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	}
2372	-	760	void _WPMarkerSetType(string text, int type)
		761	{
		762	GMapMarker p = _findWPMarker(text);
		763	if (p != null)
		764	((CustomMarkerWP)p.Shape).WPType = type;
		765	}
2369	-	766	void _repositionWPMarker(PointLatLng point, string name)
		767	{
		768	GMapMarker p = _findWPMarker(name);
		769	if (p != null)
		770	p.Position = point;
		771	}
		772
2287	-	773	// access mode
		774	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		775	{
		776	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		777	MainMap.ReloadMap();
		778	}
		779	// zoom up
		780	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		781	{
		782	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		783	}
		784
		785	// zoom down
		786	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		787	{
		788	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		789	}
		790
		791	// prefetch
		792	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		793	{
		794	RectLatLng area = MainMap.SelectedArea;
		795	if (!area.IsEmpty)
		796	{
		797	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		798	{
		799	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		800
		801	if (res == MessageBoxResult.Yes)
		802	{
		803	TilePrefetcher obj = new TilePrefetcher();
		804	obj.Owner = this;
		805	obj.ShowCompleteMessage = true;
		806	obj.Start(area, i, MainMap.MapProvider, 100);
		807	}
		808	else if (res == MessageBoxResult.No)
		809	{
		810	continue;
		811	}
		812	else if (res == MessageBoxResult.Cancel)
		813	{
		814	break;
		815	}
		816	}
		817	}
		818	else
		819	{
		820	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		821	}
		822	}
		823
		824	// goto by geocoder
		825	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		826	{
		827	_goto_byGeoCoder();
		828	}
		829	// goto by geocoder
		830	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		831	{
		832	if (e.Key == System.Windows.Input.Key.Enter)
		833	_goto_byGeoCoder();
		834	}
		835	void _goto_byGeoCoder()
		836	{
		837	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		838	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		839	{
		840	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		841	}
		842	}
		843	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		844	{
		845	try
		846	{
		847	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		848	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		849
		850	MainMap.Position = new PointLatLng(lat, lng);
		851	}
		852	catch (Exception ex)
		853	{
		854	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		855	}
		856
		857	}
		858
		859	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		860	{
		861	MainMap.ReloadMap();
		862	}
		863
		864	private void MainMap_OnPositionChanged(PointLatLng point)
		865	{
		866	if (_bFollowCopter)
		867	_setCopterData(MainMap.Position);
		868	}
		869
		870	private void MainMap_OnMapZoomChanged()
		871	{
		872	if (_bFollowCopter)
		873	_setCopterData(MainMap.Position);
		874	if((int)sliderMapZoom.Value != MainMap.Zoom)
		875	sliderMapZoom.Value = MainMap.Zoom;
		876	}
		877
		878	void _setCopterData(PointLatLng p)
		879	{
		880	Dispatcher.Invoke(() =>
		881	{
		882	copter.Position = p;
		883	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		884	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		885	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		886	});
		887	if (home != null && MainMap.Markers.Contains(home))
		888	{
		889	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		890	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		891	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	892
		893	if(d*1000 < _dThresholdDistanceWarn)
		894	{
		895	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		896	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		897	{
		898	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		899	_bAnimDistanceActive = false;
		900	}
		901	}
		902	else
		903	{
		904	if (_iDistanceJitter < 20)
		905	{ _iDistanceJitter++; }
		906	if (_iDistanceJitter == 20)
		907	{
		908	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		909	{
		910	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		911	_bAnimDistanceActive = true;
		912	}
		913	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		914	{
2295	-	915	Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		916	t.Start();
2291	-	917	_bVoiceDistanceActive = true;
		918	}
		919	_iDistanceJitter++;
		920	}
		921	}
2287	-	922	}
		923	}
		924
		925	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		926	{
		927	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		928	}
		929
		930	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		931	{
		932	if (MainMap.Zoom != sliderMapZoom.Value)
		933	MainMap.Zoom = (int)sliderMapZoom.Value;
		934	}
		935	#region Touch zooming hackattack ;)
		936	/// <summary>
		937	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		938	/// </summary>
		939	bool bFirstAccess = true;
		940	double dDistance = 0;
		941	int iZoom;
		942	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		943	{
		944	var id = e.StylusDevice.Id;
		945	e.StylusDevice.Capture(MainMap);
		946	if (iFirstStylusID == -1)
		947	{
		948	iFirstStylusID = id;
		949	}
		950	else
		951	{
		952
		953	MainMap.CanDragMap = false;
		954	}
		955	}
		956	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		957	{
		958	MainMap.ReleaseStylusCapture();
		959	iFirstStylusID = -1;
		960	bFirstAccess = true;
		961	MainMap.CanDragMap = true;
		962	iZoom = 0;
		963	}
		964	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		965	{
		966	var id = e.StylusDevice.Id;
		967	var tp = e.GetPosition(MainMap);
		968
		969	// This is the first Stylus point; just record its position.
		970	if (id == iFirstStylusID)
		971	{
		972	pTouch1.X = tp.X;
		973	pTouch1.Y = tp.Y;
		974	}
		975	else
		976	if (iFirstStylusID > -1)
		977	{
		978	pTouch2.X = tp.X;
		979	pTouch2.Y = tp.Y;
		980	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		981	if (!bFirstAccess)
		982	{
		983	if (distance > dDistance)
		984	iZoom++;
		985	else
		986	if (distance < dDistance)
		987	iZoom--;
		988	}
		989	if (iZoom > 30)
		990	{
		991	iZoom = 0;
		992	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		993	}
		994	if (iZoom < -30)
		995	{
		996	iZoom = 0;
		997	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		998	}
		999	dDistance = distance;
		1000	bFirstAccess = false;
		1001	}
		1002	}
		1003	#endregion Touch zooming hackattack ;)
		1004
		1005	#endregion GMap
		1006
		1007	#region settings
		1008	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1009	{
		1010	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		1011	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1012	}
		1013	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1014	{
		1015	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		1016	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1017	}
		1018	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1019	{
		1020	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1021	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1022	}
		1023	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1024	{
		1025	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1026	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1027	}
		1028	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1029	{
		1030	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1031	}
		1032	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1033	{
		1034	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1035	}
		1036	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1037	{
		1038	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1039	}
		1040	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1041	{
		1042	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1043	}
		1044
		1045	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1046	{
		1047	if (cBoxLiPoCells.SelectedIndex > -1)
		1048	{
		1049	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1050	_LipoMinMax();
		1051	}
		1052	}
		1053	void _LipoMinMax()
		1054	{
		1055	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1056	_dLipoVMin = (double)_LipoCells * 3;
		1057	pbTopVoltage.Maximum = _dLipoVMax;
		1058	pbTopVoltage.Minimum = _dLipoVMin;
		1059	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1060	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1061	}
		1062	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1063	{
		1064	if (cBoxMotors.SelectedIndex > -1)
		1065	{
		1066	_iMotors = cBoxMotors.SelectedIndex + 3;
		1067	Dispatcher.Invoke(() =>
		1068	{
		1069	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1070	GridMotors.Height = dgvMotors1.Height + 10;
		1071	});
		1072	}
		1073	}
		1074	void _setMotorGridSize()
		1075	{
		1076	if (dgvMotors1.Columns.Count > 2)
		1077	{
		1078	dgvMotors1.Columns[0].Width = 24;
		1079	dgvMotors1.Columns[1].Width = 50;
		1080	dgvMotors1.Columns[2].Width = 50;
		1081	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1082	GridMotors.Height = dgvMotors1.Height + 10;
		1083	}
		1084
		1085	}
		1086	#endregion settings
		1087
		1088	#region functions
		1089
		1090	#region logging
		1091	/// <summary> Log data to the terminal window. </summary>
		1092	/// <param name="msgtype"> The type of message to be written. </param>
		1093	/// <param name="msg"> The string containing the message to be shown. </param>
		1094	private void Log(LogMsgType msgtype, string msg)
		1095	{
		1096	Dispatcher.Invoke(() =>
		1097	{
		1098	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1099	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1100	// rtfTerminal.AppendText(msg + "\r");
		1101	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1102	tr.Text = msg;
		1103	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1104	rtfTerminal.AppendText("\r");
		1105	rtfTerminal.ScrollToEnd();
		1106	});
		1107	}
		1108	private void ErrorLog(LogMsgType msgtype, string msg)
		1109	{
		1110	Dispatcher.Invoke(() =>
		1111	{
		1112	TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1113	tr.Text = msg;
		1114	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1115	rtfError.AppendText("\r");
		1116	rtfError.ScrollToEnd();
		1117
		1118	_bErrorLog = true;
		1119	});
		1120	}
		1121	/// <summary>
		1122	/// Clear the line in the errorlog window
		1123	/// containing the error string when error has ceased
		1124	/// </summary>
		1125	/// <param name="s">substring of errrormessage</param>
		1126	void _clearErrorLog(string s)
		1127	{
		1128	Dispatcher.Invoke((Action)(() =>
		1129	{
		1130	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1131	TextRange foundRange = FindTextInRange(searchRange, s);
		1132
		1133	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1134
		1135
		1136	if (iStart > -1)
		1137	{
		1138	int iLength = 0;
		1139	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1140	if (iEnd > 0)
		1141	{
		1142	iLength = iEnd + 1;
		1143	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1144	if (iHttp == iLength)
		1145	{
		1146	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1147	if (iEnd2 > iLength)
		1148	{
		1149	iLength = iEnd2 + 1;
		1150	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1151
		1152	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1153	rtfError.Selection.Text = string.Empty;
		1154	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1155	}
		1156
		1157	}
		1158	else
		1159	{
		1160	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1161	rtfError.Selection.Text = string.Empty;
		1162	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1163	}
		1164	}
		1165	}
		1166	}));
		1167
		1168	}
		1169	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1170	{
		1171	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1172	if (offset < 0)
		1173	return null; // Not found
		1174
		1175	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1176	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1177
		1178	return result;
		1179	}
		1180	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1181	{
		1182	while (position != null)
		1183	{
		1184	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1185	{
		1186	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1187	if (characterCount <= count)
		1188	{
		1189	return position.GetPositionAtOffset(characterCount);
		1190	}
		1191
		1192	characterCount -= count;
		1193	}
		1194
		1195	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1196	if (nextContextPosition == null)
		1197	return position;
		1198
		1199	position = nextContextPosition;
		1200	}
		1201
		1202	return position;
		1203	}
		1204	#endregion logging
		1205
		1206	#region processing received data
		1207
		1208	private void processMessage(byte[] message)
		1209	{
		1210	if (message.Length > 0)
		1211	{
		1212	_iLifeCounter++;
		1213	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1214	//Log(LogMsgType.Incoming, message.Length.ToString());
		1215	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1216	char cmdID;
		1217	byte adr;
		1218	byte[] data;
		1219	byte[] tmp = null;
		1220	if (message[0] != '#')
		1221	{
		1222	int iFound = -1;
		1223	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1224	{ //so this is a workaround to not spam the log box
		1225	if (message[i] == 35)
		1226	{
		1227	iFound = i;
		1228	break;
		1229	}
		1230	}
		1231	if (iFound > 0)
		1232	{
		1233	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1234	tmp = new byte[message.Length - iFound];
		1235	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1236	}
		1237	s = s.Trim('\0', '\n', '\r');
		1238	if (s.Length > 0)
		1239	Log(LogMsgType.Normal, s);
		1240	if (tmp != null)
		1241	{
		1242	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1243	processMessage(tmp);
		1244	}
		1245	}
		1246	//Debug.Print(s);
		1247	else
		1248	{
		1249	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1250
		1251	if (adr == 255) { crcError++; }
		1252	else crcError = 0;
		1253	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1254	//display the active controller (FC / NC)
		1255	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...???
