal);
		3234	i++;
		3235	sVal = ini.IniReadValue(wp, "Speed");
		3236	if (sVal != "")
2315	-	3237	o[i] = Convert.ToInt16(sVal);
2312	-	3238	i++;
		3239	sVal = ini.IniReadValue(wp, "ClimbRate");
		3240	if (sVal != "")
		3241	o[i] = Convert.ToInt16(sVal);
		3242	i++;
		3243	sVal = ini.IniReadValue(wp, "Radius");
		3244	if (sVal != "")
		3245	o[i] = Convert.ToInt16(sVal);
		3246	i++;
		3247	sVal = ini.IniReadValue(wp, "DelayTime");
		3248	if (sVal != "")
		3249	o[i] = Convert.ToInt16(sVal);
		3250	i++;
		3251	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3252	if (sVal != "")
		3253	o[i] = Convert.ToInt16(sVal); ;
		3254	i++;
		3255	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3256	if (sVal != "")
2313	-	3257	o[i] = Convert.ToInt16(sVal);
2312	-	3258	i++;
		3259	o[i] = 0;
		3260	i++;
		3261	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3262	if (sVal != "")
		3263	o[i] = Convert.ToInt16(sVal);
		3264	i++;
		3265	o[i] = "New";
		3266
		3267	dr.ItemArray = o;
		3268	dtWaypoints.Rows.Add(dr);
2363	-	3269	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1]);
2315	-	3270
2312	-	3271	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3272	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3273	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3274	Thread.Sleep(10);
		3275	}
2359	-	3276	_routeUpdate();
2312	-	3277	}
		3278	}
		3279	}
		3280
		3281	}
		3282	catch (Exception e)
		3283	{
		3284
		3285	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		3286	}
		3287
		3288	}
		3289	}
2350	-	3290	void _saveWPLFile()
		3291	{
		3292	if (dtWaypoints.Rows.Count > 0)
		3293	{
		3294	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		3295	fd.Filter = "Waypointlists \| *.wpl";
		3296	fd.AddExtension = true;
		3297	if (fd.ShowDialog().Value)
		3298	{
		3299	string file = fd.SafeFileName;
		3300	IniFile ini = new IniFile(fd.SafeFileName);
		3301	ini.path = fd.FileName;
		3302	NumberFormatInfo nfi = new NumberFormatInfo();
		3303	nfi.NumberDecimalSeparator = ".";
		3304
		3305	try
		3306	{
		3307	ini.IniWriteValue("General", "FileVersion", "3");
		3308	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		3309	ini.IniWriteValue("General", "Mapfile", "");
		3310	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		3311	{
		3312	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		3313	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		3314	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		3315	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		3316	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		3317	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		3318	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		3319	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		3320	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		3321	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		3322	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		3323	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));
		3324	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		3325	}
		3326	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		3327	}
		3328	catch { }
		3329	}
		3330	}
		3331	else
		3332	MessageBox.Show("Nothing to save...");
		3333	}
		3334	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		3335	{
		3336	_saveWPLFile();
		3337	}
		3338	/// <summary>
		3339	/// set the selected color for the route
		3340	/// </summary>
		3341	/// <param name="color"></param>
		3342	/// <returns></returns>
2328	-	3343	Brush _getBrush(string color)
		3344	{
		3345	switch (color)
		3346	{
		3347	case "red":
		3348	return Brushes.Red;
		3349	case "green":
		3350	return Brushes.Lime;
		3351	case "blue":
		3352	return Brushes.Aqua;
		3353	case "pink":
		3354	return Brushes.Magenta;
		3355	case "yellow":
		3356	return Brushes.Yellow;
		3357	default:
		3358	return Brushes.Magenta;
		3359	}
		3360	}
2359	-	3361	void _routeUpdate()
		3362	{
		3363	Dispatcher.Invoke(() =>
		3364	{
		3365	if (comboBoxRouteColor.SelectionBoxItem != null)
		3366	{
		3367	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3368	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3369	}
		3370	else
		3371	mRouteWP = new GMapRoute(wpList, null);
		3372
		3373	if (_bShowWPRoute)
2368	-	3374	MainMap.Markers.Add(mRouteWP);
2359	-	3375	});
		3376
		3377	MapRoute mr = new MapRoute(wpList, "WPList");
