WebSVN - Projects - Blame - Rev 2376 - /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;
2376	-	154	bool _Simulate = false;
2287	-	155
		156	bool _bSaveWinStateNormal = true;
		157	bool _bSaveWinStateFull = true;
		158
		159	double scaleNormalAll = 1;
		160	double scaleNormalTopBar = 1;
		161	double scaleNormalMotors = 1;
		162	double scaleNormalOSD = 1;
		163	double scaleNormalLOG = 1;
		164	double scaleNormalHorizon = 1;
		165
		166	double scaleFullAll = 1;
		167	double scaleFullTopBar = 1;
		168	double scaleFullMotors = 1;
		169	double scaleFullOSD = 1;
		170	double scaleFullLOG = 1;
		171	double scaleFullHorizon = 1;
		172
		173	int _iCtrlAct = 0;
		174	int iOSDPage = 0;
		175	int iOSDMax = 0;
		176	int _iLifeCounter = 0;
		177	int crcError = 0;
		178
2291	-	179	bool _bSatFix = false;
		180	Storyboard stbSatFixLostAnim;
		181	bool _bAnimSatFixActive = false;
		182	bool _bVoiceSatFixActive = false;
		183	bool _bVoiceSatFixPlay = false;
		184	int _iSatsLast = 0;
		185	int _iSatsJitter = 0;
		186
		187	bool _bMagneticFieldOK = false;
		188	Storyboard stbMagneticFieldAnim;
		189	bool _bAnimMagneticFieldActive = false;
		190	bool _bVoiceMagneticFieldActive = false;
		191	bool _bVoiceMagneticFieldPlay = false;
		192	int _iMagneticFieldLast = 0;
		193	int _iMagneticFieldJitter = 0;
		194
		195	bool _bRCLevelOK = false;
		196	Storyboard stbRCLevelAnim;
		197	bool _bAnimRCLevelActive = false;
		198	bool _bVoiceRCLevelActive = false;
		199	bool _bVoiceRCLevelPlay = false;
		200	int _iRCLevelLast = 0;
		201	int _iRCLevelJitter = 0;
		202
2287	-	203	int _iMotors = 4;
		204	int _LipoCells = 4;
		205
		206	double _dLipoVMax = 16.88;
		207	double _dLipoVMin = 12;
		208	double _dThresholdVoltageWarn = 0;
		209	double _dThresholdVoltageCrit = 0;
		210	Storyboard stbVoltageCritAnim;
		211	bool _bCritAnimVoltActive = false;
		212	bool _bCritVoiceVoltActive = false;
2291	-	213	bool _bWarnVoiceVoltActive = false;
2287	-	214	bool _bVoiceVoltPlay = false;
		215	double _dVoltLast = 0;
		216	int _iVoltJitter = 0;
		217
2291	-	218	double _dThresholdDistanceWarn = 100;
		219	Storyboard stbDistanceWarnAnim;
		220	bool _bAnimDistanceActive = false;
		221	bool _bVoiceDistanceActive = false;
		222	bool _bVoiceDistancePlay = false;
		223	double _dDistanceLast = 0;
		224	int _iDistanceJitter = 0;
		225
		226	double _dThresholdDistanceMax = 1000;
		227	int _iThresholdRC = 160;
		228	int _iThresholdMagField = 15;
		229
2295	-	230	bool _bAutoHome = false;
		231	bool _bFirstSatFix = false;
		232	int _iFirstSatFix = 0;
2291	-	233
2287	-	234	double _dTopHeight = 36;
		235
		236	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		237	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		238	string[] serChanTitle = new string[12];
		239
		240	string[] sAnalogLabel = new string[32];
		241	string[] sAnalogData = new string[32];
2324	-	242	int[] iAnalogData = new int[32];
2287	-	243
		244	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 };
		245	int[] iMotors = new int[] {3,4,5,6,7,8,9,10,11,12 };
		246	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		247	/// <summary>
		248	/// interval for sending debugdata (multiplied by 10ms)
		249	/// </summary>
		250	byte debugInterval = 10; //(=> 100ms)
		251	/// <summary>
		252	/// interval for sending BL-CTRL status (multiplied by 10ms)
		253	/// </summary>
		254	byte blctrlInterval = 75;
		255	/// <summary>
		256	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		257	/// </summary>
		258	byte navctrlInterval = 80;
		259	/// <summary>
		260	/// interval for sending OSD page update (multiplied by 10ms)
		261	/// </summary>
		262	byte OSDInterval = 85;
		263	/// <summary>
		264	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		265	/// </summary>
		266	DataTable dtAnalog = new DataTable();
		267	/// <summary>
		268	/// datatable for motordata (current,temp)
		269	/// </summary>
2315	-	270	DataTable dtMotors = new DataTable();
2287	-	271
		272	DataTable dtWaypoints = new DataTable();
2313	-	273	static volatile int _iWPCount = -1;
		274	static volatile int _iWPIndex = -1;
		275	int _iWPTimeout = 1000;
2287	-	276	bool _bGetWP = false;
2328	-	277	bool _bShowWPRoute = false;
2287	-	278	static volatile bool _bGetWPCount = false;
2324	-	279	DataTable dtGPX = new DataTable();
		280	DataRow drGPX;
		281	bool _bAirborne = false;
2355	-	282	int _wpIndex = -1, _wpCount = 0, _wpEdit = -1;
2340	-	283
2287	-	284	DispatcherTimer timer = new DispatcherTimer();
		285
		286	/// <summary>
		287	/// stuff for enabeling touch zoom for the map
		288	/// </summary>
		289	Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0);
		290	int iFirstStylusID = -1;
		291	public string connectButtonText
		292	{
		293	get
		294	{
		295	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		296	}
		297	}
		298
		299	WinState winState = new WinState();
2304	-	300	#endregion declarations
2287	-	301	public MainWindow()
		302	{
		303	InitializeComponent();
		304	_initForm();
		305	_dataTablesInit();
		306	_setupMap();
		307	_init = false;
		308	timer.Tick += new EventHandler(timerEvent);
		309	timer.Interval = new TimeSpan(0, 0, 1);
		310	timer.Start();
		311	}
		312
		313	#region init
		314	void _initForm()
		315	{
		316	_readIni();
		317	if (_bSaveWinStateNormal)
		318	_setScaleSliders(false);
		319	cBoxTimingsDebug.ItemsSource =
		320	cBoxTimingsNav.ItemsSource =
		321	cBoxTimingsBl.ItemsSource =
		322	cBoxTimingsOSD.ItemsSource =
		323	iTimings;
		324	cBoxLiPoCells.ItemsSource = sLiPoCells;
		325	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		326	_LipoMinMax();
		327	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		328	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		329	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
2291	-	330	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		331	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		332	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		333	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		334	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
2287	-	335
2291	-	336	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		337
2287	-	338	cBoxMotors.ItemsSource = iMotors;
		339	cBoxMotors.SelectedItem = _iMotors;
		340
		341	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		342	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		343	serialPortCtrl.DataReceived += processMessage;
		344
		345	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		346	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		347	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		348	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		349
		350	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		351	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		352	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		353	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
2295	-	354	checkBoxAutoSetHP.IsChecked = _bAutoHome;
2287	-	355	checkBoxFollowCopter.IsChecked = _bFollowCopter;
2324	-	356	checkBoxGPXLog.IsChecked = _bGPXLog;
2328	-	357	checkBoxShowWPRoute.IsChecked = _bShowWPRoute;
2287	-	358
2349	-	359	_initSerialCtrl();
2287	-	360	}
		361	/// <summary>
		362	/// initialize the datatables
		363	/// with columnnames etc
		364	/// </summary>
		365	void _dataTablesInit()
		366	{
2315	-	367	dtMotors.Columns.Add("#");
2313	-	368	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
2315	-	369	dtMotors.Columns.Add("Strom");
2313	-	370	else
2315	-	371	dtMotors.Columns.Add("Current");
		372	dtMotors.Columns.Add("Temp");
		373	dgvMotors1.DataContext = dtMotors.DefaultView;
2287	-	374	_initDTMotors();
		375
		376	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0));
		377	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		378	style.Setters.Add(setter);
		379	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		380	style.Setters.Add(setter);
		381	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		382	style.Setters.Add(setter);
2313	-	383
		384	dtWaypoints.Columns.Add("Index",typeof(int));
2315	-	385	dtWaypoints.Columns.Add("Type", typeof(int));
2313	-	386	dtWaypoints.Columns.Add("Name",typeof(string));
2315	-	387	dtWaypoints.Columns.Add("Latitude",typeof(double));
		388	dtWaypoints.Columns.Add("Longitude",typeof(double));
2313	-	389	dtWaypoints.Columns.Add("Altitude",typeof(string));
		390	dtWaypoints.Columns.Add("Heading",typeof(string));
		391	dtWaypoints.Columns.Add("Speed",typeof(string));
		392	dtWaypoints.Columns.Add("ClimbRate",typeof(string));
		393	dtWaypoints.Columns.Add("Radius",typeof(string));
		394	dtWaypoints.Columns.Add("HoldTime",typeof(string));
		395	dtWaypoints.Columns.Add("AutoTrigger",typeof(string));