		1256	{
		1257	_iCtrlAct = adr;
		1258	switch (adr)
		1259	{
		1260	case 1:
		1261	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2298	-	1262	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
2287	-	1263	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1264	// _setFieldsNA(); //display fields NA for FC
		1265	break;
		1266	case 2:
		1267	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1268	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1269	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1270	break;
		1271	//case 3:
		1272	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1273	// break;
		1274	//case 4:
		1275	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1276	// break;
		1277	default:
		1278	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1279	break;
		1280	}
		1281	// _loadLabelNames();
		1282	}
		1283	// else
		1284	// Debug.Print("Address == 0?");
		1285
		1286	if (data != null && data.Length > 0)
		1287	{
		1288	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1289	s = s.Trim('\0', '\n');
		1290
		1291	switch (cmdID)
		1292	{
		1293	//case 'A': //Label names
		1294	// _processLabelNames(s);
		1295	// break;
		1296
		1297	case 'D': //Debug data
		1298	_processDebugVals(adr, data);
		1299	break;
		1300
		1301	case 'V': //Version
		1302	_processVersion(adr, data);
		1303	break;
		1304
		1305	case 'K'://BL-CTRL data
		1306	_processBLCtrl(data);
		1307	break;
		1308
		1309	case 'O': //NC Data
		1310	_processNCData(data);
		1311	break;
		1312
		1313	case 'E': //NC error-string
		1314	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1315	break;
		1316
		1317	case 'L': //OSD Menue (called by pagenumber)
		1318	_processOSDSingle(data);
		1319	break;
		1320
		1321	case 'H': //OSD Menue (with autoupdate - called by Key)
		1322	_processOSDAuto(data);
		1323	break;
		1324
		1325	case 'X': //Waypoint data
		1326	_processWPData(data);
		1327	break;
		1328
2313	-	1329	case 'W': //return new Waypoint items count after sending waypoint to copter
		1330	_iWPCount = data[0];
		1331	break;
2287	-	1332	//default:
		1333	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1334	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1335	// break;
		1336	}
		1337	}
		1338	//else
		1339	//{
		1340	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1341	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1342	//}
		1343	}
		1344	}
		1345	}
		1346	/// <summary>
		1347	/// Analog label names 'A'
		1348	/// each label name is returned as a single string
		1349	/// and added to string array sAnalogLabel[]
		1350	/// and the datatable dtAnalog
		1351	/// </summary>
		1352	/// <param name="s">the label name</param>
		1353	void _processLabelNames(string s)
		1354	{
		1355	//if (iLableIndex < 32)
		1356	//{
		1357	// sAnalogLabel[iLableIndex] = s;
		1358	// if (dtAnalog.Rows.Count < 32)
		1359	// dtAnalog.Rows.Add(s, "");
		1360	// else
		1361	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1362
		1363	// // _getAnalogLabels(iLableIndex + 1);
		1364	//}
		1365	//Debug.Print(s);
		1366	}
		1367	/// <summary>
		1368	/// Debug values 'D'
		1369	/// </summary>
		1370	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1371	/// <param name="data">the received byte array to process</param>
		1372	void _processDebugVals(byte adr, byte[] data)
		1373	{
		1374	if (data.Length == 66)
		1375	{
2324	-	1376
2287	-	1377	double v;
		1378	int index = 0;
		1379	Int16 i16 = 0;
		1380	double dTemp = 0;
		1381	for (int i = 2; i < 66; i += 2)
		1382	{
		1383	i16 = data[i + 1];
		1384	i16 = (Int16)(i16 << 8);
		1385	iAnalogData[index] = data[i] + i16;
		1386	sAnalogData[index] = (data[i] + i16).ToString();
		1387	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1388
		1389	if (adr == 2) //NC
		1390	{
		1391	switch (index)
		1392	{
		1393	case 0: //pitch (German: nick)
		1394	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1395	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1396	break;
		1397	case 1: //roll
		1398	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1399	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1400	break;
		1401	case 4: //altitude
		1402	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1403	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2324	-	1404	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1405	break;
		1406	case 7: //Voltage
		1407	v = (double)iAnalogData[index] / (double)10;
		1408	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1409	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1410	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1411	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1412	{
		1413	if (v == _dVoltLast)
		1414	if(_iVoltJitter < 20) _iVoltJitter++;
		1415	else
		1416	{
		1417	_iVoltJitter = 0;
		1418	_dVoltLast = v;
		1419	}
		1420	if (_iVoltJitter == 20)
		1421	{
		1422	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1423
		1424	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1425	{
		1426	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1427	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1428	{
		1429	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1430	_bCritAnimVoltActive = true;
		1431	}
		1432	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1433	{
2295	-	1434	Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1435	t.Start();
2287	-	1436	_bCritVoiceVoltActive = true;
		1437	}
		1438	}
		1439	else
		1440	{
		1441	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1442	{
		1443	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1444	_bCritAnimVoltActive = false;
		1445	}
		1446	_bCritVoiceVoltActive = false;
		1447
2291	-	1448	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1449	{
2295	-	1450	Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1451	t.Start();
2291	-	1452	_bWarnVoiceVoltActive = true;
2287	-	1453	}
		1454	}
		1455	}
		1456	}
		1457	else
		1458	{
		1459	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1460	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1461	{
		1462	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1463	_bCritAnimVoltActive = false;
		1464	}
		1465	_bCritVoiceVoltActive = false;
2291	-	1466	_bWarnVoiceVoltActive = false;
2287	-	1467	_iVoltJitter = 0;
		1468	}
		1469	break;
		1470	case 8: // Current
		1471	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1472	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1473	break;
		1474	case 10: //heading
2291	-	1475	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2287	-	1476	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1477	break;
		1478	case 12: // SPI error
2291	-	1479	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1480	break;
		1481	case 14: //i2c error
2291	-	1482	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1483	break;
		1484	case 20: //Earthmagnet field
2291	-	1485	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1486	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1487
		1488	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1489	{
		1490	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1491	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1492	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1493	{
		1494	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1495	_bAnimMagneticFieldActive = false;
		1496	}
		1497	}
		1498	else
		1499	{
		1500	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1501	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1502	{
		1503	if (_iMagneticFieldJitter < 20)
		1504	_iMagneticFieldJitter++;
		1505	}
		1506	else
		1507	{
		1508	_iMagneticFieldJitter = 0;
		1509	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1510	}
		1511	if(_iMagneticFieldJitter == 20)
		1512	{
		1513	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1514	{
		1515	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1516	_bAnimMagneticFieldActive = true;
		1517	}
		1518	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1519	{
2295	-	1520	Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1521	t.Start();
2291	-	1522	_bVoiceMagneticFieldActive = true;
		1523	}
		1524	}
		1525	}
2287	-	1526	break;
		1527	case 21: //GroundSpeed
		1528	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1529	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1530	break;
2291	-	1531
		1532	///******** needs testing --> not sure what position this is *************
2287	-	1533	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1534	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1535	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1536	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1537	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1538	dTemp = Math.Sqrt(dTemp) / (double)10;
		1539	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1540	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1541	break;
2291	-	1542
2287	-	1543	case 31: //Sats used
		1544	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1545	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1546	break;
		1547	}
		1548	}
		1549	index++;
		1550	}
		1551	}
		1552	else
		1553	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1554	}
		1555	/// <summary>
		1556	/// Version string 'V'
		1557	/// </summary>
		1558	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1559	/// <param name="data">the received byte array to process</param>
		1560	void _processVersion(byte adr, byte[] data)
		1561	{
		1562	if (data.Length == 12)
		1563	{
		1564	if (!check_HWError)
		1565	{
		1566	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1567	string sVersion = "";
		1568	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1569	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1570	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1571	Log(LogMsgType.Incoming, sVersion);
		1572	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1573	Log(LogMsgType.Incoming, sVersion);
		1574	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1575	}
		1576	if (data[5] > 0) //error0
		1577	{
		1578	if (adr == 1)
		1579	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		1580	if (adr == 2)
		1581	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		1582	}
		1583	if (data[6] > 0) //error1
		1584	{
		1585	if (adr == 1)
		1586	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		1587	if (adr == 2)
		1588	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		1589	}
		1590	if ((data[5] + data[6] == 0) && _bErrorLog)
		1591	_clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		1592
		1593	}
		1594	check_HWError = false;
		1595	}
		1596	/// <summary>
		1597	/// BL-Ctrl data 'K'
		1598	/// for FC you have to use a customized firmware
		1599	/// </summary>
		1600	/// <param name="data">the received byte array to process</param>
		1601	void _processBLCtrl(byte[] data)
		1602	{
		1603	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1604	{
		1605	bool bAvailable = false;
		1606	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1607	{
		1608
		1609	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1610	bAvailable = true;
		1611	else
		1612	bAvailable = false;
		1613
		1614	if (data[i] < _iMotors)
		1615	{
		1616	if (bAvailable)
		1617	{
2315	-	1618	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1619	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1620	}
		1621	else
		1622	{
2315	-	1623	dtMotors.Rows[data[i]].SetField(1, "NA");
		1624	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1625	}
		1626	}
		1627	//if (data[i] > 3 && data[i] < 8)
		1628	//{
		1629	// if (bAvailable)
		1630	// {
		1631	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1632	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1633	// }
		1634	// else
		1635	// {
		1636	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1637	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1638	// }
		1639	//}
		1640	}
		1641	}
		1642	}
		1643	/// <summary>
		1644	/// Navi-Ctrl data 'O'
		1645	/// GPS-Position, capacatiy, flying time...