		3378	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		3379	}
2363	-	3380	GMapMarker _createWP(PointLatLng p, string name, int type)
		3381	{
		3382	GMapMarker wpMarker = new GMapMarker(p);
		3383	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
		3384	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		3385	wpMarker.ZIndex = 100;
		3386	_setMarkerColor(wpMarker, type);
		3387	Dispatcher.Invoke(() => MainMap.Markers.Add(wpMarker));
		3388	if (type == 0)
		3389	wpList.Add(p);
		3390	return wpMarker;
		3391	}
2315	-	3392	void _setMarkerColor(GMapMarker wpMarker,int iType)
		3393	{
2369	-	3394	if(wpMarker != null)
2315	-	3395	Dispatcher.Invoke(() =>
		3396	{
		3397	switch (iType)
		3398	{
		3399	case 0:
		3400	if (comboBoxWPColor.SelectionBoxItem != null)
		3401	{
		3402	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3403	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3404	}
		3405	else
		3406	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3407	break;
		3408	case 1:
		3409	if (comboBoxPOIColor.SelectionBoxItem != null)
		3410	{
		3411	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3412	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3413	}
		3414	else
		3415	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3416	break;
		3417	case 2:
		3418	if (comboBoxFSColor.SelectionBoxItem != null)
		3419	{
		3420	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3421	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3422	}
		3423	else
		3424	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3425	break;
		3426	default:
		3427	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3428	break;
		3429	}
		3430	});
2312	-	3431
2315	-	3432	}
		3433	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2312	-	3434	{
2315	-	3435	Dispatcher.Invoke(() =>
		3436	{
		3437	if (comboBoxWPColor.SelectionBoxItem != null)
		3438	{
		3439	for (int k = 0; k < MainMap.Markers.Count;k++)
		3440	{
		3441	GMapMarker p = MainMap.Markers[k];
		3442	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		3443	{
		3444	if (((CustomMarkerWP)p.Shape).WPType == 0)
		3445	{
		3446	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3447	((CustomMarkerWP)(p.Shape)).setColor(s);
		3448	}
		3449	}
		3450	}
		3451	}
		3452	});
2312	-	3453	}
2315	-	3454	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		3455	{
		3456	Dispatcher.Invoke(() =>
		3457	{
		3458	if (comboBoxPOIColor.SelectionBoxItem != null)
		3459	{
		3460	for (int k = 0; k < MainMap.Markers.Count; k++)
		3461	{
		3462	GMapMarker p = MainMap.Markers[k];
		3463	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		3464	{
		3465	if (((CustomMarkerWP)p.Shape).WPType == 1)
		3466	{
		3467	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3468	((CustomMarkerWP)(p.Shape)).setColor(s);
		3469	}
		3470	}
		3471	}
		3472	}
		3473	});
2287	-	3474
2315	-	3475	}
		3476	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
2287	-	3477	{
2315	-	3478	Dispatcher.Invoke(() =>
		3479	{
		3480	if (comboBoxFSColor.SelectionBoxItem != null)
		3481	{
		3482	for (int k = 0; k < MainMap.Markers.Count; k++)
		3483	{
		3484	GMapMarker p = MainMap.Markers[k];
		3485	if (p.Shape.GetType() == typeof(CustomMarkerWP))
		3486	{
		3487	if (((CustomMarkerWP)p.Shape).WPType == 2)
		3488	{
		3489	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3490	((CustomMarkerWP)(p.Shape)).setColor(s);
		3491	}
		3492	}
		3493	}
		3494	}
		3495	});
2287	-	3496	}
2318	-	3497	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
		3498	{
		3499	Dispatcher.Invoke(() => {
		3500	if (comboBoxCopterColor.SelectionBoxItem != null)
		3501	{
		3502	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		3503	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		3504	}
		3505	else
		3506	((CustomMarkerCopter)(copter.Shape)).setColor("red");
		3507	});
		3508	}
2328	-	3509	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3510	{
		3511	Dispatcher.Invoke(() =>
		3512	{
		3513	if (comboBoxRouteColor.SelectionBoxItem != null)
		3514	{
		3515	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3516	MainMap.Markers.Remove(mRouteWP);
		3517	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3518	if (_bShowWPRoute)
		3519	MainMap.Markers.Add(mRouteWP);
		3520	}
		3521	});
		3522	}
		3523	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3524	{