		396	dtWaypoints.Columns.Add("CamAngle",typeof(string));
		397	dtWaypoints.Columns.Add("Event",typeof(string));
		398	dtWaypoints.Columns.Add("Out1Timer",typeof(string));
		399	dtWaypoints.Columns.Add("Status",typeof(string));
		400	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		401	dgvWP.ItemsSource = dtWaypoints.DefaultView;
2287	-	402	dgvWP.ColumnHeaderStyle = new Style();
		403	dgvWP.ColumnHeaderStyle = style;
2313	-	404
2324	-	405	dtGPX.Columns.Add("Index",typeof(int));
		406	dtGPX.Columns.Add("Latitude",typeof(double));
		407	dtGPX.Columns.Add("Longitude",typeof(double));
		408	dtGPX.Columns.Add("Elevation",typeof(int));
		409	dtGPX.Columns.Add("Time",typeof(string));
		410	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		411	drGPX = dtGPX.NewRow();
2313	-	412
2287	-	413	}
		414	/// <summary>
2315	-	415	/// initialize the datatable dtMotors for motor values
2313	-	416	/// DataGridView dgvMotors1 is bound to dtMotors1
2287	-	417	/// </summary>
		418	void _initDTMotors()
		419	{
		420	for (int i = 0; i < 12; i++)
		421	{
2315	-	422	if (dtMotors.Rows.Count < 12)
		423	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
2287	-	424	else
		425	{
2315	-	426	dtMotors.Rows[i].SetField(1, "NA");
		427	dtMotors.Rows[i].SetField(2, "NA");
2287	-	428	}
		429	}
		430	}
		431
		432	#endregion init
		433
		434	#region events
		435	private void serialPortCtrl_PortOpened()
		436	{
		437	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		438	_getVersion();
		439	Thread.Sleep(100);
		440	//_OSDMenue(0);
		441	//Thread.Sleep(200);
		442	//_sendSerialData();
		443	_readCont(true);
		444	}
		445	private void serialPortCtrl_PortClosed()
		446	{
		447	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		448	_readCont(false);
		449	}
2324	-	450	bool _bToggle = false;
2287	-	451	void timerEvent(object sender, EventArgs e)
		452	{
		453	if (bReadContinously)
		454	{
		455	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		456
		457	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		458
		459	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		460	check_HWError = true;
		461	_getVersion();
		462	Thread.Sleep(10);
		463	if (_OSDAutorefresh)
		464	{
		465	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		466	_initOSDCB();
		467	_OSDMenueAutoRefresh();
		468	}
		469	if (_iLifeCounter > 0)
		470	{
		471	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		472	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		473	_iLifeCounter = 0;
		474	_bConnErr = false;
2327	-	475	if(_bAirborne && _bGPXLog)
2324	-	476	{
		477	drGPX[0] = dtGPX.Rows.Count;
		478	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		479	}
2327	-	480	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		481	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		482	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
2324	-	483	_bToggle = !_bToggle;
2287	-	484	}
		485	else
		486	{
		487	if (!_bConnErr)
		488	{
		489	Log(LogMsgType.Error, "No communication to NC/FC!");
		490	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		491	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		492	_bConnErr = true;
		493	}
		494	}
		495	}
		496	}
		497
		498	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		499	{
		500	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		501	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		502	}
		503	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		504	{
		505	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		506	if (GridMotors.IsVisible)
		507	_setMotorGridSize();
		508	}
		509	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		510	{
		511	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		512	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		513	}
		514	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		515	{
		516	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		517	}
		518	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		519	{
		520	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		521	}
		522	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		523	{
		524	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		525	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		526	}
		527
		528	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		529	{
		530	Thread t = new Thread(new ThreadStart(_getWP));
		531	t.Start();
		532	}
		533	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		534	{
2313	-	535	Thread t = new Thread(new ThreadStart(_sendWPList));
		536	t.Start();
2287	-	537	}
		538
		539	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		540	{
		541	if (!serialPortCtrl.Port.IsOpen)
		542	serialPortCtrl.Connect(true);
		543	else
		544	_readCont(!bReadContinously);
		545	}
		546	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		547	{
2347	-	548	_setHomePos();
2287	-	549	}
		550	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		551	{
2347	-	552	_clearHomePos();
2287	-	553	}
		554	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		555	{
		556	if (home != null && MainMap.Markers.Contains(home))
		557	MainMap.Position = home.Position;
		558	}
2295	-	559	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		560	{
		561	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		562	}
2287	-	563	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		564	{
		565	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		566	}
		567	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		568	{
		569	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		570	}
		571
2291	-	572	#region thresholds
2287	-	573	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		574	{
		575	if(!_init)
		576	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		577	}
		578	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		579	{
		580	if(!_init)
		581	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		582	}
		583	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		584	{
		585	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		586	}
2291	-	587
		588	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		589	{
		590	if(!_init)
		591	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		592	}
		593	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		594	{
		595	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		596	}
		597
		598	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		599	{
		600	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		601	}
		602	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		603	{
		604	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		605	}
		606	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		607	{
		608	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		609	}
		610	#endregion thresholds
		611
2287	-	612	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		613	{
		614	_switchToNC();
		615	}
		616
		617	private void Window_Loaded(object sender, RoutedEventArgs e)
		618	{
		619	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
2291	-	620	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		621	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		622	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		623	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
2287	-	624	_setMotorGridSize();
		625	}
2310	-	626	private void Window_Closing(object sender, CancelEventArgs e)
		627	{
		628	_writeIni();
2324	-	629	if(_bGPXLog && dtGPX.Rows.Count > 0)
		630	_saveGPXLog();
2310	-	631	}
2287	-	632	#endregion events
		633
		634	#region GMap
		635
		636	void _setupMap()
		637	{
		638	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		639	MainMap.MapProvider = GMapProviders.BingHybridMap;
		640	MainMap.SetPositionByKeywords("Landshut");
		641	MainMap.MinZoom = 0;
		642	MainMap.MaxZoom = 24;
		643	MainMap.Zoom = 16;
		644	MainMap.ShowCenter = true;
		645	MainMap.ShowTileGridLines = false;
		646	sliderMapZoom.Value = 16;
		647	comboBoxMapType.ItemsSource = providerList;
		648	comboBoxMapType.DisplayMemberPath = "Name";
		649	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		650
		651	// acccess mode
		652	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		653	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		654
		655	}
		656
		657	/// <summary>
		658	/// selection of relevant map providers --> if You need more, You can change the line:
		659	/// comboBoxMapType.ItemsSource = providerList;
		660	/// to:
		661	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		662	/// in _setupMap()
		663	/// or add items here:
		664	/// </summary>