		1646	/// </summary>
		1647	/// <param name="data">the received byte array to process</param>
		1648	void _processNCData(byte[] data)
		1649	{
		1650	int i_32, i_16, iVal;
		1651	double d;
		1652	i_32 = data[4];
		1653	iVal = i_32 << 24;
		1654	i_32 = data[3];
		1655	iVal += i_32 << 16;
		1656	i_32 = data[2];
		1657	iVal += i_32 << 8;
		1658	iVal += data[1];
		1659	d = (double)iVal / Math.Pow(10, 7);
2324	-	1660	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1661
2287	-	1662	PointLatLng p = new PointLatLng();
		1663
		1664	p.Lng = d;
		1665	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1666	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1667
		1668	i_32 = data[8];
		1669	iVal = i_32 << 24;
		1670	i_32 = data[7];
		1671	iVal += i_32 << 16;
		1672	i_32 = data[6];
		1673	iVal += i_32 << 8;
		1674	iVal += data[5];
		1675	d = (double)iVal / Math.Pow(10, 7);
2324	-	1676	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1677	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1678	p.Lat = d;
2291	-	1679	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1680	{
		1681	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1682	if(_bAutoHome && !_bFirstSatFix)
		1683	{
		1684	if (_iFirstSatFix < 3)
		1685	_iFirstSatFix++;
		1686	else
		1687	{
		1688	_bFirstSatFix = true;
2347	-	1689	Dispatcher.Invoke(() => _setHomePos());
2295	-	1690	}
		1691	}
2291	-	1692	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1693	{
		1694	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1695	_bAnimSatFixActive = false;
		1696	}
		1697	if (!_bFollowCopter)
		1698	{
		1699	_setCopterData(p);
		1700	if (!MainMap.ViewArea.Contains(p))
		1701	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1702
2291	-	1703	}
		1704	else
2287	-	1705	Dispatcher.Invoke(() => MainMap.Position = p);
		1706	}
		1707	else
2291	-	1708	{
		1709	if(_bSatFix)
		1710	{
		1711	if (data[50] == _iSatsLast)
		1712	{
		1713	if (_iSatsJitter < 20) _iSatsJitter++;
		1714	}
		1715	else
		1716	{
		1717	_iSatsJitter = 0;
		1718	_iSatsLast = data[50];
		1719	}
2287	-	1720
2291	-	1721	if (_iSatsJitter == 20)
		1722	{
		1723	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1724	{
		1725	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1726	_bAnimSatFixActive = true;
		1727	}
		1728	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1729	{
2335	-	1730	Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
2295	-	1731	th.Start();
2291	-	1732	_bVoiceSatFixActive = true;
		1733	}
		1734
		1735	_bSatFix = false;
		1736	}
		1737	}
		1738	}
		1739
2287	-	1740	i_16 = data[28];
		1741	i_16 = (Int16)(i_16 << 8);
		1742	iVal = data[27] + i_16;
		1743	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1744
		1745	i_16 = data[45];
		1746	i_16 = (Int16)(i_16 << 8);
		1747	iVal = data[44] + i_16;
		1748	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1749	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1750
		1751	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2355	-	1752	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2347	-	1753	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count > 0)
2342	-	1754	{
2347	-	1755	_setActiveWP(data[48]-1);
2355	-	1756	if((data[67] & 2) == 2)
		1757	Dispatcher.Invoke(() => {
		1758	DataGridRow row;
		1759	if (_wpIndex > -1)
		1760	{
		1761	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1762	row.Background = new SolidColorBrush(Colors.Transparent);
		1763	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1764	row.BorderThickness = new Thickness(0);
		1765	}
		1766	_wpIndex = data[48] - 1;
		1767	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
2366	-	1768	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		1769	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	1770	row.BorderThickness = new Thickness(2);
		1771	dgvWP.UpdateLayout();
		1772	});
2347	-	1773	_wpIndex = data[48]-1;
2342	-	1774	}
2347	-	1775	else
		1776	{
		1777	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	1778	{
2347	-	1779	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	1780	Dispatcher.Invoke(() =>
		1781	{
		1782	DataGridRow row;
2368	-	1783	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	1784	{
		1785	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1786	row.Background = new SolidColorBrush(Colors.Transparent);
		1787	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1788	row.BorderThickness = new Thickness(0);
		1789	_wpIndex = -1;
		1790	}
		1791	});
		1792
		1793	}
2347	-	1794	}
2342	-	1795
2287	-	1796	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	1797	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	1798	_wpCount = data[49];
2287	-	1799	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1800
		1801	//--------------- Capacity used ------------------------
		1802	i_16 = data[81];
		1803	i_16 = (Int16)(i_16 << 8);
		1804	iVal = data[80] + i_16;
		1805	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1806	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1807
		1808	//--------------- Flying time ------------------------
		1809	i_16 = data[56];
		1810	i_16 = (Int16)(i_16 << 8);
		1811	iVal = data[55] + i_16;
		1812	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1813	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1814	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1815	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1816
		1817	//--------------- RC quality ------------------------
		1818	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1819	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1820
2291	-	1821	if(data[66] > _iThresholdRC)
		1822	{
		1823	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1824	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1825	{
		1826	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1827	_bAnimRCLevelActive = false;
		1828	}
		1829	}
		1830	else
		1831	{
		1832	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1833	if (_iRCLevelJitter == 20)
		1834	{
		1835	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1836	{
		1837	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1838	_bAnimRCLevelActive = true;
		1839	}
		1840	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1841	{
2295	-	1842	Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1843	th.Start();
2291	-	1844	_bVoiceRCLevelActive = true;
		1845	}
		1846	_iRCLevelJitter++;
		1847	}
		1848	}
		1849
2287	-	1850	//--------------- NC Error ------------------------
		1851	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1852	if (data[69] > 0)
		1853	_readNCError();
		1854	if (data[69] > 0 & data[69] < 44)
		1855	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
		1856	else
		1857	if (_bErrorLog) _clearErrorLog("NC Error");
		1858
2298	-	1859	//-------------FC / NC Status Flags
		1860	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1861	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1862	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1863	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1864	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1865	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1866
		1867	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1868	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1869	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1870	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1871	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1872	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
		1873	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		1874	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		1875
		1876	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1877	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1878	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1879	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1880	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1881	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1882	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	1883
		1884	//Sidebar StatusSymbols
		1885	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1886	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
		1887	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
		1888
		1889	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1890	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
		1891	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
		1892
		1893	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	1894	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
		1895	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	-	1896
		1897	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1898	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
		1899	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
		1900
		1901	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	1902	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
		1903	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
		1904	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	-	1905
2324	-	1906	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	1907	}
		1908	/// <summary>
		1909	/// Navi-Ctrl WP data struct 'X'
		1910	/// called by index
		1911	/// </summary>
		1912	/// <param name="data">the received byte array to process</param>
		1913	void _processWPData(byte[] data)
		1914	{
2313	-	1915	_iWPCount = data[0];
2287	-	1916	_bGetWPCount = false;
		1917	if (data.Length >= 28)
		1918	{
		1919	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		1920	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		1921	if (_bGetWP)
		1922	{
		1923	if (data[1] == 1)
2315	-	1924	{
2333	-	1925	Dispatcher.Invoke(() =>
		1926	{
2356	-	1927	wpList.Clear();
		1928	_clearMapMarkers(typeof(CustomMarkerWP));
		1929	if (mRouteWP != null)
		1930	MainMap.Markers.Remove(mRouteWP);
		1931	if (wpActiveMarker != null)
		1932	MainMap.Markers.Remove(wpActiveMarker);
		1933	lblWPRouteDistance.Content = "0 m";
		1934	dtWaypoints.Rows.Clear();
2368	-	1935	_wpEdit = -1;_wpIndex = -1;
2318	-	1936	});
2315	-	1937	}
2287	-	1938	DataRow dr = dtWaypoints.NewRow();
		1939	dr = Waypoints.toDataRow(data, dr);
2313	-	1940	dtWaypoints.Rows.Add(dr);
2363	-	1941	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1]);
2313	-	1942	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1943	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	1944	if (data[1] == data[0])
		1945	{
		1946	_bGetWP = false;
2368	-	1947	_routeUpdate();
2287	-	1948	}
		1949
		1950	}
		1951	}
		1952	else
		1953	{
		1954	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		1955	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		1956	}
		1957	}
		1958	/// <summary>
		1959	/// OSD Menue 'L'
		1960	/// single page called by pagenumber
		1961	/// no autoupdate
		1962	/// </summary>
		1963	/// <param name="data">the received byte array to process</param>
		1964	void _processOSDSingle(byte[] data)
		1965	{
		1966	if (data.Length == 84)
		1967	{
		1968	string sMessage = "";
		1969	iOSDPage = data[0];
		1970	iOSDMax = data[1];
		1971	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		1972	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		1973	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1974	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1975	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1976	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1977	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		1978	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		1979
		1980	}
		1981	//else
		1982	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		1983
		1984	}
		1985	/// <summary>
		1986	/// OSD Menue 'H'
		1987	/// called by keys (0x01,0x02,0x03,0x04)
		1988	/// autoupdate
		1989	/// </summary>
		1990	/// <param name="data">the received byte array to process</param>
		1991	void _processOSDAuto(byte[] data)
		1992	{
		1993	if (data.Length == 81)
		1994	{
		1995	string sMessage = "";
		1996	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		1997	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1998	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1999	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2000	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2001
		2002	}
		2003	//else
		2004	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2005	}
		2006
		2007	#endregion processing received data
		2008
		2009	#region controller messages
		2010	/// <summary> send message to controller to request data
		2011	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2012	/// </summary>
		2013	/// <param name="CMDID"> the command ID </param>
		2014	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2015	private void _sendControllerMessage(char CMDID, byte address)
		2016	{
		2017	if (serialPortCtrl.Port.IsOpen)
		2018	{
		2019	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2020	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2021	serialStream.Write(bytes, 0, bytes.Length);
		2022
		2023	}
		2024	else
		2025	Log(LogMsgType.Error, "NOT CONNECTED!");
		2026	}
		2027	/// <summary> send message to controller to request data
		2028	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2029	/// </summary>
		2030	/// <param name="CMDID"> the command ID </param>
		2031	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2032	/// <param name="data"> additional data for the request</param>
		2033	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2034	{
		2035	if (serialPortCtrl.Port.IsOpen)
		2036	{
		2037	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2038	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2039	serialStream.Write(bytes, 0, bytes.Length);
		2040
		2041	}
		2042	else
		2043	Log(LogMsgType.Error, "NOT CONNECTED!");
		2044	}
		2045
		2046	/// <summary>
		2047	/// start/stop continous polling of controller values
		2048	/// </summary>
		2049	/// <param name="b">start/stop switch</param>
		2050	void _readCont(bool b)
		2051	{
		2052	bReadContinously = b;
		2053	if (bReadContinously)
		2054	{
		2055	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2056	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2057	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2058	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2059	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2060	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2061	}
		2062	else
		2063	{
		2064	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2065	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2066	_bConnErr = false;
		2067	}
		2068	_iLifeCounter = 0;
		2069	}
		2070
		2071	private void _getVersion()
		2072	{
		2073	_sendControllerMessage('v', 0);
		2074	}
		2075	/// <summary>
		2076	/// get FC version struct via NC
		2077	/// by sending '1' as data (not documented in wiki...)
		2078	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2079	/// </summary>
		2080	/// <param name="ctrl">controller number 1=FC</param>
		2081	private void _getVersion(byte ctrl)
		2082	{
		2083	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2084	}
		2085	/// <summary>
		2086	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2087	/// </summary>
		2088	private void _switchToNC()
		2089	{
		2090	if (serialPortCtrl.Port.IsOpen)
		2091	{
		2092	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2093	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2094	serialStream.Write(bytes, 0, bytes.Length);
		2095
		2096	Thread.Sleep(100);
		2097	_getVersion();
		2098	Thread.Sleep(100);
		2099	// _OSDMenue(0);
		2100	}
		2101	else
		2102	Log(LogMsgType.Error, "NOT CONNECTED!");
		2103	}
		2104	/// <summary>
		2105	/// switch to FC
		2106	/// </summary>
		2107	private void _switchToFC()
		2108	{
		2109	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2110	Thread.Sleep(100);
		2111	_getVersion();
		2112	Thread.Sleep(100);
		2113	// _OSDMenue(0);
		2114	}
		2115	/// <summary>
		2116	/// send RESET signal to FC
		2117	/// </summary>
		2118	private void _resetCtrl()
		2119	{
		2120	_sendControllerMessage('R', 1);
		2121	}
		2122	/// <summary>
		2123	/// poll the debug data (4sec subscription)
		2124	/// </summary>
		2125	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2126	private void _readDebugData(bool auto)
		2127	{
		2128	byte interval = auto ? debugInterval : (byte)0;
		2129	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2130	}
		2131	/// <summary>
		2132	/// poll the BL-CTRL status via NC (4sec subscription)
		2133	/// </summary>
		2134	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2135	private void _readBLCtrl(bool auto)
		2136	{
		2137	byte interval = auto ? blctrlInterval : (byte)0;
		2138	_sendControllerMessage('k', 0, new byte[1] { interval });
		2139	}
		2140	/// <summary>
		2141	/// poll the NC data struct (4sec subscription)
		2142	/// </summary>
		2143	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2144	private void _readNavData(bool auto)
		2145	{
		2146	byte interval = auto ? navctrlInterval : (byte)0;
		2147	_sendControllerMessage('o', 2, new byte[1] { interval });
		2148	}
		2149	/// <summary>
		2150	/// get the errortext for pending NC error
		2151	/// </summary>
		2152	private void _readNCError()
		2153	{
		2154	_sendControllerMessage('e', 2);
		2155	}
		2156	/// <summary>
		2157	/// request the Waypoint at index
		2158	/// </summary>
		2159	/// <param name="index"></param>
		2160	void _getpWP(int index)
		2161	{
		2162	if (serialPortCtrl.Port.IsOpen)
		2163	{
		2164	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2165	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2166	serialStream.Write(bytes, 0, bytes.Length);
		2167	}
		2168	else
		2169	Log(LogMsgType.Error, "NOT CONNECTED!");
		2170
		2171	}
		2172	void _getWP()
		2173	{
2335	-	2174	int iTimeout = 0;
2287	-	2175	_bGetWPCount = true;
2315	-	2176	_getpWP(1); //get the itemscount of wp
2335	-	2177	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2178	{
		2179	Thread.Sleep(10);
		2180	iTimeout++;
		2181	}
		2182	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2183	_getWPList();
		2184	}
		2185	void _getWPList()
		2186	{
		2187	_bGetWP = true;
2313	-	2188	int iTimeout=0;
		2189	for (int j = 0; j < _iWPCount; j++)
2287	-	2190	{
		2191	_getpWP(j + 1);
2313	-	2192	iTimeout = 0;
		2193	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2194	{
		2195	Thread.Sleep(1);
		2196	iTimeout++;
		2197	}
2287	-	2198	}
		2199	}
2363	-	2200	/// <summary>
		2201	/// Wrapper for _clearCopterWPList()
		2202	/// necessary, cause it is called by threadnew which does not like return values...