		3525	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3526	if (_bShowWPRoute)
		3527	{
		3528	if (mRouteWP != null)
		3529	MainMap.Markers.Add(mRouteWP);
		3530	}
		3531	else
		3532	{
		3533	if (mRouteWP != null)
		3534	MainMap.Markers.Remove(mRouteWP);
		3535	}
		3536	}
2315	-	3537	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3538	{
2315	-	3539	_readWPLFile();
2287	-	3540	}
2335	-	3541	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3542	{
		3543	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	3544	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	3545	wpList.Clear();
		3546	if (mRouteWP != null)
		3547	MainMap.Markers.Remove(mRouteWP);
2347	-	3548	//if (wpActiveMarker != null)
		3549	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	3550	dtWaypoints.Rows.Clear();
2356	-	3551	_wpEdit = -1;
2368	-	3552	_wpIndex = -1;
2335	-	3553	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3554	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3555	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3556	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3557	}
2340	-	3558	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3559	{
		3560	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3561	t.Start();
		3562	}
2355	-	3563	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	3564	{
		3565	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3566	{
2362	-	3567	//if (_wpCount > 0)
2366	-	3568	// _sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's');
2362	-	3569	//else
2366	-	3570	// _sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's');
2363	-	3571
2362	-	3572	int index = dgvWP.SelectedIndex;
		3573	Thread t = new Thread(() => _sendWPList(index));
		3574	t.Start();
2354	-	3575
		3576	Dispatcher.Invoke(() => {
		3577	DataGridRow row;
2368	-	3578	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	3579	{
2368	-	3580	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	3581	row.Background = new SolidColorBrush(Colors.Transparent);
		3582	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3583	row.BorderThickness = new Thickness(0);
		3584	}
2368	-	3585	_wpEdit = dgvWP.SelectedIndex;
		3586	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2366	-	3587	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		3588	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2354	-	3589	row.BorderThickness = new Thickness(2);
2355	-	3590	dgvWP.UpdateLayout();
2354	-	3591	});
2340	-	3592	}
		3593	}
2355	-	3594	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		3595	{
2359	-	3596	_dgvWPselectEditRow();
		3597	}
		3598	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		3599	{
		3600	}
		3601	void _dgvWPselectEditRow()
		3602	{
2355	-	3603	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3604	{
2368	-	3605	Dispatcher.Invoke(() => {
2355	-	3606	DataGridRow row;
2368	-	3607	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	3608	{
		3609	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3610	row.Background = new SolidColorBrush(Colors.Transparent);
		3611	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3612	row.BorderThickness = new Thickness(0);
		3613	}
		3614	_wpEdit = dgvWP.SelectedIndex;
		3615	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3616	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		3617	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		3618	row.BorderThickness = new Thickness(2);
		3619	dgvWP.UpdateLayout();
2340	-	3620
2355	-	3621	_setWPEditFields(_wpEdit);
		3622	});
		3623	}
		3624	}
		3625	void _setWPEditFields(int index)
		3626	{
		3627	int iVal;
		3628	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		3629	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		3630	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		3631	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		3632	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		3633	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		3634	if (iVal == 0)
		3635	{
		3636	cbWPEditHeading.SelectedIndex = 0;
		3637	tbWPEditHeading.Text = " - - -";
		3638	tbWPEditHeading.IsReadOnly = true;
		3639	}
		3640	if (iVal > 0 && iVal < 360)
		3641	{
		3642	cbWPEditHeading.SelectedIndex = 2;
		3643	tbWPEditHeading.Text = iVal.ToString();
		3644	tbWPEditHeading.IsReadOnly = false;
		3645	}
		3646	if (iVal < 0)
		3647	{