		665	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		666	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		667	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		668	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		669	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		670
		671	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		672	{
		673	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		674	copter = new GMapMarker(MainMap.Position);
2318	-	675
		676	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"),"red");
		677	if (comboBoxCopterColor.SelectionBoxItem != null)
		678	{
		679	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		680	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		681	}
2287	-	682	copter.Offset = new System.Windows.Point(-18, -18);
		683	copter.ZIndex = int.MaxValue;
		684	MainMap.Markers.Add(copter);
		685	copter.Position = MainMap.Position;
		686	}
2347	-	687	void _setHomePos()
2287	-	688	{
		689	pHome = MainMap.Position;
		690	if (!MainMap.Markers.Contains(home))
		691	{
		692	home = new GMapMarker(MainMap.Position);
		693	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		694	home.Offset = new System.Windows.Point(-18, -18);
		695	// home.ZIndex = int.MaxValue;
		696	MainMap.Markers.Add(home);
		697	}
		698	home.Position = MainMap.Position;
		699	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		700	}
2347	-	701	void _setActiveWP(int iIndex)
2287	-	702	{
2347	-	703	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
		704	{
		705	Dispatcher.Invoke(() =>
		706	{
		707	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		708	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		709	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		710	MainMap.Markers.Add(wpActiveMarker);
		711	});
		712	}
		713	else
		714	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
		715
		716	}
		717	void _clearHomePos()
		718	{
2287	-	719	MainMap.Markers.Remove(home);
		720	}
2335	-	721	void _clearMapMarkers(Type markerType)
		722	{
		723	for (int k = 0; k < MainMap.Markers.Count;)
		724	{
		725	GMapMarker p = MainMap.Markers[k];
2340	-	726	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	727	MainMap.Markers.Remove(p);
		728	else
		729	k++;
		730	}
2287	-	731
2335	-	732	}
2369	-	733
		734	GMapMarker _findWPMarker(string name)
2368	-	735	{
		736	for (int k = 0; k < MainMap.Markers.Count;)
		737	{
		738	GMapMarker p = MainMap.Markers[k];
		739	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
2369	-	740	if (((CustomMarkerWP)p.Shape).WPText == name)
		741	return p;
2368	-	742	else
		743	k++;
		744	else
		745	k++;
		746	}
2369	-	747	return null;
2368	-	748	}
2369	-	749	void _clearWPMarker(string name)
		750	{
		751	GMapMarker p = _findWPMarker(name);
		752	if(p != null)
		753	MainMap.Markers.Remove(p);
		754	}
2368	-	755	void _renameWPMarker(string s1, string s2)
		756	{
2369	-	757	GMapMarker p = _findWPMarker(s1);
		758	if (p != null)
		759	((CustomMarkerWP)p.Shape).WPText = s2;
2368	-	760	}
2372	-	761	void _WPMarkerSetType(string text, int type)
		762	{
		763	GMapMarker p = _findWPMarker(text);
		764	if (p != null)
		765	((CustomMarkerWP)p.Shape).WPType = type;
		766	}
2369	-	767	void _repositionWPMarker(PointLatLng point, string name)
		768	{
		769	GMapMarker p = _findWPMarker(name);
		770	if (p != null)
		771	p.Position = point;
		772	}
		773
2287	-	774	// access mode
		775	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		776	{
		777	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		778	MainMap.ReloadMap();
		779	}
		780	// zoom up
		781	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		782	{
		783	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		784	}
		785
		786	// zoom down
		787	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		788	{
		789	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		790	}
		791
		792	// prefetch
		793	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		794	{
		795	RectLatLng area = MainMap.SelectedArea;
		796	if (!area.IsEmpty)
		797	{
		798	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		799	{
		800	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		801
		802	if (res == MessageBoxResult.Yes)
		803	{
		804	TilePrefetcher obj = new TilePrefetcher();
		805	obj.Owner = this;
		806	obj.ShowCompleteMessage = true;
		807	obj.Start(area, i, MainMap.MapProvider, 100);
		808	}
		809	else if (res == MessageBoxResult.No)
		810	{
		811	continue;
		812	}
		813	else if (res == MessageBoxResult.Cancel)
		814	{
		815	break;
		816	}
		817	}
		818	}
		819	else
		820	{
		821	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		822	}
		823	}
		824
		825	// goto by geocoder
		826	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		827	{
		828	_goto_byGeoCoder();
		829	}
		830	// goto by geocoder
		831	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		832	{
		833	if (e.Key == System.Windows.Input.Key.Enter)
		834	_goto_byGeoCoder();
		835	}
		836	void _goto_byGeoCoder()
		837	{
		838	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		839	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		840	{
		841	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		842	}
		843	}
		844	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		845	{
		846	try
		847	{
		848	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		849	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		850
		851	MainMap.Position = new PointLatLng(lat, lng);
		852	}
		853	catch (Exception ex)
		854	{
		855	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		856	}
		857
		858	}
		859
		860	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		861	{
		862	MainMap.ReloadMap();
		863	}
		864
		865	private void MainMap_OnPositionChanged(PointLatLng point)
		866	{
		867	if (_bFollowCopter)
		868	_setCopterData(MainMap.Position);
		869	}
		870
		871	private void MainMap_OnMapZoomChanged()
		872	{
		873	if (_bFollowCopter)
		874	_setCopterData(MainMap.Position);
		875	if((int)sliderMapZoom.Value != MainMap.Zoom)
		876	sliderMapZoom.Value = MainMap.Zoom;
		877	}
		878
		879	void _setCopterData(PointLatLng p)
		880	{
		881	Dispatcher.Invoke(() =>
		882	{
		883	copter.Position = p;
		884	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		885	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		886	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		887	});
		888	if (home != null && MainMap.Markers.Contains(home))
		889	{
		890	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		891	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		892	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	893
		894	if(d*1000 < _dThresholdDistanceWarn)
		895	{
		896	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		897	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		898	{
		899	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		900	_bAnimDistanceActive = false;
		901	}
		902	}
		903	else
		904	{
		905	if (_iDistanceJitter < 20)
		906	{ _iDistanceJitter++; }
		907	if (_iDistanceJitter == 20)
		908	{
		909	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		910	{
		911	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		912	_bAnimDistanceActive = true;
		913	}
		914	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		915	{
2295	-	916	Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		917	t.Start();
2291	-	918	_bVoiceDistanceActive = true;
		919	}
		920	_iDistanceJitter++;
		921	}
		922	}
2287	-	923	}
		924	}
		925
		926	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		927	{
		928	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		929	}
		930
		931	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		932	{
		933	if (MainMap.Zoom != sliderMapZoom.Value)
		934	MainMap.Zoom = (int)sliderMapZoom.Value;
		935	}
		936	#region Touch zooming hackattack ;)
		937	/// <summary>
		938	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		939	/// </summary>
		940	bool bFirstAccess = true;
		941	double dDistance = 0;
		942	int iZoom;
		943	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		944	{
		945	var id = e.StylusDevice.Id;
		946	e.StylusDevice.Capture(MainMap);
		947	if (iFirstStylusID == -1)
		948	{
		949	iFirstStylusID = id;
		950	}
		951	else
		952	{
		953
		954	MainMap.CanDragMap = false;
		955	}
		956	}
		957	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		958	{
		959	MainMap.ReleaseStylusCapture();
		960	iFirstStylusID = -1;
		961	bFirstAccess = true;
		962	MainMap.CanDragMap = true;
		963	iZoom = 0;
		964	}
		965	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		966	{
		967	var id = e.StylusDevice.Id;
		968	var tp = e.GetPosition(MainMap);
		969
		970	// This is the first Stylus point; just record its position.