		2203	/// </summary>
2340	-	2204	void clearCopterWPList()
2313	-	2205	{
2340	-	2206	_clearCopterWPList();
		2207	}
2363	-	2208	/// <summary>
		2209	/// clear the WP list of the copter
		2210	/// by sending 'invalid' and index '0'
		2211	/// </summary>
		2212	/// <returns></returns>
2340	-	2213	bool _clearCopterWPList()
		2214	{
2335	-	2215	int iTimeout = 0;
2313	-	2216	if (serialPortCtrl.Port.IsOpen)
		2217	{
		2218	byte[] bData = new byte[30];
		2219	for (int i = 0; i < 30; i++)
		2220	bData[i] = 0;
		2221	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2222	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2223	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2224
2313	-	2225	_iWPCount = -1;
2340	-	2226	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2227	{
2313	-	2228	Thread.Sleep(10);
2335	-	2229	iTimeout++;
		2230	}
2313	-	2231	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2232	if (_iWPCount > -1)
2340	-	2233	return true;
		2234	else
		2235	Log(LogMsgType.Error, "Timeout while sending list!");
		2236	}
		2237	else
		2238	Log(LogMsgType.Error, "NOT CONNECTED!");
		2239
		2240	return false;
		2241	}
		2242	void _sendWPList()
		2243	{
2362	-	2244	_sendWPList(0);
		2245	}
		2246	void _sendWPList(int iStart)
		2247	{
2340	-	2248	int iTimeout = 0;
		2249	if (serialPortCtrl.Port.IsOpen)
		2250	{
		2251	if (_clearCopterWPList())
2313	-	2252	{
2362	-	2253	int k = 1;
		2254	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	2255	{
2362	-	2256	k = iStart > 0 ? k : -1;
		2257	_sendWayPoint(dtWaypoints.Rows[i], k, 'w');
2313	-	2258
2335	-	2259	_iWPCount = -1;
		2260	iTimeout = 0;
		2261	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2262	{
		2263	Thread.Sleep(10);
		2264	iTimeout++;
		2265	}
		2266	if (_iWPCount == -1)
		2267	{
		2268	Log(LogMsgType.Error, "Timeout while sending list!");
		2269	break;
		2270	}
		2271	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	2272	k++;
2335	-	2273	}
2313	-	2274	}
		2275	}
		2276	else
		2277	Log(LogMsgType.Error, "NOT CONNECTED!");
		2278
		2279	}
2356	-	2280	bool _sendWayPoint(DataRow dr, int index, char command)
2340	-	2281	{
2313	-	2282
2340	-	2283	if (serialPortCtrl.Port.IsOpen)
		2284	{
		2285	byte[] bData = new byte[30];
		2286	for (int i = 0; i < 30; i++)
		2287	bData[i] = 0;
		2288	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2289	byte[] bytes;
		2290	int iVal;
		2291	double dVal;
		2292	NumberFormatInfo nfi = new NumberFormatInfo();
		2293	nfi.NumberDecimalSeparator = ",";
		2294
		2295	//longitude
		2296	dVal = Convert.ToDouble(dr[4], nfi);
		2297	iVal = (int)(dVal * Math.Pow(10, 7));
		2298	bData[0] = (byte)(iVal & 0xff);
		2299	bData[1] = (byte)((iVal >> 8) & 0xff);
		2300	bData[2] = (byte)((iVal >> 16) & 0xff);
		2301	bData[3] = (byte)(iVal >> 24);
		2302	//latitude
		2303	dVal = Convert.ToDouble(dr[3], nfi);
		2304	iVal = (int)(dVal * Math.Pow(10, 7));
		2305	bData[4] = (byte)(iVal & 0xff);
		2306	bData[5] = (byte)((iVal >> 8) & 0xff);
		2307	bData[6] = (byte)((iVal >> 16) & 0xff);
		2308	bData[7] = (byte)(iVal >> 24);
		2309	//altitude
		2310	dVal = Convert.ToDouble(dr[5], nfi);
		2311	iVal = (int)(dVal * 10);
		2312	bData[8] = (byte)(iVal & 0xff);
		2313	bData[9] = (byte)((iVal >> 8) & 0xff);
		2314	bData[10] = (byte)((iVal >> 16) & 0xff);
		2315	bData[11] = (byte)(iVal >> 24);
		2316	//Status 'NEWDATA'
		2317	bData[12] = 1;
		2318	//heading
		2319	iVal = Convert.ToInt16(dr[6]);
		2320	bData[13] = (byte)(iVal & 0xff);
		2321	bData[14] = (byte)((iVal >> 8) & 0xff);
		2322	//ToleranceRadius
		2323	bData[15] = Convert.ToByte(dr[9]);
		2324	//HoldTime
		2325	bData[16] = Convert.ToByte(dr[10]);
		2326	//Event_Flag
		2327	bData[17] = Convert.ToByte(dr[13]);
		2328	//Index
		2329	bData[18] = index > 0 ? (byte)index : Convert.ToByte((int)dr[0]);
		2330	//Type
		2331	bData[19] = Convert.ToByte(dr[1]);
		2332	//WP_EventChannelValue
		2333	bData[20] = Convert.ToByte(dr[14]);
		2334	//AltitudeRate
		2335	bData[21] = Convert.ToByte(dr[8]);
		2336	//Speed
		2337	bData[22] = Convert.ToByte(dr[7]);
		2338	//CamAngle
		2339	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2340	//Name
2362	-	2341	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		2342	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	2343	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2344	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2345	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2346	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2347	//Autotrigger
		2348	bData[28] = Convert.ToByte(dr[11]);
		2349
2356	-	2350	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	2351	serialStream.Write(bytes, 0, bytes.Length);
		2352
		2353	return true;
		2354	}
		2355
		2356	return false;
		2357	}
2287	-	2358	#region OSD-Menue
		2359
		2360	/// <summary>
		2361	/// one time query of the OSD Menue with pagenumber
		2362	/// </summary>
		2363	/// <param name="iMenue">Menue page</param>
		2364	void _OSDMenue(int iMenue)
		2365	{
		2366	if (serialPortCtrl.Port.IsOpen)
		2367	{
		2368	if (iMenue > iOSDMax)
		2369	iMenue = 0;
		2370	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2371	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2372	serialStream.Write(bytes, 0, bytes.Length);
		2373	}
		2374	else
		2375	Log(LogMsgType.Error, "NOT CONNECTED!");
		2376
		2377	}
		2378	/// <summary>
		2379	/// call the OSDMenue and start autorefresh
		2380	/// usually by sending a menuekey
		2381	/// 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)
		2382	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2383	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2384	/// </summary>
		2385	void _OSDMenueAutoRefresh()
		2386	{
		2387	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2388	}
		2389	void _OSDMenueAutoRefresh(byte key)
		2390	{
		2391	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2392	}
		2393	/// <summary>
		2394	/// initialize the OSD menue combobox
		2395	/// combox is filled by numbers from 0 to max pagenumber
		2396	/// </summary>
		2397	void _initOSDCB()
		2398	{
		2399	_bCBInit = true;
		2400	if (iOSDMax == 0)
		2401	{
		2402	_OSDMenue(0);
		2403	Thread.Sleep(10);
		2404	}
		2405	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2406	for (int i = 0; i <= iOSDMax; i++)
		2407	{
		2408	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2409	}
		2410	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2411	_bCBInit = false;
		2412	}
		2413	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2414	{
		2415	iOSDPage++;
		2416	if (iOSDPage > iOSDMax)
		2417	iOSDPage = 0;
		2418
		2419	_OSDMenue(iOSDPage);
		2420	}
		2421	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2422	{
		2423	iOSDPage--;
		2424	if (iOSDPage < 0)
		2425	iOSDPage = iOSDMax;
		2426
		2427	_OSDMenue(iOSDPage);
		2428	}
		2429	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2430	{
		2431	_OSDMenueAutoRefresh(8);
		2432	}
		2433	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2434	{
		2435	_OSDMenueAutoRefresh(4);
		2436	}
		2437	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2438	{
		2439	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2440	_OSDMenue(cbOSD.SelectedIndex);
		2441	}
		2442	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2443	{
		2444	Dispatcher.Invoke(() =>
		2445	{
		2446	TextRange tr;
		2447	if (bNew)
		2448	{
		2449	rtfOSD.SelectAll();
		2450	rtfOSD.Selection.Text = string.Empty;
		2451	}
		2452	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2453	tr.Text = msg;
		2454	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2455	// rtfOSD.AppendText("\r");
		2456	rtfOSD.ScrollToEnd();
		2457
		2458	});
		2459	}
		2460
		2461	#endregion OSD-Menue
		2462
		2463	#endregion controller messages
		2464
2295	-	2465	void _mediaPlayer(string file)
		2466	{
		2467	if (File.Exists(file))
		2468	{
		2469	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		2470	mp.Open(file);
		2471	mp.Play();
		2472	}
		2473	}
2310	-	2474
2362	-	2475	#region ui
2310	-	2476	/// <summary>
		2477	/// Switch between fullscreen and normal window mode
		2478	/// save & restore scaling settings
		2479	/// </summary>
		2480	/// <param name="sender"></param>
		2481	/// <param name="e"></param>
2287	-	2482	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2483	{
		2484	if (winState.isMaximized)
		2485	{
		2486	winState.Restore(this);
		2487	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2488	if(_bSaveWinStateFull)
		2489	_saveScaleSliders(true);
		2490	if(_bSaveWinStateNormal)
		2491	_setScaleSliders(false);
		2492	}
		2493	else
		2494	{
		2495	winState.Maximize(this);
		2496	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2497	if(_bSaveWinStateNormal)
		2498	_saveScaleSliders(false);
		2499	if(_bSaveWinStateFull)
		2500	_setScaleSliders(true);
		2501	}
		2502	}
		2503
		2504	/// <summary>
		2505	/// reset the scaling of all UI elements to default
		2506	/// </summary>
		2507	/// <param name="sender"></param>
		2508	/// <param name="e"></param>
		2509	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2510	{
		2511	UIScaleHorizonSlider.Value =
		2512	UIScaleLOGSlider.Value =
		2513	UIScaleMotorsSlider.Value =
		2514	UIScaleOSDSlider.Value =
		2515	UIScaleSlider.Value =
		2516	UIScaleTopSlider.Value = 1;
		2517	}
		2518	/// <summary>
		2519	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2520	/// </summary>
		2521	/// <param name="sender"></param>
		2522	/// <param name="e"></param>
		2523	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2524	{
		2525	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2526	if (GridMotors != null)
		2527	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2528	if (GridSideBar != null)
		2529	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2530	if (GridOSD != null)
		2531	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2532	if (GridData != null)
		2533	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2534	if (GridWP != null)
		2535	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2536	}
2310	-	2537	/// <summary>
		2538	/// restore the saved scalings for the fullscreen/normal window mode
		2539	/// </summary>
		2540	/// <param name="bFull">the mode the window is set to</param>
2287	-	2541	void _setScaleSliders(bool bFull)
		2542	{
		2543	if(bFull)
		2544	{
		2545	UIScaleSlider.Value = scaleFullAll;
		2546	UIScaleTopSlider.Value = scaleFullTopBar;
		2547	UIScaleMotorsSlider.Value = scaleFullMotors;
		2548	UIScaleOSDSlider.Value = scaleFullOSD;
		2549	UIScaleLOGSlider.Value = scaleFullLOG;
		2550	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2551	}
		2552	else
		2553	{
		2554	UIScaleSlider.Value = scaleNormalAll;
		2555	UIScaleTopSlider.Value = scaleNormalTopBar;
		2556	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2557	UIScaleOSDSlider.Value = scaleNormalOSD;
		2558	UIScaleLOGSlider.Value = scaleNormalLOG;
		2559	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2560	}
		2561	}
		2562
2310	-	2563	/// <summary>
		2564	/// save the scalings for the actual window mode
		2565	/// </summary>
		2566	/// <param name="bFull">the actual window mode</param>
2287	-	2567	void _saveScaleSliders(bool bFull)
		2568	{
		2569
		2570	if (bFull)
		2571	{
		2572	scaleFullAll = UIScaleSlider.Value;
		2573	scaleFullTopBar = UIScaleTopSlider.Value;
		2574	scaleFullMotors = UIScaleMotorsSlider.Value;
		2575	scaleFullOSD = UIScaleOSDSlider.Value;
		2576	scaleFullLOG = UIScaleLOGSlider.Value;
		2577	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2578	}
		2579	else
		2580	{
		2581	scaleNormalAll = UIScaleSlider.Value;
		2582	scaleNormalTopBar = UIScaleTopSlider.Value;
		2583	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2584	scaleNormalOSD = UIScaleOSDSlider.Value;
		2585	scaleNormalLOG = UIScaleLOGSlider.Value;
		2586	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2587	}
		2588	}
2362	-	2589	#endregion ui
2287	-	2590
		2591	/// <summary>
		2592	/// read settings from ini-file
		2593	/// </summary>
		2594	void _readIni()
		2595	{
		2596	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2597	_writeIni();
		2598	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2599	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2600	try
		2601	{
2287	-	2602
2312	-	2603	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2604	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2605	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2606	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2607	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2608	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2609	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2610	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2611
2312	-	2612	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2613	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2614	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2615	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2616	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2617	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2618	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2619	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2620
2312	-	2621	sVal = ini.IniReadValue("topBar", "voltage");
		2622	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2623	sVal = ini.IniReadValue("topBar", "capacity");
		2624	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2625	sVal = ini.IniReadValue("topBar", "current");
		2626	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2627	sVal = ini.IniReadValue("topBar", "flightTime");
		2628	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2629	sVal = ini.IniReadValue("topBar", "distanceHP");
		2630	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2631	sVal = ini.IniReadValue("topBar", "height");
		2632	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2633	sVal = ini.IniReadValue("topBar", "speed");
		2634	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2635	sVal = ini.IniReadValue("topBar", "magneticField");