		3648	cbWPEditHeading.SelectedIndex = 1;
		3649	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		3650	tbWPEditHeading.IsReadOnly = false;
		3651	}
		3652	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		3653	if (iVal == 0)
		3654	{
		3655	cbWPEditSpeed.SelectedIndex = 0;
		3656	tbWPEditSpeed.Text = "MAX";
		3657	tbWPEditSpeed.IsReadOnly = true;
		3658	}
		3659	if (iVal > 0 && iVal < 248)
		3660	{
		3661	cbWPEditSpeed.SelectedIndex = 1;
		3662	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		3663	tbWPEditSpeed.IsReadOnly = false;
		3664	}
		3665	if (iVal > 247)
		3666	{
		3667	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		3668	tbWPEditSpeed.Text = "";
		3669	tbWPEditSpeed.IsReadOnly = true;
		3670	}
		3671	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		3672	if (iVal == 255)
		3673	{
		3674	cbWPEditClimbrate.SelectedIndex = 0;
		3675	tbWPEditClimbrate.Text = "AUTO";
		3676	tbWPEditClimbrate.IsReadOnly = true;
		3677	}
		3678	else
		3679	{
		3680	cbWPEditClimbrate.SelectedIndex = 1;
		3681	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		3682	tbWPEditClimbrate.IsReadOnly = false;
		3683	}
		3684	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		3685	tbWPEditRadius.Text = iVal.ToString();
		3686	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		3687	tbWPEditHoldtime.Text = iVal.ToString();
		3688	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		3689	tbWPEditAutoTrigger.Text = iVal.ToString();
		3690	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		3691	if (iVal == 0)
		3692	{
		3693	cbWPEditCamAngle.SelectedIndex = 0;
		3694	tbWPEditCamAngle.Text = " - - - ";
		3695	tbWPEditCamAngle.IsReadOnly = true;
		3696	}
		3697	if (iVal < 0 \| iVal == 255)
		3698	{
		3699	cbWPEditCamAngle.SelectedIndex = 1;
		3700	tbWPEditCamAngle.Text = "AUTO";
		3701	tbWPEditCamAngle.IsReadOnly = true;
		3702	}
		3703	if (iVal > 0 & iVal < 255)
		3704	{
		3705	cbWPEditCamAngle.SelectedIndex = 2;
		3706	tbWPEditCamAngle.Text = iVal.ToString();
		3707	tbWPEditCamAngle.IsReadOnly = false;
		3708	}
		3709	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		3710	tbWPEditOut1.Text = iVal.ToString();
		3711
		3712	}
		3713
2361	-	3714	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		3715	{
2363	-	3716	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3717	{
2369	-	3718	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
		3719	int i = wpList.IndexOf(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
2363	-	3720	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		3721	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3722	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3723	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2369	-	3724	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
2363	-	3725	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		3726	switch (cbWPEditHeading.SelectedIndex)
		3727	{
		3728	case 0:
		3729	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		3730	break;
		3731	case 1:
		3732	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		3733	break;
		3734	case 2:
		3735	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		3736	break;
		3737	}
		3738	switch (cbWPEditSpeed.SelectedIndex)
		3739	{
		3740	case 0:
		3741	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		3742	break;
		3743	case 1:
		3744	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3745	break;
		3746	case 2:
		3747	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3748	break;
		3749	}
		3750	switch (cbWPEditClimbrate.SelectedIndex)
		3751	{
		3752	case 0:
		3753	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		3754	break;
		3755	case 1:
		3756	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		3757	break;
		3758	}
		3759	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		3760	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		3761	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		3762	switch (cbWPEditCamAngle.SelectedIndex)
		3763	{
		3764	case 0:
		3765	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		3766	break;
		3767	case 1:
		3768	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		3769	break;
		3770	case 2:
		3771	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		3772	break;
		3773	}
		3774	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	3775