		971	if (id == iFirstStylusID)
		972	{
		973	pTouch1.X = tp.X;
		974	pTouch1.Y = tp.Y;
		975	}
		976	else
		977	if (iFirstStylusID > -1)
		978	{
		979	pTouch2.X = tp.X;
		980	pTouch2.Y = tp.Y;
		981	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		982	if (!bFirstAccess)
		983	{
		984	if (distance > dDistance)
		985	iZoom++;
		986	else
		987	if (distance < dDistance)
		988	iZoom--;
		989	}
		990	if (iZoom > 30)
		991	{
		992	iZoom = 0;
		993	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		994	}
		995	if (iZoom < -30)
		996	{
		997	iZoom = 0;
		998	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		999	}
		1000	dDistance = distance;
		1001	bFirstAccess = false;
		1002	}
		1003	}
		1004	#endregion Touch zooming hackattack ;)
		1005
		1006	#endregion GMap
		1007
		1008	#region settings
		1009	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1010	{
		1011	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		1012	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1013	}
		1014	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1015	{
		1016	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		1017	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1018	}
		1019	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1020	{
		1021	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1022	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1023	}
		1024	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1025	{
		1026	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1027	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1028	}
		1029	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1030	{
		1031	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1032	}
		1033	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1034	{
		1035	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1036	}
		1037	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1038	{
		1039	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1040	}
		1041	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1042	{
		1043	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1044	}
		1045
		1046	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1047	{
		1048	if (cBoxLiPoCells.SelectedIndex > -1)
		1049	{
		1050	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1051	_LipoMinMax();
		1052	}
		1053	}
		1054	void _LipoMinMax()
		1055	{
		1056	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1057	_dLipoVMin = (double)_LipoCells * 3;
		1058	pbTopVoltage.Maximum = _dLipoVMax;
		1059	pbTopVoltage.Minimum = _dLipoVMin;
		1060	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1061	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1062	}
		1063	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1064	{
		1065	if (cBoxMotors.SelectedIndex > -1)
		1066	{
		1067	_iMotors = cBoxMotors.SelectedIndex + 3;
		1068	Dispatcher.Invoke(() =>
		1069	{
		1070	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1071	GridMotors.Height = dgvMotors1.Height + 10;
		1072	});
		1073	}
		1074	}
		1075	void _setMotorGridSize()
		1076	{
		1077	if (dgvMotors1.Columns.Count > 2)
		1078	{
		1079	dgvMotors1.Columns[0].Width = 24;
		1080	dgvMotors1.Columns[1].Width = 50;
		1081	dgvMotors1.Columns[2].Width = 50;
		1082	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1083	GridMotors.Height = dgvMotors1.Height + 10;
		1084	}
		1085
		1086	}
		1087	#endregion settings
		1088
		1089	#region functions
		1090
		1091	#region logging
		1092	/// <summary> Log data to the terminal window. </summary>
		1093	/// <param name="msgtype"> The type of message to be written. </param>
		1094	/// <param name="msg"> The string containing the message to be shown. </param>
		1095	private void Log(LogMsgType msgtype, string msg)
		1096	{
		1097	Dispatcher.Invoke(() =>
		1098	{
		1099	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1100	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1101	// rtfTerminal.AppendText(msg + "\r");
		1102	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1103	tr.Text = msg;
		1104	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1105	rtfTerminal.AppendText("\r");
		1106	rtfTerminal.ScrollToEnd();
		1107	});
		1108	}
		1109	private void ErrorLog(LogMsgType msgtype, string msg)
		1110	{
		1111	Dispatcher.Invoke(() =>
		1112	{
		1113	TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1114	tr.Text = msg;
		1115	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1116	rtfError.AppendText("\r");
		1117	rtfError.ScrollToEnd();
		1118
		1119	_bErrorLog = true;
		1120	});
		1121	}
		1122	/// <summary>
		1123	/// Clear the line in the errorlog window
		1124	/// containing the error string when error has ceased
		1125	/// </summary>
		1126	/// <param name="s">substring of errrormessage</param>
		1127	void _clearErrorLog(string s)
		1128	{
		1129	Dispatcher.Invoke((Action)(() =>
		1130	{
		1131	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1132	TextRange foundRange = FindTextInRange(searchRange, s);
		1133
		1134	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1135
		1136
		1137	if (iStart > -1)
		1138	{
		1139	int iLength = 0;
		1140	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1141	if (iEnd > 0)
		1142	{
		1143	iLength = iEnd + 1;
		1144	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1145	if (iHttp == iLength)
		1146	{
		1147	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1148	if (iEnd2 > iLength)
		1149	{
		1150	iLength = iEnd2 + 1;
		1151	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1152
		1153	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1154	rtfError.Selection.Text = string.Empty;
		1155	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1156	}
		1157
		1158	}
		1159	else
		1160	{
		1161	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1162	rtfError.Selection.Text = string.Empty;
		1163	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1164	}
		1165	}
		1166	}
		1167	}));
		1168
		1169	}
		1170	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1171	{
		1172	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1173	if (offset < 0)
		1174	return null; // Not found
		1175
		1176	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1177	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1178
		1179	return result;
		1180	}
		1181	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1182	{
		1183	while (position != null)
		1184	{
		1185	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1186	{
		1187	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1188	if (characterCount <= count)
		1189	{
		1190	return position.GetPositionAtOffset(characterCount);
		1191	}
		1192
		1193	characterCount -= count;
		1194	}
		1195
		1196	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1197	if (nextContextPosition == null)
		1198	return position;
		1199
		1200	position = nextContextPosition;
		1201	}
		1202
		1203	return position;
		1204	}
		1205	#endregion logging
		1206
		1207	#region processing received data
		1208
		1209	private void processMessage(byte[] message)
		1210	{
		1211	if (message.Length > 0)
		1212	{
		1213	_iLifeCounter++;
		1214	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1215	//Log(LogMsgType.Incoming, message.Length.ToString());
		1216	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1217	char cmdID;
		1218	byte adr;
		1219	byte[] data;
		1220	byte[] tmp = null;
		1221	if (message[0] != '#')
		1222	{
		1223	int iFound = -1;
		1224	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1225	{ //so this is a workaround to not spam the log box
		1226	if (message[i] == 35)
		1227	{
		1228	iFound = i;
		1229	break;
		1230	}
		1231	}
		1232	if (iFound > 0)
		1233	{
		1234	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1235	tmp = new byte[message.Length - iFound];
		1236	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1237	}
		1238	s = s.Trim('\0', '\n', '\r');
		1239	if (s.Length > 0)
		1240	Log(LogMsgType.Normal, s);
		1241	if (tmp != null)
		1242	{
		1243	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1244	processMessage(tmp);
		1245	}
		1246	}
		1247	//Debug.Print(s);
		1248	else
		1249	{
		1250	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1251
		1252	if (adr == 255) { crcError++; }
		1253	else crcError = 0;
		1254	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1255	//display the active controller (FC / NC)
		1256	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...???