		2636	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2637	sVal = ini.IniReadValue("topBar", "satellites");
		2638	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2639	sVal = ini.IniReadValue("topBar", "rc");
		2640	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2641
2312	-	2642	sVal = ini.IniReadValue("style", "saveFullScreen");
		2643	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2644	sVal = ini.IniReadValue("style", "saveNormalState");
		2645	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2646
2312	-	2647	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2648	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2649	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2650	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2651	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2652	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2653	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2654	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2655	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2656	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2657	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2658	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2659
2312	-	2660	sVal = ini.IniReadValue("style", "scaleFullAll");
		2661	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2662	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2663	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2664	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2665	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2666	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2667	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2668	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2669	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2670	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2671	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2672
2312	-	2673	sVal = ini.IniReadValue("general", "LiPoCells");
		2674	_LipoCells = Convert.ToInt16(sVal);
		2675	sVal = ini.IniReadValue("general", "Motors");
		2676	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2677
2312	-	2678	sVal = ini.IniReadValue("map", "followMe");
		2679	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2680	sVal = ini.IniReadValue("map", "AutoSetHome");
		2681	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2682	sVal = ini.IniReadValue("map", "GPXLog");
		2683	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2684
2312	-	2685	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2686	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2687	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2688	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2689	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2690	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2691	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2692	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2693	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2694	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2695	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2696	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2697	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2698	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2699	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2700	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2701	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2702	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2703	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2704	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2705	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2706	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2707
		2708	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2709	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2710	sVal = ini.IniReadValue("waypoints", "poicolor");
		2711	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2712	sVal = ini.IniReadValue("waypoints", "fscolor");
		2713	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2714	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2715	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	2716	sVal = ini.IniReadValue("waypoints", "routecolor");
		2717	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		2718	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		2719	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2349	-	2720
		2721	for (int i = 0; i < 12; i++)
		2722	{
		2723	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		2724	if (sVal != "")
		2725	serChan[i] = Convert.ToInt16(sVal);
		2726	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		2727	if (sVal != "")
		2728	serChanTitle[i] = sVal;
		2729	for (int y = 0; i < 4 && y < 3; y++)
		2730	{
		2731	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		2732	if (sVal != "")
		2733	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		2734	}
		2735	}
		2736
2312	-	2737	}
		2738	catch (Exception e)
		2739	{
2287	-	2740
2312	-	2741	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2742	}
		2743
2287	-	2744	}
		2745
		2746	/// <summary>
		2747	/// save settings to ini-file
		2748	/// </summary>
		2749	void _writeIni()
		2750	{
		2751
		2752	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2753	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2754
2312	-	2755	try
		2756	{
2287	-	2757
2312	-	2758	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2759	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2760	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2761	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2762
2312	-	2763	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2764	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2765	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2766	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2767
2312	-	2768	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2769	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2770
2312	-	2771	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2772	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	2773	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	2774
2312	-	2775	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2776	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2777	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2778	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2779	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2780	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2781	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2782	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2783	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2784	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2785
2312	-	2786	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2787	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2788
2312	-	2789	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2790	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2791	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2792	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2793	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2794	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	2795
2312	-	2796	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2797	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2798	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2799	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2800	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2801	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	2802
2312	-	2803	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2804
		2805	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2806	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2807	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2808	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2809	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2810	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2811	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2812	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2813	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2814	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2815	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	2816
		2817	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		2818	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		2819	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		2820	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2328	-	2821	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		2822	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2349	-	2823
		2824	for (int i = 0; i < 12; i++)
		2825	{
		2826	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		2827	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		2828	for (int y = 0; i < 4 && y < 3; y++)
		2829	{
		2830	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		2831	}
		2832	}
		2833
2312	-	2834	}
		2835	catch (Exception e)
		2836	{
		2837
		2838	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);
		2839	}
2287	-	2840	}
2350	-	2841
2349	-	2842	#region serial channels
		2843	/// <summary>
		2844	/// Sending the serial channel values
		2845	/// </summary>
		2846	void _sendSerialData()
		2847	{
		2848	byte[] serData = new byte[12];
		2849	for (int i = 0; i < 12; i++)
		2850	{
		2851	serData[i] = unchecked((byte)(serChan[i] - 127));
		2852	}
		2853	_sendControllerMessage('y', 1, serData);
		2854	}
		2855	/// <summary>
		2856	/// init the controls for displaying
		2857	/// and setting serial control channels
		2858	/// </summary>
		2859	void _initSerialCtrl()
		2860	{
		2861	SerChan1ScaleSlider.Value = serChan[0];
		2862	textBoxSerial1.Text = serChanTitle[0];
		2863	SerChan2ScaleSlider.Value = serChan[1];
		2864	textBoxSerial2.Text = serChanTitle[1];
2350	-	2865	SerChan3ScaleSlider.Value = serChan[2];
		2866	textBoxSerial3.Text = serChanTitle[2];
2349	-	2867	//SerChan4ScaleSlider.Value = serChan[3];
		2868	//textBoxSerial4.Text = serChanTitle[3];
		2869	//trckbarSerial5.Value = serChan[4];
		2870	//textBoxSerial5.Text = serChanTitle[4];
		2871	//trckbarSerial6.Value = serChan[5];
		2872	//textBoxSerial6.Text = serChanTitle[5];
		2873	//trckbarSerial7.Value = serChan[6];
		2874	//textBoxSerial7.Text = serChanTitle[6];
		2875	//trckbarSerial8.Value = serChan[7];
		2876	//textBoxSerial8.Text = serChanTitle[7];
2312	-	2877
2349	-	2878	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		2879	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		2880	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		2881	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		2882	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		2883	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	2884	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		2885	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		2886	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	2887	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		2888	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		2889	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		2890	}
		2891	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2892	{
		2893	if (!_init)
		2894	{
		2895	serChan[0] = (int)SerChan1ScaleSlider.Value;
		2896	_sendSerialData();
		2897	}
		2898	}
		2899	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		2900	{
		2901	if (!_init)
		2902	{
		2903	serChanTitle[0] = textBoxSerial1.Text;
		2904	}
		2905	}
		2906	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		2907	{
		2908	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		2909	{
		2910	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		2911	}
		2912	}
		2913	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		2914	{
		2915	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		2916	{
		2917	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		2918	}
		2919	}
		2920	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		2921	{
		2922	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		2923	{
		2924	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		2925	}
		2926	}
		2927	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		2928	{
		2929	if (textBoxSerial1_val1.Text.Length > 0)
		2930	{
		2931	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		2932	}
		2933	}
		2934	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		2935	{
		2936	SerChan1ScaleSlider.Value = 0;
		2937	}
		2938	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		2939	{
		2940	SerChan1ScaleSlider.Value = 127;
		2941	}
		2942	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		2943	{
		2944	SerChan1ScaleSlider.Value = 254;
		2945	}
		2946	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		2947	{
		2948	if (textBoxSerial1_val2.Text.Length > 0)
		2949	{
		2950	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		2951	}
		2952	}
		2953	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		2954	{
		2955	if (textBoxSerial1_val3.Text.Length > 0)
		2956	{
		2957	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		2958	}
		2959	}
		2960
		2961	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2962	{
		2963	if (!_init)
		2964	{
		2965	serChan[1] = (int)SerChan2ScaleSlider.Value;
		2966	_sendSerialData();
		2967	}
		2968	}
		2969	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		2970	{
		2971	if (!_init)
		2972	{
		2973	serChanTitle[1] = textBoxSerial2.Text;
		2974	}
		2975	}
		2976	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		2977	{
		2978	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		2979	{
		2980	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		2981	}
		2982	}
		2983	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		2984	{
		2985	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		2986	{
		2987	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		2988	}
		2989	}
		2990	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		2991	{