2369	-	3776	// _clearMapMarkers(typeof(CustomMarkerWP));
		3777	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		3778	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	3779	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	3780	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
		3781	// wpList.Clear();
2363	-	3782	if (mRouteWP != null)
		3783	MainMap.Markers.Remove(mRouteWP);
		3784
2369	-	3785	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		3786	//{
		3787	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		3788	//}
2363	-	3789	_routeUpdate();
		3790	dgvWP.Items.Refresh();
		3791
		3792	}
		3793
2361	-	3794	}
		3795	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		3796	{
2368	-	3797	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3798	{
		3799	int index = dgvWP.SelectedIndex;
		3800	Dispatcher.Invoke(() => {
		3801	DataGridRow row;
		3802	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		3803	{
		3804	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3805	row.Background = new SolidColorBrush(Colors.Transparent);
		3806	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3807	row.BorderThickness = new Thickness(0);
		3808	}
		3809	if ((int)dtWaypoints.Rows[index][1] == 0)
		3810	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
		3811	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	3812	if (wpActiveMarker != null)
		3813	MainMap.Markers.Remove(wpActiveMarker);
2368	-	3814	dtWaypoints.Rows[index].Delete();
		3815	_wpIndex = -1;
		3816	_wpEdit = -1;
		3817	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		3818	{
		3819	dtWaypoints.Rows[i][0] = i + 1;
		3820	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		3821	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		3822	_renameWPMarker(s1, s2);
		3823	dtWaypoints.Rows[i][2] = s2;
		3824	}
		3825	lblWPCount.Content = dtWaypoints.Rows.Count;
		3826	if (mRouteWP != null)
		3827	MainMap.Markers.Remove(mRouteWP);
		3828	_routeUpdate();
2361	-	3829
2368	-	3830	dgvWP.UpdateLayout();
		3831	});
		3832	}
2361	-	3833	}
2366	-	3834	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		3835	{
		3836	_wpWEdit(sender);
		3837	}
2361	-	3838	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		3839	{
2366	-	3840	_wpWEdit(sender);
		3841	}
2369	-	3842	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		3843	{
		3844	_wpWEdit(sender);
		3845	}
2366	-	3846	void _wpWEdit(object sender)
		3847	{
2369	-	3848	// if (!((TextBox)sender).IsReadOnly)
2361	-	3849	{
		3850	KeyPad.Keypad k = new KeyPad.Keypad(this);
		3851
2363	-	3852	switch (((TextBox)sender).Name)
		3853	{
		3854	case "tbWPEditLat":
		3855	k.Title = "Latitude";
		3856	k.LENGTH = 17;
		3857	k.MAX = 359.9;
		3858	break;
		3859	case "tbWPEditLon":
		3860	k.Title = "Longitude";
		3861	k.LENGTH = 17;
		3862	k.MAX = 359.9;
		3863	break;
		3864	case "tbWPEditAlt":
		3865	k.Title = "Altitude";
		3866	k.LENGTH = 3;
		3867	k.MAX = 254;
		3868	k.disableDecimal();
		3869	break;
		3870	case "tbWPEditHeading":
		3871	k.Title = "Heading";
		3872	k.LENGTH = 3;
		3873	k.MAX = 359;
		3874	k.MIN = 1;
		3875	k.disableDecimal();
		3876	break;
		3877	case "tbWPEditSpeed":
		3878	k.Title = "Speed";
		3879	k.LENGTH = 4;
		3880	k.MAX = 24.7;
		3881	k.MIN = 0.1;
		3882	break;
		3883	case "tbWPEditClimbrate":
		3884	k.Title = "Climbrate";
		3885	k.LENGTH = 4;
		3886	k.MAX = 25.4;
		3887	k.MIN = 0.1;
		3888	break;
		3889	case "tbWPEditRadius":
		3890	k.Title = "Radius";
		3891	k.LENGTH = 3;
		3892	k.MAX = 254;
		3893	k.disableDecimal();
		3894	break;
		3895	case "tbWPEditHoldtime":
		3896	k.Title = "Holdtime";
		3897	k.LENGTH = 3;
		3898	k.MAX = 254;
		3899	break;
		3900	case "tbWPEditAutoTrigger":
		3901	k.Title = "Autotrigger";
		3902	k.LENGTH = 3;
		3903	k.MAX = 254;
		3904	k.disableDecimal();
		3905	break;
		3906	case "tbWPEditCamAngle":
		3907	k.Title = "Camera angle";
		3908	k.LENGTH = 3;
		3909	k.MAX = 254;
		3910	k.MIN = 1;
		3911	k.disableDecimal();
		3912	break;
		3913	case "tbWPEditOut1":
		3914	k.Title = "OUT1 timer interval";
		3915	k.LENGTH = 3;
		3916	k.MAX = 254;
		3917	k.disableDecimal();
		3918	break;
		3919	}
		3920	k.Result = ((TextBox)sender).Text;
2366	-	3921	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	3922	((TextBox)sender).Text = k.Result;
2361	-	3923	}
2366	-	3924
2361	-	3925	}
2356	-	3926	private void tbWPEditHeading_KeyDown(object sender, KeyEventArgs e)