		1257	{
		1258	_iCtrlAct = adr;
		1259	switch (adr)
		1260	{
		1261	case 1:
		1262	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2298	-	1263	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
2287	-	1264	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1265	// _setFieldsNA(); //display fields NA for FC
		1266	break;
		1267	case 2:
		1268	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1269	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1270	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1271	break;
		1272	//case 3:
		1273	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1274	// break;
		1275	//case 4:
		1276	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1277	// break;
		1278	default:
		1279	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1280	break;
		1281	}
		1282	// _loadLabelNames();
		1283	}
		1284	// else
		1285	// Debug.Print("Address == 0?");
		1286
		1287	if (data != null && data.Length > 0)
		1288	{
		1289	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1290	s = s.Trim('\0', '\n');
		1291
		1292	switch (cmdID)
		1293	{
		1294	//case 'A': //Label names
		1295	// _processLabelNames(s);
		1296	// break;
		1297
		1298	case 'D': //Debug data
		1299	_processDebugVals(adr, data);
		1300	break;
		1301
		1302	case 'V': //Version
		1303	_processVersion(adr, data);
		1304	break;
		1305
		1306	case 'K'://BL-CTRL data
		1307	_processBLCtrl(data);
		1308	break;
		1309
		1310	case 'O': //NC Data
		1311	_processNCData(data);
		1312	break;
		1313
		1314	case 'E': //NC error-string
		1315	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1316	break;
		1317
		1318	case 'L': //OSD Menue (called by pagenumber)
		1319	_processOSDSingle(data);
		1320	break;
		1321
		1322	case 'H': //OSD Menue (with autoupdate - called by Key)
		1323	_processOSDAuto(data);
		1324	break;
		1325
		1326	case 'X': //Waypoint data
		1327	_processWPData(data);
		1328	break;
		1329
2313	-	1330	case 'W': //return new Waypoint items count after sending waypoint to copter
		1331	_iWPCount = data[0];
		1332	break;
2287	-	1333	//default:
		1334	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1335	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1336	// break;
		1337	}
		1338	}
		1339	//else
		1340	//{
		1341	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1342	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1343	//}
		1344	}
		1345	}
		1346	}
		1347	/// <summary>
		1348	/// Analog label names 'A'
		1349	/// each label name is returned as a single string
		1350	/// and added to string array sAnalogLabel[]
		1351	/// and the datatable dtAnalog
		1352	/// </summary>
		1353	/// <param name="s">the label name</param>
		1354	void _processLabelNames(string s)
		1355	{
		1356	//if (iLableIndex < 32)
		1357	//{
		1358	// sAnalogLabel[iLableIndex] = s;
		1359	// if (dtAnalog.Rows.Count < 32)
		1360	// dtAnalog.Rows.Add(s, "");
		1361	// else
		1362	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1363
		1364	// // _getAnalogLabels(iLableIndex + 1);
		1365	//}
		1366	//Debug.Print(s);
		1367	}
		1368	/// <summary>
		1369	/// Debug values 'D'
		1370	/// </summary>
		1371	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1372	/// <param name="data">the received byte array to process</param>
		1373	void _processDebugVals(byte adr, byte[] data)
		1374	{
		1375	if (data.Length == 66)
		1376	{
2324	-	1377
2287	-	1378	double v;
		1379	int index = 0;
		1380	Int16 i16 = 0;
		1381	double dTemp = 0;
		1382	for (int i = 2; i < 66; i += 2)
		1383	{
		1384	i16 = data[i + 1];
		1385	i16 = (Int16)(i16 << 8);
		1386	iAnalogData[index] = data[i] + i16;
		1387	sAnalogData[index] = (data[i] + i16).ToString();
		1388	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1389
		1390	if (adr == 2) //NC
		1391	{
		1392	switch (index)
		1393	{
		1394	case 0: //pitch (German: nick)
		1395	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1396	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1397	break;
		1398	case 1: //roll
		1399	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1400	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1401	break;
		1402	case 4: //altitude
		1403	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1404	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2324	-	1405	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1406	break;
		1407	case 7: //Voltage
		1408	v = (double)iAnalogData[index] / (double)10;
		1409	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1410	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1411	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1412	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1413	{
		1414	if (v == _dVoltLast)
		1415	if(_iVoltJitter < 20) _iVoltJitter++;
		1416	else
		1417	{
		1418	_iVoltJitter = 0;
		1419	_dVoltLast = v;
		1420	}
		1421	if (_iVoltJitter == 20)
		1422	{
		1423	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1424
		1425	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1426	{
		1427	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1428	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1429	{
		1430	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1431	_bCritAnimVoltActive = true;
		1432	}
		1433	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1434	{
2295	-	1435	Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1436	t.Start();
2287	-	1437	_bCritVoiceVoltActive = true;
		1438	}
		1439	}
		1440	else
		1441	{
		1442	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1443	{
		1444	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1445	_bCritAnimVoltActive = false;
		1446	}
		1447	_bCritVoiceVoltActive = false;
		1448
2291	-	1449	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1450	{
2295	-	1451	Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1452	t.Start();
2291	-	1453	_bWarnVoiceVoltActive = true;
2287	-	1454	}
		1455	}
		1456	}
		1457	}
		1458	else
		1459	{
		1460	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1461	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1462	{
		1463	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1464	_bCritAnimVoltActive = false;
		1465	}
		1466	_bCritVoiceVoltActive = false;
2291	-	1467	_bWarnVoiceVoltActive = false;
2287	-	1468	_iVoltJitter = 0;
		1469	}
		1470	break;
		1471	case 8: // Current
		1472	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1473	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1474	break;
		1475	case 10: //heading
2291	-	1476	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2287	-	1477	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1478	break;
		1479	case 12: // SPI error
2291	-	1480	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1481	break;
		1482	case 14: //i2c error
2291	-	1483	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1484	break;
		1485	case 20: //Earthmagnet field
2291	-	1486	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1487	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1488
		1489	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1490	{
		1491	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1492	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1493	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1494	{
		1495	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1496	_bAnimMagneticFieldActive = false;
		1497	}
		1498	}
		1499	else
		1500	{
		1501	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1502	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1503	{
		1504	if (_iMagneticFieldJitter < 20)
		1505	_iMagneticFieldJitter++;
		1506	}
		1507	else
		1508	{
		1509	_iMagneticFieldJitter = 0;
		1510	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1511	}
		1512	if(_iMagneticFieldJitter == 20)
		1513	{
		1514	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1515	{
		1516	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1517	_bAnimMagneticFieldActive = true;
		1518	}
		1519	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1520	{
2295	-	1521	Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1522	t.Start();
2291	-	1523	_bVoiceMagneticFieldActive = true;
		1524	}
		1525	}
		1526	}
2287	-	1527	break;
		1528	case 21: //GroundSpeed
		1529	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1530	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1531	break;
2291	-	1532
		1533	///******** needs testing --> not sure what position this is *************
2287	-	1534	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1535	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1536	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1537	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1538	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1539	dTemp = Math.Sqrt(dTemp) / (double)10;
		1540	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1541	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1542	break;
2291	-	1543
2287	-	1544	case 31: //Sats used