		2992	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		2993	{
		2994	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		2995	}
		2996	}
		2997	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		2998	{
		2999	SerChan2ScaleSlider.Value = 0;
		3000	}
		3001	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3002	{
		3003	SerChan2ScaleSlider.Value = 127;
		3004	}
		3005	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3006	{
		3007	SerChan2ScaleSlider.Value = 254;
		3008	}
		3009	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3010	{
		3011	if (textBoxSerial2_val1.Text.Length > 0)
		3012	{
		3013	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3014	}
		3015	}
		3016	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3017	{
		3018	if (textBoxSerial2_val2.Text.Length > 0)
		3019	{
		3020	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3021	}
		3022	}
		3023	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3024	{
		3025	if (textBoxSerial2_val3.Text.Length > 0)
		3026	{
		3027	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3028	}
		3029	}
2350	-	3030
		3031	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3032	{
		3033	if (!_init)
		3034	{
		3035	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3036	_sendSerialData();
		3037	}
		3038	}
		3039	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3040	{
		3041	if (!_init)
		3042	{
		3043	serChanTitle[2] = textBoxSerial3.Text;
		3044	}
		3045	}
		3046	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3047	{
		3048	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3049	{
		3050	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3051	}
		3052	}
		3053	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3054	{
		3055	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3056	{
		3057	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3058	}
		3059	}
		3060	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3061	{
		3062	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3063	{
		3064	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3065	}
		3066	}
		3067	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3068	{
		3069	SerChan3ScaleSlider.Value = 0;
		3070	}
		3071	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3072	{
		3073	SerChan3ScaleSlider.Value = 127;
		3074	}
		3075	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3076	{
		3077	SerChan3ScaleSlider.Value = 254;
		3078	}
		3079	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3080	{
		3081	if (textBoxSerial3_val1.Text.Length > 0)
		3082	{
		3083	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3084	}
		3085	}
		3086	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3087	{
		3088	if (textBoxSerial3_val2.Text.Length > 0)
		3089	{
		3090	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3091	}
		3092	}
		3093	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3094	{
		3095	if (textBoxSerial3_val3.Text.Length > 0)
		3096	{
		3097	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3098	}
		3099	}
2349	-	3100	/// <summary>
		3101	/// checks the input of a textbox
		3102	/// for valid data
		3103	/// in this case values 0-254
		3104	/// </summary>
		3105	/// <param name="sender"></param>
		3106	/// <param name="e"></param>
		3107	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3108	{
		3109	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3110	e.Handled = true;
		3111	else
		3112	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3113	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3114	e.Handled = true;
		3115	else
		3116	{
		3117	int i = -1;
		3118	switch (((TextBox)sender).Name)
		3119	{
		3120	case "textBoxSerial1_val1":
		3121	i = 0;
		3122	break;
		3123	case "textBoxSerial1_val2":
		3124	i = 1;
		3125	break;
		3126	case "textBoxSerial1_val3":
		3127	i = 2;
		3128	break;
		3129	case "textBoxSerial2_val1":
		3130	i = 3;
		3131	break;
		3132	case "textBoxSerial2_val2":
		3133	i = 4;
		3134	break;
		3135	case "textBoxSerial2_val3":
		3136	i = 5;
		3137	break;
		3138	case "textBoxSerial3_val1":
		3139	i = 6;
		3140	break;
		3141	case "textBoxSerial3_val2":
		3142	i = 7;
		3143	break;
		3144	case "textBoxSerial3_val3":
		3145	i = 8;
		3146	break;
		3147	case "textBoxSerial4_val1":
		3148	i = 9;
		3149	break;
		3150	case "textBoxSerial4_val2":
		3151	i = 10;
		3152	break;
		3153	case "textBoxSerial4_val3":
		3154	i = 11;
		3155	break;
		3156	}
		3157	if (i > -1)
		3158	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3159	}
		3160	}
		3161
		3162	#endregion serial channels
2315	-	3163	#region WP
2312	-	3164	void _readWPLFile()
		3165	{
		3166	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3167	fd.Filter = "Waypointlists \| *.wpl";
		3168	fd.Multiselect = false;
		3169	if (fd.ShowDialog().Value)
		3170	{
		3171	string file = fd.SafeFileName;
		3172	IniFile ini = new IniFile(fd.SafeFileName);
		3173	ini.path = fd.FileName;
		3174
		3175	try
		3176	{
		3177	string sVal = ini.IniReadValue("General", "FileVersion");
		3178	if (sVal == "")
		3179	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3180	else
		3181	{
		3182	if (Convert.ToInt16(sVal) < 3)
		3183	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3184	else
		3185	{
		3186	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3187	if (sVal == "")
		3188	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3189	else
		3190	{
		3191	int wpnum = Convert.ToInt16(sVal);
		3192	string wp;
		3193	int i;
2313	-	3194	NumberFormatInfo nfi = new NumberFormatInfo();
		3195	nfi.NumberDecimalSeparator = ".";
2312	-	3196	dtWaypoints.Rows.Clear();
2368	-	3197	_wpEdit = -1;_wpIndex = -1;
2327	-	3198	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	3199	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	3200	wpList.Clear();
		3201	if (mRouteWP != null)
		3202	MainMap.Markers.Remove(mRouteWP);
2363	-	3203	//if (wpActiveMarker != null)
		3204	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	3205	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3206
2312	-	3207	for (int k = 1; k <= wpnum; k++)
		3208	{
		3209	DataRow dr = dtWaypoints.NewRow();
		3210	dr.ItemArray = new object[16];
		3211	object[] o = new object[16];
		3212	i = 0;
		3213	wp = "Point" + k.ToString();
		3214	o[i] = k;
		3215	i++;
		3216	sVal = ini.IniReadValue(wp, "Type");
		3217	if (sVal != "")
2315	-	3218	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3219	i++;
		3220	sVal = ini.IniReadValue(wp, "Prefix");
		3221	if (sVal != "")
2350	-	3222	o[i] = sVal + k.ToString();
		3223	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3224	i++;
2313	-	3225	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3226	if (sVal != "")
2313	-	3227	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3228	i++;
2313	-	3229	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3230	if (sVal != "")
2313	-	3231	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3232	i++;
		3233	sVal = ini.IniReadValue(wp, "Altitude");
		3234	if (sVal != "")
2313	-	3235	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3236	i++;
		3237	sVal = ini.IniReadValue(wp, "Heading");
		3238	if (sVal != "")
		3239	o[i] = Convert.ToInt16(sVal);
		3240	i++;
		3241	sVal = ini.IniReadValue(wp, "Speed");
		3242	if (sVal != "")
2315	-	3243	o[i] = Convert.ToInt16(sVal);
2312	-	3244	i++;
		3245	sVal = ini.IniReadValue(wp, "ClimbRate");
		3246	if (sVal != "")
		3247	o[i] = Convert.ToInt16(sVal);
		3248	i++;
		3249	sVal = ini.IniReadValue(wp, "Radius");
		3250	if (sVal != "")
		3251	o[i] = Convert.ToInt16(sVal);
		3252	i++;
		3253	sVal = ini.IniReadValue(wp, "DelayTime");
		3254	if (sVal != "")
		3255	o[i] = Convert.ToInt16(sVal);
		3256	i++;
		3257	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3258	if (sVal != "")
		3259	o[i] = Convert.ToInt16(sVal); ;
		3260	i++;
		3261	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3262	if (sVal != "")
2313	-	3263	o[i] = Convert.ToInt16(sVal);
2312	-	3264	i++;
		3265	o[i] = 0;
		3266	i++;
		3267	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3268	if (sVal != "")
		3269	o[i] = Convert.ToInt16(sVal);
		3270	i++;
		3271	o[i] = "New";
		3272
		3273	dr.ItemArray = o;
		3274	dtWaypoints.Rows.Add(dr);
2363	-	3275	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1]);
2315	-	3276
2312	-	3277	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3278	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3279	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3280	Thread.Sleep(10);
		3281	}
2359	-	3282	_routeUpdate();
2312	-	3283	}
		3284	}
		3285	}
		3286
		3287	}
		3288	catch (Exception e)
		3289	{
		3290
		3291	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		3292	}
		3293
		3294	}
		3295	}
2350	-	3296	void _saveWPLFile()
		3297	{
		3298	if (dtWaypoints.Rows.Count > 0)
		3299	{
		3300	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		3301	fd.Filter = "Waypointlists \| *.wpl";
		3302	fd.AddExtension = true;
		3303	if (fd.ShowDialog().Value)
		3304	{
		3305	string file = fd.SafeFileName;
		3306	IniFile ini = new IniFile(fd.SafeFileName);
		3307	ini.path = fd.FileName;
		3308	NumberFormatInfo nfi = new NumberFormatInfo();
		3309	nfi.NumberDecimalSeparator = ".";
		3310
		3311	try
		3312	{
		3313	ini.IniWriteValue("General", "FileVersion", "3");
		3314	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		3315	ini.IniWriteValue("General", "Mapfile", "");
		3316	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		3317	{
		3318	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		3319	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		3320	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		3321	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		3322	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		3323	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		3324	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		3325	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		3326	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		3327	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		3328	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		3329	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));
		3330	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		3331	}
		3332	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		3333	}
		3334	catch { }
		3335	}
		3336	}
		3337	else
		3338	MessageBox.Show("Nothing to save...");
		3339	}
		3340	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		3341	{
		3342	_saveWPLFile();
		3343	}
		3344	/// <summary>
		3345	/// set the selected color for the route
		3346	/// </summary>
		3347	/// <param name="color"></param>
		3348	/// <returns></returns>
2328	-	3349	Brush _getBrush(string color)
		3350	{
		3351	switch (color)
		3352	{
		3353	case "red":
		3354	return Brushes.Red;
		3355	case "green":
		3356	return Brushes.Lime;
		3357	case "blue":
		3358	return Brushes.Aqua;
		3359	case "pink":
		3360	return Brushes.Magenta;
		3361	case "yellow":
		3362	return Brushes.Yellow;
		3363	default:
		3364	return Brushes.Magenta;
		3365	}
		3366	}
2359	-	3367	void _routeUpdate()
		3368	{
		3369	Dispatcher.Invoke(() =>
		3370	{
		3371	if (comboBoxRouteColor.SelectionBoxItem != null)
		3372	{
		3373	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3374	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3375	}
		3376	else
		3377	mRouteWP = new GMapRoute(wpList, null);
		3378
		3379	if (_bShowWPRoute)
2368	-	3380	MainMap.Markers.Add(mRouteWP);
2359	-	3381	});
		3382
		3383	MapRoute mr = new MapRoute(wpList, "WPList");
		3384	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		3385	}
2363	-	3386	GMapMarker _createWP(PointLatLng p, string name, int type)
		3387	{
		3388	GMapMarker wpMarker = new GMapMarker(p);
		3389	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
		3390	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		3391	wpMarker.ZIndex = 100;
		3392	_setMarkerColor(wpMarker, type);
		3393	Dispatcher.Invoke(() => MainMap.Markers.Add(wpMarker));
2372	-	3394	if (type == 0 \|\| type == 3)
2363	-	3395	wpList.Add(p);
		3396	return wpMarker;
		3397	}
2315	-	3398	void _setMarkerColor(GMapMarker wpMarker,int iType)
		3399	{
2369	-	3400	if(wpMarker != null)
2315	-	3401	Dispatcher.Invoke(() =>
		3402	{
		3403	switch (iType)
		3404	{
		3405	case 0:
		3406	if (comboBoxWPColor.SelectionBoxItem != null)
		3407	{
		3408	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3409	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3410	}
		3411	else
2372	-	3412	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	3413	break;
		3414	case 1:
		3415	if (comboBoxPOIColor.SelectionBoxItem != null)
		3416	{
		3417	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3418	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3419	}
		3420	else
2372	-	3421	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	3422	break;
		3423	case 2:
		3424	if (comboBoxFSColor.SelectionBoxItem != null)
		3425	{
		3426	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3427	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3428	}
		3429	else
		3430	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3431	break;
2372	-	3432	case 3:
		3433	if (comboBoxLandingColor.SelectionBoxItem != null)
		3434	{
		3435	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		3436	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3437	}
		3438	else
		3439	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		3440	break;
2315	-	3441	default:
		3442	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3443	break;
		3444	}
		3445	});
2312	-	3446
2315	-	3447	}
		3448	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2312	-	3449	{
2372	-	3450	_MarkerColorSelection(sender, 0);
2312	-	3451	}
2315	-	3452	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		3453	{
2372	-	3454	_MarkerColorSelection(sender, 1);
2315	-	3455	}
		3456	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
2287	-	3457	{
2372	-	3458	_MarkerColorSelection(sender, 2);
		3459	}
		3460	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		3461	{
		3462	_MarkerColorSelection(sender,3);
		3463	}