		3927	{
		3928	if(!tbWPEditHeading.IsReadOnly)
		3929	{
		3930	//var x = KeyInterop.VirtualKeyFromKey(e.Key);
		3931	KeyConverter x = new KeyConverter();
		3932	string s = x.ConvertToString(e.Key);
		3933
		3934	if ("1234567890,\b".IndexOf(s) < 0) //general check for valid chars(0-9) and backspace (\b)
		3935	e.Handled = true;
		3936	else
		3937	if ("\b".IndexOf(s) < 0)
		3938	if (Convert.ToInt16(((TextBox)sender).Text + s) > 360) //if valid and not backspace, check for upper limit of the resulting number
		3939	e.Handled = true;
		3940
		3941	}
		3942	}
2361	-	3943	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	3944	{
2359	-	3945	object[] o = new object[16];
2356	-	3946
2359	-	3947	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		3948	o[1] = 0;
		3949	// cbWPEditType.SelectedIndex = 0;
		3950	// tbWPEditPrefix.Text = "P";
		3951	o[2] = "P" + o[0].ToString();
		3952	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		3953	o[3] = copter.Position.Lat;
		3954	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		3955	o[4] = copter.Position.Lng;
		3956	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		3957	o[5] = iAnalogData[4].ToString();
2356	-	3958
2359	-	3959	// cbWPEditHeading.SelectedIndex = 2;
		3960	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		3961	// tbWPEditHeading.IsReadOnly = false;
2356	-	3962
2359	-	3963	// cbWPEditSpeed.SelectedIndex = 1;
		3964	// tbWPEditSpeed.Text = "5.0";
		3965	// tbWPEditSpeed.IsReadOnly = false;
		3966	o[7] = "50";
2356	-	3967
2359	-	3968	// cbWPEditClimbrate.SelectedIndex = 1;
		3969	// tbWPEditClimbrate.Text = "5.0";
		3970	// tbWPEditClimbrate.IsReadOnly = false;
		3971	o[8] = "50";
2356	-	3972
2359	-	3973	// tbWPEditRadius.Text = "10";
		3974	o[9] = "10";
		3975	// tbWPEditHoldtime.Text = "5";
		3976	o[10] = "5";
		3977	// tbWPEditAutoTrigger.Text = "0";
		3978	o[11] = "0";
		3979	// cbWPEditCamAngle.SelectedIndex = 1;
		3980	// tbWPEditCamAngle.Text = "AUTO";
		3981	// tbWPEditCamAngle.IsReadOnly = true;
		3982	o[12] = "255";
2356	-	3983
2359	-	3984	o[13] = "0";
		3985	// tbWPEditOut1.Text = "0";
		3986	o[14] = "0";
		3987	o[15] = "0";
		3988
		3989	dtWaypoints.Rows.Add(o);
2368	-	3990	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1]);
2359	-	3991	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		3992	if (mRouteWP != null)
		3993	MainMap.Markers.Remove(mRouteWP);
		3994	_routeUpdate();
		3995	Dispatcher.Invoke(() => {
		3996	dgvWP.Items.Refresh();
		3997	dgvWP.SelectedIndex = (int)o[0] -1;
		3998	dgvWP.UpdateLayout();
		3999	_dgvWPselectEditRow();
		4000	});
2356	-	4001	}
		4002
2315	-	4003	#endregion WP
2324	-	4004	#region GPX
		4005	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		4006	{
		4007	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		4008	}
		4009	void _gpxAdd(double lat,double lon, int elevation)
		4010	{
		4011	DataRow dr = dtGPX.NewRow();
		4012	dr[0] = dtGPX.Rows.Count - 1;
		4013	dr[1] = lat;
		4014	dr[2] = lon;
		4015	dr[3] = elevation;
		4016	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		4017	dtGPX.Rows.Add(dr);
		4018	}
		4019	void _saveGPXLog()
		4020	{
		4021	if (!Directory.Exists("GPXLog"))
		4022	Directory.CreateDirectory("GPXLog");
		4023	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		4024	XmlTextWriter myXmlTextWriter = null;
		4025	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		4026	NumberFormatInfo nfi = new NumberFormatInfo();
		4027	nfi.NumberDecimalSeparator = ".";
2315	-	4028
2324	-	4029	try
		4030	{
		4031	myXmlTextWriter.Formatting = Formatting.Indented;
		4032
		4033	myXmlTextWriter.WriteStartDocument();
		4034
		4035	myXmlTextWriter.WriteStartElement("gpx");
		4036
		4037	myXmlTextWriter.WriteAttributeString("version", "1.0");
		4038	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		4039	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		4040	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		4041	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		4042
		4043	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		4044
		4045	myXmlTextWriter.WriteStartElement("trk");
		4046	myXmlTextWriter.WriteStartElement("trkseg");
		4047	for(int i = 0; i< dtGPX.Rows.Count;i++)
		4048	{
		4049	myXmlTextWriter.WriteStartElement("trkpt");