		1545	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1546	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1547	break;
		1548	}
		1549	}
		1550	index++;
		1551	}
		1552	}
		1553	else
		1554	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1555	}
		1556	/// <summary>
		1557	/// Version string 'V'
		1558	/// </summary>
		1559	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1560	/// <param name="data">the received byte array to process</param>
		1561	void _processVersion(byte adr, byte[] data)
		1562	{
		1563	if (data.Length == 12)
		1564	{
		1565	if (!check_HWError)
		1566	{
		1567	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1568	string sVersion = "";
		1569	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1570	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1571	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1572	Log(LogMsgType.Incoming, sVersion);
		1573	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1574	Log(LogMsgType.Incoming, sVersion);
		1575	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1576	}
		1577	if (data[5] > 0) //error0
		1578	{
		1579	if (adr == 1)
		1580	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		1581	if (adr == 2)
		1582	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		1583	}
		1584	if (data[6] > 0) //error1
		1585	{
		1586	if (adr == 1)
		1587	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		1588	if (adr == 2)
		1589	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		1590	}
		1591	if ((data[5] + data[6] == 0) && _bErrorLog)
		1592	_clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		1593
		1594	}
		1595	check_HWError = false;
		1596	}
		1597	/// <summary>
		1598	/// BL-Ctrl data 'K'
		1599	/// for FC you have to use a customized firmware
		1600	/// </summary>
		1601	/// <param name="data">the received byte array to process</param>
		1602	void _processBLCtrl(byte[] data)
		1603	{
		1604	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1605	{
		1606	bool bAvailable = false;
		1607	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1608	{
		1609
		1610	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1611	bAvailable = true;
		1612	else
		1613	bAvailable = false;
		1614
		1615	if (data[i] < _iMotors)
		1616	{
		1617	if (bAvailable)
		1618	{
2315	-	1619	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1620	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1621	}
		1622	else
		1623	{
2315	-	1624	dtMotors.Rows[data[i]].SetField(1, "NA");
		1625	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1626	}
		1627	}
		1628	//if (data[i] > 3 && data[i] < 8)
		1629	//{
		1630	// if (bAvailable)
		1631	// {
		1632	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1633	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1634	// }
		1635	// else
		1636	// {
		1637	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1638	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1639	// }
		1640	//}
		1641	}
		1642	}
		1643	}
		1644	/// <summary>
		1645	/// Navi-Ctrl data 'O'
		1646	/// GPS-Position, capacatiy, flying time...
		1647	/// </summary>
		1648	/// <param name="data">the received byte array to process</param>
		1649	void _processNCData(byte[] data)
		1650	{
		1651	int i_32, i_16, iVal;
		1652	double d;
		1653	i_32 = data[4];
		1654	iVal = i_32 << 24;
		1655	i_32 = data[3];
		1656	iVal += i_32 << 16;
		1657	i_32 = data[2];
		1658	iVal += i_32 << 8;
		1659	iVal += data[1];
		1660	d = (double)iVal / Math.Pow(10, 7);
2324	-	1661	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1662
2287	-	1663	PointLatLng p = new PointLatLng();
		1664
		1665	p.Lng = d;
		1666	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1667	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1668
		1669	i_32 = data[8];
		1670	iVal = i_32 << 24;
		1671	i_32 = data[7];
		1672	iVal += i_32 << 16;
		1673	i_32 = data[6];
		1674	iVal += i_32 << 8;
		1675	iVal += data[5];
		1676	d = (double)iVal / Math.Pow(10, 7);
2324	-	1677	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1678	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1679	p.Lat = d;
2291	-	1680	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1681	{
		1682	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1683	if(_bAutoHome && !_bFirstSatFix)
		1684	{
		1685	if (_iFirstSatFix < 3)
		1686	_iFirstSatFix++;
		1687	else
		1688	{
		1689	_bFirstSatFix = true;
2347	-	1690	Dispatcher.Invoke(() => _setHomePos());
2295	-	1691	}
		1692	}
2291	-	1693	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1694	{
		1695	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1696	_bAnimSatFixActive = false;
		1697	}
		1698	if (!_bFollowCopter)
		1699	{
		1700	_setCopterData(p);
		1701	if (!MainMap.ViewArea.Contains(p))
		1702	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1703
2291	-	1704	}
		1705	else
2287	-	1706	Dispatcher.Invoke(() => MainMap.Position = p);
		1707	}
		1708	else
2291	-	1709	{
		1710	if(_bSatFix)
		1711	{
		1712	if (data[50] == _iSatsLast)
		1713	{
		1714	if (_iSatsJitter < 20) _iSatsJitter++;
		1715	}
		1716	else
		1717	{
		1718	_iSatsJitter = 0;
		1719	_iSatsLast = data[50];
		1720	}
2287	-	1721
2291	-	1722	if (_iSatsJitter == 20)
		1723	{
		1724	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1725	{
		1726	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1727	_bAnimSatFixActive = true;
		1728	}
		1729	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1730	{
2335	-	1731	Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
2295	-	1732	th.Start();
2291	-	1733	_bVoiceSatFixActive = true;
		1734	}
		1735
		1736	_bSatFix = false;
		1737	}
		1738	}
		1739	}
		1740
2287	-	1741	i_16 = data[28];
		1742	i_16 = (Int16)(i_16 << 8);
		1743	iVal = data[27] + i_16;
		1744	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1745
		1746	i_16 = data[45];
		1747	i_16 = (Int16)(i_16 << 8);
		1748	iVal = data[44] + i_16;
		1749	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1750	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1751
		1752	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2355	-	1753	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2347	-	1754	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count > 0)
2342	-	1755	{
2347	-	1756	_setActiveWP(data[48]-1);
2355	-	1757	if((data[67] & 2) == 2)
		1758	Dispatcher.Invoke(() => {
		1759	DataGridRow row;
		1760	if (_wpIndex > -1)
		1761	{
		1762	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1763	row.Background = new SolidColorBrush(Colors.Transparent);
		1764	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1765	row.BorderThickness = new Thickness(0);
		1766	}
		1767	_wpIndex = data[48] - 1;
		1768	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
2366	-	1769	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		1770	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	1771	row.BorderThickness = new Thickness(2);
		1772	dgvWP.UpdateLayout();
		1773	});
2347	-	1774	_wpIndex = data[48]-1;
2342	-	1775	}
2347	-	1776	else
		1777	{
		1778	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	1779	{
2347	-	1780	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	1781	Dispatcher.Invoke(() =>
		1782	{
		1783	DataGridRow row;
2368	-	1784	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	1785	{
		1786	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1787	row.Background = new SolidColorBrush(Colors.Transparent);
		1788	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1789	row.BorderThickness = new Thickness(0);
		1790	_wpIndex = -1;
		1791	}
		1792	});
		1793
		1794	}
2347	-	1795	}
2342	-	1796
2287	-	1797	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	1798	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	1799	_wpCount = data[49];
2287	-	1800	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1801
		1802	//--------------- Capacity used ------------------------
		1803	i_16 = data[81];
		1804	i_16 = (Int16)(i_16 << 8);
		1805	iVal = data[80] + i_16;
		1806	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1807	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1808
		1809	//--------------- Flying time ------------------------
		1810	i_16 = data[56];
		1811	i_16 = (Int16)(i_16 << 8);
		1812	iVal = data[55] + i_16;
		1813	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1814	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1815	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1816	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1817
		1818	//--------------- RC quality ------------------------
		1819	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1820	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1821
2291	-	1822	if(data[66] > _iThresholdRC)
		1823	{
		1824	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1825	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1826	{
		1827	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1828	_bAnimRCLevelActive = false;
		1829	}
		1830	}
		1831	else
		1832	{