		3464	void _MarkerColorSelection(object sender,int type)
		3465	{
2315	-	3466	Dispatcher.Invoke(() =>
		3467	{
2372	-	3468	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	3469	{
		3470	for (int k = 0; k < MainMap.Markers.Count; k++)
		3471	{
		3472	GMapMarker p = MainMap.Markers[k];
2372	-	3473	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	3474	{
2372	-	3475	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	3476	{
2372	-	3477	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	3478	((CustomMarkerWP)(p.Shape)).setColor(s);
		3479	}
		3480	}
		3481	}
		3482	}
		3483	});
2287	-	3484	}
2318	-	3485	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
		3486	{
		3487	Dispatcher.Invoke(() => {
		3488	if (comboBoxCopterColor.SelectionBoxItem != null)
		3489	{
		3490	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		3491	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		3492	}
		3493	else
		3494	((CustomMarkerCopter)(copter.Shape)).setColor("red");
		3495	});
		3496	}
2328	-	3497	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3498	{
		3499	Dispatcher.Invoke(() =>
		3500	{
		3501	if (comboBoxRouteColor.SelectionBoxItem != null)
		3502	{
		3503	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3504	MainMap.Markers.Remove(mRouteWP);
		3505	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3506	if (_bShowWPRoute)
		3507	MainMap.Markers.Add(mRouteWP);
		3508	}
		3509	});
		3510	}
		3511	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3512	{
		3513	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3514	if (_bShowWPRoute)
		3515	{
		3516	if (mRouteWP != null)
		3517	MainMap.Markers.Add(mRouteWP);
		3518	}
		3519	else
		3520	{
		3521	if (mRouteWP != null)
		3522	MainMap.Markers.Remove(mRouteWP);
		3523	}
		3524	}
2315	-	3525	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3526	{
2315	-	3527	_readWPLFile();
2287	-	3528	}
2335	-	3529	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3530	{
		3531	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	3532	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	3533	wpList.Clear();
		3534	if (mRouteWP != null)
		3535	MainMap.Markers.Remove(mRouteWP);
2347	-	3536	//if (wpActiveMarker != null)
		3537	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	3538	dtWaypoints.Rows.Clear();
2356	-	3539	_wpEdit = -1;
2368	-	3540	_wpIndex = -1;
2335	-	3541	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3542	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3543	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3544	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3545	}
2340	-	3546	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3547	{
		3548	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3549	t.Start();
		3550	}
2355	-	3551	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	3552	{
		3553	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3554	{
2372	-	3555	if (_wpCount > 0)
		3556	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's');
		3557	else
		3558	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's');
2363	-	3559
2372	-	3560	//int index = dgvWP.SelectedIndex;
		3561	//Thread t = new Thread(() => _sendWPList(index));
		3562	//t.Start();
2354	-	3563
		3564	Dispatcher.Invoke(() => {
		3565	DataGridRow row;
2368	-	3566	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	3567	{
2368	-	3568	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	3569	row.Background = new SolidColorBrush(Colors.Transparent);
		3570	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3571	row.BorderThickness = new Thickness(0);
		3572	}
2368	-	3573	_wpEdit = dgvWP.SelectedIndex;
		3574	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2366	-	3575	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		3576	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2354	-	3577	row.BorderThickness = new Thickness(2);
2355	-	3578	dgvWP.UpdateLayout();
2354	-	3579	});
2340	-	3580	}
		3581	}
2355	-	3582	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		3583	{
2359	-	3584	_dgvWPselectEditRow();
		3585	}
		3586	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		3587	{
		3588	}
		3589	void _dgvWPselectEditRow()
		3590	{
2355	-	3591	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3592	{
2368	-	3593	Dispatcher.Invoke(() => {
2355	-	3594	DataGridRow row;
2368	-	3595	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	3596	{
		3597	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3598	row.Background = new SolidColorBrush(Colors.Transparent);
		3599	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3600	row.BorderThickness = new Thickness(0);
		3601	}
		3602	_wpEdit = dgvWP.SelectedIndex;
		3603	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3604	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		3605	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		3606	row.BorderThickness = new Thickness(2);
		3607	dgvWP.UpdateLayout();
2340	-	3608
2355	-	3609	_setWPEditFields(_wpEdit);
		3610	});
		3611	}
		3612	}
		3613	void _setWPEditFields(int index)
		3614	{
		3615	int iVal;
		3616	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		3617	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		3618	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		3619	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		3620	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		3621	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		3622	if (iVal == 0)
		3623	{
		3624	cbWPEditHeading.SelectedIndex = 0;
		3625	tbWPEditHeading.Text = " - - -";
		3626	tbWPEditHeading.IsReadOnly = true;
		3627	}
		3628	if (iVal > 0 && iVal < 360)
		3629	{
		3630	cbWPEditHeading.SelectedIndex = 2;
		3631	tbWPEditHeading.Text = iVal.ToString();
		3632	tbWPEditHeading.IsReadOnly = false;
		3633	}
		3634	if (iVal < 0)
		3635	{
		3636	cbWPEditHeading.SelectedIndex = 1;
		3637	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		3638	tbWPEditHeading.IsReadOnly = false;
		3639	}
		3640	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		3641	if (iVal == 0)
		3642	{
		3643	cbWPEditSpeed.SelectedIndex = 0;
		3644	tbWPEditSpeed.Text = "MAX";
		3645	tbWPEditSpeed.IsReadOnly = true;
		3646	}
		3647	if (iVal > 0 && iVal < 248)
		3648	{
		3649	cbWPEditSpeed.SelectedIndex = 1;
		3650	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		3651	tbWPEditSpeed.IsReadOnly = false;
		3652	}
		3653	if (iVal > 247)
		3654	{
		3655	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		3656	tbWPEditSpeed.Text = "";
		3657	tbWPEditSpeed.IsReadOnly = true;
		3658	}
		3659	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		3660	if (iVal == 255)
		3661	{
		3662	cbWPEditClimbrate.SelectedIndex = 0;
		3663	tbWPEditClimbrate.Text = "AUTO";
		3664	tbWPEditClimbrate.IsReadOnly = true;
		3665	}
		3666	else
		3667	{
		3668	cbWPEditClimbrate.SelectedIndex = 1;
		3669	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		3670	tbWPEditClimbrate.IsReadOnly = false;
		3671	}
		3672	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		3673	tbWPEditRadius.Text = iVal.ToString();
		3674	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		3675	tbWPEditHoldtime.Text = iVal.ToString();
		3676	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		3677	tbWPEditAutoTrigger.Text = iVal.ToString();
		3678	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		3679	if (iVal == 0)
		3680	{
		3681	cbWPEditCamAngle.SelectedIndex = 0;
		3682	tbWPEditCamAngle.Text = " - - - ";
		3683	tbWPEditCamAngle.IsReadOnly = true;
		3684	}
		3685	if (iVal < 0 \| iVal == 255)
		3686	{
		3687	cbWPEditCamAngle.SelectedIndex = 1;
		3688	tbWPEditCamAngle.Text = "AUTO";
		3689	tbWPEditCamAngle.IsReadOnly = true;
		3690	}
		3691	if (iVal > 0 & iVal < 255)
		3692	{
		3693	cbWPEditCamAngle.SelectedIndex = 2;
		3694	tbWPEditCamAngle.Text = iVal.ToString();
		3695	tbWPEditCamAngle.IsReadOnly = false;
		3696	}
		3697	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		3698	tbWPEditOut1.Text = iVal.ToString();
		3699
		3700	}
		3701
2361	-	3702	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		3703	{
2363	-	3704	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3705	{
2369	-	3706	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	3707	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		3708	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		3709	int i = wpList.IndexOf(pOld);
2363	-	3710	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		3711	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3712	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3713	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	3714	if (i > -1)
		3715	{
		3716	if((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		3717	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		3718	else
		3719	wpList.Remove(pOld);
		3720	}
		3721	else
		3722	{
		3723	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		3724	{
		3725	int found = 0;
		3726	for (int k = 0; k < dgvWP.SelectedIndex; k++)
		3727	if ((int)dtWaypoints.Rows[k][1] == 0)
		3728	found++;
		3729	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		3730	}
		3731	}
2363	-	3732	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		3733	switch (cbWPEditHeading.SelectedIndex)
		3734	{
		3735	case 0:
		3736	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		3737	break;
		3738	case 1:
		3739	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		3740	break;
		3741	case 2:
		3742	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		3743	break;
		3744	}
		3745	switch (cbWPEditSpeed.SelectedIndex)
		3746	{
		3747	case 0:
		3748	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		3749	break;
		3750	case 1:
		3751	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3752	break;
		3753	case 2:
		3754	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3755	break;
		3756	}
		3757	switch (cbWPEditClimbrate.SelectedIndex)
		3758	{
		3759	case 0:
		3760	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		3761	break;
		3762	case 1:
		3763	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		3764	break;
		3765	}
		3766	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		3767	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		3768	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		3769	switch (cbWPEditCamAngle.SelectedIndex)
		3770	{
		3771	case 0:
		3772	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		3773	break;
		3774	case 1:
		3775	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		3776	break;
		3777	case 2:
		3778	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		3779	break;
		3780	}
		3781	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	3782
2369	-	3783	// _clearMapMarkers(typeof(CustomMarkerWP));
		3784	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		3785	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	3786	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	3787	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	3788	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	3789	// wpList.Clear();
2363	-	3790	if (mRouteWP != null)
		3791	MainMap.Markers.Remove(mRouteWP);
		3792
2369	-	3793	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		3794	//{
		3795	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		3796	//}
2363	-	3797	_routeUpdate();
		3798	dgvWP.Items.Refresh();
		3799
		3800	}
		3801
2361	-	3802	}
		3803	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		3804	{
2368	-	3805	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3806	{
		3807	int index = dgvWP.SelectedIndex;
		3808	Dispatcher.Invoke(() => {
		3809	DataGridRow row;
		3810	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		3811	{
		3812	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3813	row.Background = new SolidColorBrush(Colors.Transparent);
		3814	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3815	row.BorderThickness = new Thickness(0);
		3816	}
2372	-	3817	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	3818	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
		3819	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	3820	if (wpActiveMarker != null)
		3821	MainMap.Markers.Remove(wpActiveMarker);
2368	-	3822	dtWaypoints.Rows[index].Delete();
		3823	_wpIndex = -1;
		3824	_wpEdit = -1;
		3825	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		3826	{
		3827	dtWaypoints.Rows[i][0] = i + 1;
		3828	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		3829	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		3830	_renameWPMarker(s1, s2);
		3831	dtWaypoints.Rows[i][2] = s2;
		3832	}
		3833	lblWPCount.Content = dtWaypoints.Rows.Count;
		3834	if (mRouteWP != null)
		3835	MainMap.Markers.Remove(mRouteWP);
		3836	_routeUpdate();
2361	-	3837
2368	-	3838	dgvWP.UpdateLayout();
		3839	});
		3840	}
2361	-	3841	}
2366	-	3842	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		3843	{
		3844	_wpWEdit(sender);
		3845	}
2361	-	3846	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		3847	{
2366	-	3848	_wpWEdit(sender);
		3849	}
2369	-	3850	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		3851	{
		3852	_wpWEdit(sender);
		3853	}
2366	-	3854	void _wpWEdit(object sender)
		3855	{
2369	-	3856	// if (!((TextBox)sender).IsReadOnly)
2361	-	3857	{
		3858	KeyPad.Keypad k = new KeyPad.Keypad(this);
		3859
2363	-	3860	switch (((TextBox)sender).Name)
		3861	{
		3862	case "tbWPEditLat":
		3863	k.Title = "Latitude";
		3864	k.LENGTH = 17;
		3865	k.MAX = 359.9;
		3866	break;
		3867	case "tbWPEditLon":
		3868	k.Title = "Longitude";
		3869	k.LENGTH = 17;
		3870	k.MAX = 359.9;
		3871	break;
		3872	case "tbWPEditAlt":
		3873	k.Title = "Altitude";
		3874	k.LENGTH = 3;
		3875	k.MAX = 254;
		3876	k.disableDecimal();
		3877	break;
		3878	case "tbWPEditHeading":
		3879	k.Title = "Heading";
		3880	k.LENGTH = 3;
		3881	k.MAX = 359;
		3882	k.MIN = 1;
		3883	k.disableDecimal();
		3884	break;
		3885	case "tbWPEditSpeed":
		3886	k.Title = "Speed";
		3887	k.LENGTH = 4;
		3888	k.MAX = 24.7;
		3889	k.MIN = 0.1;
		3890	break;
		3891	case "tbWPEditClimbrate":
		3892	k.Title = "Climbrate";
		3893	k.LENGTH = 4;