		4050	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		4051	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		4052	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		4053	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		4054	myXmlTextWriter.WriteEndElement();
		4055	}
		4056	myXmlTextWriter.WriteEndElement();
		4057	myXmlTextWriter.WriteEndElement();
		4058	myXmlTextWriter.WriteEndElement();
		4059	}
		4060	catch (Exception e)
		4061	{
		4062	Console.WriteLine("Exception: {0}", e.ToString());
		4063	}
		4064	finally
		4065	{
		4066	if (myXmlTextWriter != null)
		4067	{
		4068	myXmlTextWriter.Close();
		4069	}
		4070	}
		4071	}
2356	-	4072
2369	-	4073
2324	-	4074	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		4075	{
		4076	_loadGPXLog();
		4077	}
2327	-	4078	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		4079	{
		4080	_clearMapMarkers(typeof(GMapRoute));
		4081	}
2324	-	4082	void _loadGPXLog()
		4083	{
		4084
		4085	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4086	fd.Filter = "GPX-Logfile \| *.gpx";
		4087	fd.Multiselect = false;
		4088	if (fd.ShowDialog().Value)
		4089	{
		4090	string file = fd.FileName;
		4091	try
		4092	{
		4093	XDocument gpxDoc = XDocument.Load(file);
		4094	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		4095
		4096	NumberFormatInfo nfi = new NumberFormatInfo();
		4097	nfi.NumberDecimalSeparator = ".";
		4098
		4099	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		4100	select new
		4101	{
		4102	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		4103	Segs = (
		4104	from trackpoint in track.Descendants(gpx + "trkpt")
		4105	select new
		4106	{
		4107	Latitude = trackpoint.Attribute("lat").Value,
		4108	Longitude = trackpoint.Attribute("lon").Value,
		4109	Elevation = trackpoint.Element(gpx + "ele") != null ?
		4110	trackpoint.Element(gpx + "ele").Value : null,
		4111	Time = trackpoint.Element(gpx + "time") != null ?
		4112	trackpoint.Element(gpx + "time").Value : null
		4113	}
		4114	)
		4115	};
		4116
		4117	List<PointLatLng> wpl = new List<PointLatLng>();
		4118	foreach(var trk in tracks)
		4119	{
		4120	foreach(var trkseg in trk.Segs)
		4121	{
		4122	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		4123	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		4124	}
		4125
		4126	}
		4127	if(wpl.Count() > 0)
		4128	{
2327	-	4129	_clearMapMarkers(typeof(GMapRoute));
2324	-	4130	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	4131	Dispatcher.Invoke(() =>
		4132	{
		4133	GMapRoute mRoute;
		4134	if (comboBoxRouteColor.SelectionBoxItem != null)
		4135	{
		4136	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	4137	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	4138	}
		4139	else
2366	-	4140	mRoute = new GMapRoute(wpl, null);
2324	-	4141
2328	-	4142	MainMap.Markers.Add(mRoute);
		4143	});
2324	-	4144	}
		4145
		4146	}
		4147	catch (Exception e)
		4148	{
		4149	Console.WriteLine("Exception: {0}", e.ToString());
		4150	}
		4151	}
		4152	}
		4153	#endregion GPX
2315	-	4154	#endregion functions
2287	-	4155	}
2315	-	4156	/// <summary>
		4157	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		4158	/// </summary>
2313	-	4159	public class waypointsConverter : IValueConverter
		4160	{
		4161	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		4162	{
		4163	if (value != null)
		4164	{
		4165	switch ((string)parameter)
		4166	{
		4167	case "Latitude":
		4168	return value.ToString() + " °";
		4169	case "Longitude":
		4170	return value.ToString() + " °";
		4171	case "Radius":
		4172	return value.ToString() + " m";
		4173	case "Altitude":
		4174	return value.ToString() + " m";
		4175	case "ClimbRate":
		4176	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		4177	case "DelayTime":
		4178	return value.ToString() + " s";
		4179	case "Heading":
		4180	return Waypoints.Heading(System.Convert.ToInt32(value));
		4181	case "Speed":
		4182	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		4183	case "CamAngle":
		4184	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		4185	case "Type":
		4186	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		4187	case "AutoTrigger":
		4188	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		4189	case "Status":
2355	-	4190	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	4191	}
		4192
		4193	return value.ToString();
		4194	}
		4195	else return value;
		4196	}
		4197