		1833	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1834	if (_iRCLevelJitter == 20)
		1835	{
		1836	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1837	{
		1838	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1839	_bAnimRCLevelActive = true;
		1840	}
		1841	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1842	{
2295	-	1843	Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1844	th.Start();
2291	-	1845	_bVoiceRCLevelActive = true;
		1846	}
		1847	_iRCLevelJitter++;
		1848	}
		1849	}
		1850
2287	-	1851	//--------------- NC Error ------------------------
		1852	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1853	if (data[69] > 0)
		1854	_readNCError();
		1855	if (data[69] > 0 & data[69] < 44)
		1856	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
		1857	else
		1858	if (_bErrorLog) _clearErrorLog("NC Error");
		1859
2298	-	1860	//-------------FC / NC Status Flags
		1861	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1862	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1863	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1864	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1865	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1866	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1867
		1868	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1869	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1870	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1871	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1872	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1873	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
		1874	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		1875	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		1876
		1877	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1878	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1879	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1880	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1881	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1882	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1883	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	1884
		1885	//Sidebar StatusSymbols
		1886	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1887	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
		1888	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
		1889
		1890	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1891	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
		1892	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
		1893
		1894	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	1895	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
		1896	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	-	1897
		1898	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1899	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
		1900	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
		1901
		1902	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	1903	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
		1904	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
		1905	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	-	1906
2324	-	1907	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	1908	}
		1909	/// <summary>
		1910	/// Navi-Ctrl WP data struct 'X'
		1911	/// called by index
		1912	/// </summary>
		1913	/// <param name="data">the received byte array to process</param>
		1914	void _processWPData(byte[] data)
		1915	{
2313	-	1916	_iWPCount = data[0];
2287	-	1917	_bGetWPCount = false;
		1918	if (data.Length >= 28)
		1919	{
		1920	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		1921	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		1922	if (_bGetWP)
		1923	{
		1924	if (data[1] == 1)
2315	-	1925	{
2333	-	1926	Dispatcher.Invoke(() =>
		1927	{
2356	-	1928	wpList.Clear();
		1929	_clearMapMarkers(typeof(CustomMarkerWP));
		1930	if (mRouteWP != null)
		1931	MainMap.Markers.Remove(mRouteWP);
		1932	if (wpActiveMarker != null)
		1933	MainMap.Markers.Remove(wpActiveMarker);
		1934	lblWPRouteDistance.Content = "0 m";
		1935	dtWaypoints.Rows.Clear();
2368	-	1936	_wpEdit = -1;_wpIndex = -1;
2318	-	1937	});
2315	-	1938	}
2287	-	1939	DataRow dr = dtWaypoints.NewRow();
		1940	dr = Waypoints.toDataRow(data, dr);
2313	-	1941	dtWaypoints.Rows.Add(dr);
2363	-	1942	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1]);
2313	-	1943	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1944	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	1945	if (data[1] == data[0])
		1946	{
		1947	_bGetWP = false;
2368	-	1948	_routeUpdate();
2287	-	1949	}
		1950
		1951	}
		1952	}
		1953	else
		1954	{
		1955	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		1956	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		1957	}
		1958	}
		1959	/// <summary>
		1960	/// OSD Menue 'L'
		1961	/// single page called by pagenumber
		1962	/// no autoupdate
		1963	/// </summary>
		1964	/// <param name="data">the received byte array to process</param>
		1965	void _processOSDSingle(byte[] data)
		1966	{
		1967	if (data.Length == 84)
		1968	{
		1969	string sMessage = "";
		1970	iOSDPage = data[0];
		1971	iOSDMax = data[1];
		1972	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		1973	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		1974	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1975	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1976	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1977	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1978	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		1979	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		1980
		1981	}
		1982	//else
		1983	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		1984
		1985	}
		1986	/// <summary>
		1987	/// OSD Menue 'H'
		1988	/// called by keys (0x01,0x02,0x03,0x04)
		1989	/// autoupdate
		1990	/// </summary>
		1991	/// <param name="data">the received byte array to process</param>
		1992	void _processOSDAuto(byte[] data)
		1993	{
		1994	if (data.Length == 81)
		1995	{
		1996	string sMessage = "";
		1997	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		1998	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1999	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2000	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2001	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2002
		2003	}
		2004	//else
		2005	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2006	}
		2007
		2008	#endregion processing received data
		2009
		2010	#region controller messages
		2011	/// <summary> send message to controller to request data
		2012	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2013	/// </summary>
		2014	/// <param name="CMDID"> the command ID </param>
		2015	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2016	private void _sendControllerMessage(char CMDID, byte address)
		2017	{
		2018	if (serialPortCtrl.Port.IsOpen)
		2019	{
		2020	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2021	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2022	serialStream.Write(bytes, 0, bytes.Length);
		2023
		2024	}
		2025	else
		2026	Log(LogMsgType.Error, "NOT CONNECTED!");
		2027	}
		2028	/// <summary> send message to controller to request data
		2029	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2030	/// </summary>
		2031	/// <param name="CMDID"> the command ID </param>
		2032	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2033	/// <param name="data"> additional data for the request</param>
		2034	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2035	{
		2036	if (serialPortCtrl.Port.IsOpen)
		2037	{
		2038	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2039	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2040	serialStream.Write(bytes, 0, bytes.Length);
		2041
		2042	}
		2043	else
		2044	Log(LogMsgType.Error, "NOT CONNECTED!");
		2045	}
		2046
		2047	/// <summary>
		2048	/// start/stop continous polling of controller values
		2049	/// </summary>
		2050	/// <param name="b">start/stop switch</param>
		2051	void _readCont(bool b)
		2052	{
		2053	bReadContinously = b;
		2054	if (bReadContinously)
		2055	{
		2056	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2057	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2058	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2059	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2060	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2061	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2062	}
		2063	else
		2064	{
		2065	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2066	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2067	_bConnErr = false;
		2068	}
		2069	_iLifeCounter = 0;
		2070	}
		2071
		2072	private void _getVersion()
		2073	{
		2074	_sendControllerMessage('v', 0);
		2075	}
		2076	/// <summary>
		2077	/// get FC version struct via NC
		2078	/// by sending '1' as data (not documented in wiki...)