		3894	k.MAX = 25.4;
		3895	k.MIN = 0.1;
		3896	break;
		3897	case "tbWPEditRadius":
		3898	k.Title = "Radius";
		3899	k.LENGTH = 3;
		3900	k.MAX = 254;
		3901	k.disableDecimal();
		3902	break;
		3903	case "tbWPEditHoldtime":
		3904	k.Title = "Holdtime";
		3905	k.LENGTH = 3;
		3906	k.MAX = 254;
		3907	break;
		3908	case "tbWPEditAutoTrigger":
		3909	k.Title = "Autotrigger";
		3910	k.LENGTH = 3;
		3911	k.MAX = 254;
		3912	k.disableDecimal();
		3913	break;
		3914	case "tbWPEditCamAngle":
		3915	k.Title = "Camera angle";
		3916	k.LENGTH = 3;
		3917	k.MAX = 254;
		3918	k.MIN = 1;
		3919	k.disableDecimal();
		3920	break;
		3921	case "tbWPEditOut1":
		3922	k.Title = "OUT1 timer interval";
		3923	k.LENGTH = 3;
		3924	k.MAX = 254;
		3925	k.disableDecimal();
		3926	break;
		3927	}
		3928	k.Result = ((TextBox)sender).Text;
2366	-	3929	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	3930	((TextBox)sender).Text = k.Result;
2361	-	3931	}
2366	-	3932
2361	-	3933	}
2356	-	3934	private void tbWPEditHeading_KeyDown(object sender, KeyEventArgs e)
		3935	{
		3936	if(!tbWPEditHeading.IsReadOnly)
		3937	{
		3938	//var x = KeyInterop.VirtualKeyFromKey(e.Key);
		3939	KeyConverter x = new KeyConverter();
		3940	string s = x.ConvertToString(e.Key);
		3941
		3942	if ("1234567890,\b".IndexOf(s) < 0) //general check for valid chars(0-9) and backspace (\b)
		3943	e.Handled = true;
		3944	else
		3945	if ("\b".IndexOf(s) < 0)
		3946	if (Convert.ToInt16(((TextBox)sender).Text + s) > 360) //if valid and not backspace, check for upper limit of the resulting number
		3947	e.Handled = true;
		3948
		3949	}
		3950	}
2361	-	3951	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	3952	{
2359	-	3953	object[] o = new object[16];
2356	-	3954
2359	-	3955	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		3956	o[1] = 0;
		3957	// cbWPEditType.SelectedIndex = 0;
		3958	// tbWPEditPrefix.Text = "P";
		3959	o[2] = "P" + o[0].ToString();
		3960	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		3961	o[3] = copter.Position.Lat;
		3962	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		3963	o[4] = copter.Position.Lng;
		3964	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		3965	o[5] = iAnalogData[4].ToString();
2356	-	3966
2359	-	3967	// cbWPEditHeading.SelectedIndex = 2;
		3968	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		3969	// tbWPEditHeading.IsReadOnly = false;
2356	-	3970
2359	-	3971	// cbWPEditSpeed.SelectedIndex = 1;
		3972	// tbWPEditSpeed.Text = "5.0";
		3973	// tbWPEditSpeed.IsReadOnly = false;
2372	-	3974	o[7] = "10";
2356	-	3975
2359	-	3976	// cbWPEditClimbrate.SelectedIndex = 1;
		3977	// tbWPEditClimbrate.Text = "5.0";
		3978	// tbWPEditClimbrate.IsReadOnly = false;
2372	-	3979	o[8] = "10";
2356	-	3980
2359	-	3981	// tbWPEditRadius.Text = "10";
2372	-	3982	o[9] = "5";
2359	-	3983	// tbWPEditHoldtime.Text = "5";
		3984	o[10] = "5";
		3985	// tbWPEditAutoTrigger.Text = "0";
		3986	o[11] = "0";
		3987	// cbWPEditCamAngle.SelectedIndex = 1;
		3988	// tbWPEditCamAngle.Text = "AUTO";
		3989	// tbWPEditCamAngle.IsReadOnly = true;
		3990	o[12] = "255";
2356	-	3991
2359	-	3992	o[13] = "0";
		3993	// tbWPEditOut1.Text = "0";
		3994	o[14] = "0";
		3995	o[15] = "0";
		3996
		3997	dtWaypoints.Rows.Add(o);
2368	-	3998	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1]);
2359	-	3999	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4000	if (mRouteWP != null)
		4001	MainMap.Markers.Remove(mRouteWP);
		4002	_routeUpdate();
		4003	Dispatcher.Invoke(() => {
		4004	dgvWP.Items.Refresh();
		4005	dgvWP.SelectedIndex = (int)o[0] -1;
		4006	dgvWP.UpdateLayout();
		4007	_dgvWPselectEditRow();
		4008	});
2356	-	4009	}
		4010
2315	-	4011	#endregion WP
2324	-	4012	#region GPX
		4013	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		4014	{
		4015	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		4016	}
		4017	void _gpxAdd(double lat,double lon, int elevation)
		4018	{
		4019	DataRow dr = dtGPX.NewRow();
		4020	dr[0] = dtGPX.Rows.Count - 1;
		4021	dr[1] = lat;
		4022	dr[2] = lon;
		4023	dr[3] = elevation;
		4024	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		4025	dtGPX.Rows.Add(dr);
		4026	}
		4027	void _saveGPXLog()
		4028	{
		4029	if (!Directory.Exists("GPXLog"))
		4030	Directory.CreateDirectory("GPXLog");
		4031	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		4032	XmlTextWriter myXmlTextWriter = null;
		4033	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		4034	NumberFormatInfo nfi = new NumberFormatInfo();
		4035	nfi.NumberDecimalSeparator = ".";
2315	-	4036
2324	-	4037	try
		4038	{
		4039	myXmlTextWriter.Formatting = Formatting.Indented;
		4040
		4041	myXmlTextWriter.WriteStartDocument();
		4042
		4043	myXmlTextWriter.WriteStartElement("gpx");
		4044
		4045	myXmlTextWriter.WriteAttributeString("version", "1.0");
		4046	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		4047	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		4048	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		4049	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		4050
		4051	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		4052
		4053	myXmlTextWriter.WriteStartElement("trk");
		4054	myXmlTextWriter.WriteStartElement("trkseg");
		4055	for(int i = 0; i< dtGPX.Rows.Count;i++)
		4056	{
		4057	myXmlTextWriter.WriteStartElement("trkpt");
		4058	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		4059	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		4060	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		4061	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		4062	myXmlTextWriter.WriteEndElement();
		4063	}
		4064	myXmlTextWriter.WriteEndElement();
		4065	myXmlTextWriter.WriteEndElement();
		4066	myXmlTextWriter.WriteEndElement();
		4067	}
		4068	catch (Exception e)
		4069	{
		4070	Console.WriteLine("Exception: {0}", e.ToString());
		4071	}
		4072	finally
		4073	{
		4074	if (myXmlTextWriter != null)
		4075	{
		4076	myXmlTextWriter.Close();
		4077	}
		4078	}
		4079	}
2356	-	4080
2324	-	4081	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		4082	{
		4083	_loadGPXLog();
		4084	}
2327	-	4085	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		4086	{
		4087	_clearMapMarkers(typeof(GMapRoute));
		4088	}
2324	-	4089	void _loadGPXLog()
		4090	{
		4091
		4092	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4093	fd.Filter = "GPX-Logfile \| *.gpx";
		4094	fd.Multiselect = false;
		4095	if (fd.ShowDialog().Value)
		4096	{
		4097	string file = fd.FileName;
		4098	try
		4099	{
		4100	XDocument gpxDoc = XDocument.Load(file);
		4101	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		4102
		4103	NumberFormatInfo nfi = new NumberFormatInfo();
		4104	nfi.NumberDecimalSeparator = ".";
		4105
		4106	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		4107	select new
		4108	{
		4109	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		4110	Segs = (
		4111	from trackpoint in track.Descendants(gpx + "trkpt")
		4112	select new
		4113	{
		4114	Latitude = trackpoint.Attribute("lat").Value,
		4115	Longitude = trackpoint.Attribute("lon").Value,
		4116	Elevation = trackpoint.Element(gpx + "ele") != null ?
		4117	trackpoint.Element(gpx + "ele").Value : null,
		4118	Time = trackpoint.Element(gpx + "time") != null ?
		4119	trackpoint.Element(gpx + "time").Value : null
		4120	}
		4121	)
		4122	};
		4123
		4124	List<PointLatLng> wpl = new List<PointLatLng>();
		4125	foreach(var trk in tracks)
		4126	{
		4127	foreach(var trkseg in trk.Segs)
		4128	{
		4129	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		4130	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		4131	}
		4132
		4133	}
		4134	if(wpl.Count() > 0)
		4135	{
2327	-	4136	_clearMapMarkers(typeof(GMapRoute));
2324	-	4137	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	4138	Dispatcher.Invoke(() =>
		4139	{
		4140	GMapRoute mRoute;
		4141	if (comboBoxRouteColor.SelectionBoxItem != null)
		4142	{
		4143	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	4144	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	4145	}
		4146	else
2366	-	4147	mRoute = new GMapRoute(wpl, null);
2324	-	4148
2328	-	4149	MainMap.Markers.Add(mRoute);
		4150	});
2324	-	4151	}
		4152
		4153	}
		4154	catch (Exception e)
		4155	{
		4156	Console.WriteLine("Exception: {0}", e.ToString());
		4157	}
		4158	}
		4159	}
		4160	#endregion GPX
2315	-	4161	#endregion functions
2287	-	4162	}
2315	-	4163	/// <summary>
		4164	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		4165	/// </summary>
2313	-	4166	public class waypointsConverter : IValueConverter
		4167	{
		4168	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		4169	{
		4170	if (value != null)
		4171	{
		4172	switch ((string)parameter)
		4173	{
		4174	case "Latitude":
		4175	return value.ToString() + " °";
		4176	case "Longitude":
		4177	return value.ToString() + " °";
		4178	case "Radius":
		4179	return value.ToString() + " m";
		4180	case "Altitude":
		4181	return value.ToString() + " m";
		4182	case "ClimbRate":
		4183	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		4184	case "DelayTime":
		4185	return value.ToString() + " s";
		4186	case "Heading":
		4187	return Waypoints.Heading(System.Convert.ToInt32(value));
		4188	case "Speed":
		4189	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		4190	case "CamAngle":
		4191	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		4192	case "Type":
		4193	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		4194	case "AutoTrigger":
		4195	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		4196	case "Status":
2355	-	4197	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	4198	}
		4199
		4200	return value.ToString();
		4201	}
		4202	else return value;
		4203	}
		4204
		4205	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		4206	{
		4207	throw new NotImplementedException();
		4208	}
		4209	}
		4210
2287	-	4211	public class IniFile
		4212	{
		4213	public string path;
		4214
		4215	[DllImport("kernel32")]
		4216	private static extern long WritePrivateProfileString(string section,
		4217	string key, string val, string filePath);
		4218
		4219	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		4220	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		4221	uint nSize, string lpFileName);
		4222
		4223	[DllImport("kernel32")]
		4224	private static extern int GetPrivateProfileString(string section,
		4225	string key, string def, StringBuilder retVal,
		4226	int size, string filePath);
		4227
		4228	public IniFile(string INIPath)
		4229	{
		4230	path = INIPath;
		4231	}
		4232
		4233	public void IniWriteValue(string Section, string Key, string Value)
		4234	{
		4235	WritePrivateProfileString(Section, Key, Value, this.path);
		4236	}
		4237
		4238	public string IniReadValue(string Section, string Key)
		4239	{
		4240	StringBuilder temp = new StringBuilder(255);
		4241	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		4242	return temp.ToString();
		4243	}
		4244	//Ini_sections auslesen in String-Array
		4245	public string[] IniSectionNames()
		4246	{
		4247
		4248	// uint MAX_BUFFER = 32767;
		4249	uint MAX_BUFFER = 8388608;
		4250	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		4251	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		4252	if (bytesReturned == 0)
		4253	{
		4254	Marshal.FreeCoTaskMem(pReturnedString);
		4255	return null;
		4256	}
		4257	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		4258	Marshal.FreeCoTaskMem(pReturnedString);
		4259	//use of Substring below removes terminating null for split
		4260	return local.Substring(0, local.Length - 1).Split('\0');
		4261
		4262
		4263	}
		4264	}
		4265
		4266	/// <summary>
		4267	/// Selected Win AI Function Calls
		4268	/// </summary>
		4269	public class WinApi
		4270	{
		4271	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		4272	public static extern int GetSystemMetrics(int which);
		4273	[DllImport("user32.dll")]
		4274	public static extern void
		4275	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		4276	int X, int Y, int width, int height, uint flags);
		4277
		4278	private const int SM_CXSCREEN = 0;
		4279	private const int SM_CYSCREEN = 1;
		4280	private static IntPtr HWND_TOP = IntPtr.Zero;
		4281	private const int SWP_SHOWWINDOW = 64; // 0x0040
		4282
		4283	public static int ScreenX
		4284	{
		4285	get { return GetSystemMetrics(SM_CXSCREEN); }
		4286	}
		4287
		4288	public static int ScreenY
		4289	{
		4290	get { return GetSystemMetrics(SM_CYSCREEN); }
		4291	}
		4292
		4293	public static void SetWinFullScreen(IntPtr hwnd)
		4294	{
		4295	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		4296	}
		4297	}
		4298	/// <summary>
		4299	/// Class used to preserve / restore state of the window
		4300	/// </summary>
		4301	public class WinState
		4302	{
		4303	private WindowState winState;
		4304	private WindowStyle brdStyle;
		4305	private bool topMost;
		4306	private Rect restore;
		4307	private bool IsMaximized = false;
		4308
		4309	public bool isMaximized
		4310	{
		4311	get { return IsMaximized; }
		4312	}
		4313	public void Maximize(Window targetForm)
		4314	{
		4315	if (!IsMaximized)
		4316	{
		4317	IsMaximized = true;
		4318	Save(targetForm);
		4319	targetForm.WindowState = WindowState.Maximized;
		4320	targetForm.WindowStyle = WindowStyle.None;
		4321	targetForm.Topmost = true;
		4322	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		4323	}
		4324	}
		4325
		4326	public void Save(Window targetForm)
		4327	{
		4328	winState = targetForm.WindowState;
		4329	brdStyle = targetForm.WindowStyle;
		4330	topMost = targetForm.Topmost;
		4331	restore = targetForm.RestoreBounds;
		4332	}
		4333	public void Restore(Window targetForm)
		4334	{
		4335	targetForm.WindowState = winState;
		4336	targetForm.WindowStyle = brdStyle;
		4337	targetForm.Topmost = topMost;
		4338
		4339	targetForm.Left = restore.Left;
		4340	targetForm.Top = restore.Top;
		4341	targetForm.Height = restore.Height;
		4342	targetForm.Width = restore.Width;
		4343	IsMaximized = false;
		4344	}
		4345	}
		4346
		4347	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2375 - Rev