		4198	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		4199	{
		4200	throw new NotImplementedException();
		4201	}
		4202	}
		4203
2287	-	4204	public class IniFile
		4205	{
		4206	public string path;
		4207
		4208	[DllImport("kernel32")]
		4209	private static extern long WritePrivateProfileString(string section,
		4210	string key, string val, string filePath);
		4211
		4212	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		4213	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		4214	uint nSize, string lpFileName);
		4215
		4216	[DllImport("kernel32")]
		4217	private static extern int GetPrivateProfileString(string section,
		4218	string key, string def, StringBuilder retVal,
		4219	int size, string filePath);
		4220
		4221	public IniFile(string INIPath)
		4222	{
		4223	path = INIPath;
		4224	}
		4225
		4226	public void IniWriteValue(string Section, string Key, string Value)
		4227	{
		4228	WritePrivateProfileString(Section, Key, Value, this.path);
		4229	}
		4230
		4231	public string IniReadValue(string Section, string Key)
		4232	{
		4233	StringBuilder temp = new StringBuilder(255);
		4234	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		4235	return temp.ToString();
		4236	}
		4237	//Ini_sections auslesen in String-Array
		4238	public string[] IniSectionNames()
		4239	{
		4240
		4241	// uint MAX_BUFFER = 32767;
		4242	uint MAX_BUFFER = 8388608;
		4243	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		4244	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		4245	if (bytesReturned == 0)
		4246	{
		4247	Marshal.FreeCoTaskMem(pReturnedString);
		4248	return null;
		4249	}
		4250	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		4251	Marshal.FreeCoTaskMem(pReturnedString);
		4252	//use of Substring below removes terminating null for split
		4253	return local.Substring(0, local.Length - 1).Split('\0');
		4254
		4255
		4256	}
		4257	}
		4258
		4259	/// <summary>
		4260	/// Selected Win AI Function Calls
		4261	/// </summary>
		4262	public class WinApi
		4263	{
		4264	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		4265	public static extern int GetSystemMetrics(int which);
		4266	[DllImport("user32.dll")]
		4267	public static extern void
		4268	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		4269	int X, int Y, int width, int height, uint flags);
		4270
		4271	private const int SM_CXSCREEN = 0;
		4272	private const int SM_CYSCREEN = 1;
		4273	private static IntPtr HWND_TOP = IntPtr.Zero;
		4274	private const int SWP_SHOWWINDOW = 64; // 0x0040
		4275
		4276	public static int ScreenX
		4277	{
		4278	get { return GetSystemMetrics(SM_CXSCREEN); }
		4279	}
		4280
		4281	public static int ScreenY
		4282	{
		4283	get { return GetSystemMetrics(SM_CYSCREEN); }
		4284	}
		4285
		4286	public static void SetWinFullScreen(IntPtr hwnd)
		4287	{
		4288	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		4289	}
		4290	}
		4291	/// <summary>
		4292	/// Class used to preserve / restore state of the window
		4293	/// </summary>
		4294	public class WinState
		4295	{
		4296	private WindowState winState;
		4297	private WindowStyle brdStyle;
		4298	private bool topMost;
		4299	private Rect restore;
		4300	private bool IsMaximized = false;
		4301
		4302	public bool isMaximized
		4303	{
		4304	get { return IsMaximized; }
		4305	}
		4306	public void Maximize(Window targetForm)
		4307	{
		4308	if (!IsMaximized)
		4309	{
		4310	IsMaximized = true;
		4311	Save(targetForm);
		4312	targetForm.WindowState = WindowState.Maximized;
		4313	targetForm.WindowStyle = WindowStyle.None;
		4314	targetForm.Topmost = true;
		4315	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		4316	}
		4317	}
		4318
		4319	public void Save(Window targetForm)
		4320	{
		4321	winState = targetForm.WindowState;
		4322	brdStyle = targetForm.WindowStyle;
		4323	topMost = targetForm.Topmost;
		4324	restore = targetForm.RestoreBounds;
		4325	}
		4326	public void Restore(Window targetForm)
		4327	{
		4328	targetForm.WindowState = winState;
		4329	targetForm.WindowStyle = brdStyle;
		4330	targetForm.Topmost = topMost;
		4331
		4332	targetForm.Left = restore.Left;
		4333	targetForm.Top = restore.Top;
		4334	targetForm.Height = restore.Height;
		4335	targetForm.Width = restore.Width;
		4336	IsMaximized = false;
		4337	}
		4338	}
		4339
		4340	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2369 - Rev