		2079	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2080	/// </summary>
		2081	/// <param name="ctrl">controller number 1=FC</param>
		2082	private void _getVersion(byte ctrl)
		2083	{
		2084	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2085	}
		2086	/// <summary>
		2087	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2088	/// </summary>
		2089	private void _switchToNC()
		2090	{
		2091	if (serialPortCtrl.Port.IsOpen)
		2092	{
		2093	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2094	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2095	serialStream.Write(bytes, 0, bytes.Length);
		2096
		2097	Thread.Sleep(100);
		2098	_getVersion();
		2099	Thread.Sleep(100);
		2100	// _OSDMenue(0);
		2101	}
		2102	else
		2103	Log(LogMsgType.Error, "NOT CONNECTED!");
		2104	}
		2105	/// <summary>
		2106	/// switch to FC
		2107	/// </summary>
		2108	private void _switchToFC()
		2109	{
		2110	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2111	Thread.Sleep(100);
		2112	_getVersion();
		2113	Thread.Sleep(100);
		2114	// _OSDMenue(0);
		2115	}
		2116	/// <summary>
		2117	/// send RESET signal to FC
		2118	/// </summary>
		2119	private void _resetCtrl()
		2120	{
		2121	_sendControllerMessage('R', 1);
		2122	}
		2123	/// <summary>
		2124	/// poll the debug data (4sec subscription)
		2125	/// </summary>
		2126	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2127	private void _readDebugData(bool auto)
		2128	{
		2129	byte interval = auto ? debugInterval : (byte)0;
		2130	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2131	}
		2132	/// <summary>
		2133	/// poll the BL-CTRL status via NC (4sec subscription)
		2134	/// </summary>
		2135	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2136	private void _readBLCtrl(bool auto)
		2137	{
		2138	byte interval = auto ? blctrlInterval : (byte)0;
		2139	_sendControllerMessage('k', 0, new byte[1] { interval });
		2140	}
		2141	/// <summary>
		2142	/// poll the NC data struct (4sec subscription)
		2143	/// </summary>
		2144	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2145	private void _readNavData(bool auto)
		2146	{
		2147	byte interval = auto ? navctrlInterval : (byte)0;
		2148	_sendControllerMessage('o', 2, new byte[1] { interval });
		2149	}
		2150	/// <summary>
		2151	/// get the errortext for pending NC error
		2152	/// </summary>
		2153	private void _readNCError()
		2154	{
		2155	_sendControllerMessage('e', 2);
		2156	}
		2157	/// <summary>
		2158	/// request the Waypoint at index
		2159	/// </summary>
		2160	/// <param name="index"></param>
		2161	void _getpWP(int index)
		2162	{
		2163	if (serialPortCtrl.Port.IsOpen)
		2164	{
		2165	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2166	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2167	serialStream.Write(bytes, 0, bytes.Length);
		2168	}
		2169	else
		2170	Log(LogMsgType.Error, "NOT CONNECTED!");
		2171
		2172	}
		2173	void _getWP()
		2174	{
2335	-	2175	int iTimeout = 0;
2287	-	2176	_bGetWPCount = true;
2315	-	2177	_getpWP(1); //get the itemscount of wp
2335	-	2178	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2179	{
		2180	Thread.Sleep(10);
		2181	iTimeout++;
		2182	}
		2183	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2184	_getWPList();
		2185	}
		2186	void _getWPList()
		2187	{
		2188	_bGetWP = true;
2313	-	2189	int iTimeout=0;
		2190	for (int j = 0; j < _iWPCount; j++)
2287	-	2191	{
		2192	_getpWP(j + 1);
2313	-	2193	iTimeout = 0;
		2194	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2195	{
		2196	Thread.Sleep(1);
		2197	iTimeout++;
		2198	}
2287	-	2199	}
		2200	}
2363	-	2201	/// <summary>
		2202	/// Wrapper for _clearCopterWPList()
		2203	/// necessary, cause it is called by threadnew which does not like return values...
		2204	/// </summary>
2340	-	2205	void clearCopterWPList()
2313	-	2206	{
2340	-	2207	_clearCopterWPList();
		2208	}
2363	-	2209	/// <summary>
		2210	/// clear the WP list of the copter
		2211	/// by sending 'invalid' and index '0'
		2212	/// </summary>
		2213	/// <returns></returns>
2340	-	2214	bool _clearCopterWPList()
		2215	{
2335	-	2216	int iTimeout = 0;
2313	-	2217	if (serialPortCtrl.Port.IsOpen)
		2218	{
		2219	byte[] bData = new byte[30];
		2220	for (int i = 0; i < 30; i++)
		2221	bData[i] = 0;
		2222	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2223	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2224	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2225
2313	-	2226	_iWPCount = -1;
2340	-	2227	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2228	{
2313	-	2229	Thread.Sleep(10);
2335	-	2230	iTimeout++;
		2231	}
2313	-	2232	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2233	if (_iWPCount > -1)
2340	-	2234	return true;
		2235	else
		2236	Log(LogMsgType.Error, "Timeout while sending list!");
		2237	}
		2238	else
		2239	Log(LogMsgType.Error, "NOT CONNECTED!");
		2240
		2241	return false;
		2242	}
		2243	void _sendWPList()
		2244	{
2362	-	2245	_sendWPList(0);
		2246	}
		2247	void _sendWPList(int iStart)
		2248	{
2340	-	2249	int iTimeout = 0;
		2250	if (serialPortCtrl.Port.IsOpen)
		2251	{
		2252	if (_clearCopterWPList())
2313	-	2253	{
2362	-	2254	int k = 1;
		2255	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	2256	{
2362	-	2257	k = iStart > 0 ? k : -1;
2376	-	2258	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	2259
2335	-	2260	_iWPCount = -1;
		2261	iTimeout = 0;
		2262	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2263	{
		2264	Thread.Sleep(10);
		2265	iTimeout++;
		2266	}
		2267	if (_iWPCount == -1)
		2268	{
		2269	Log(LogMsgType.Error, "Timeout while sending list!");
		2270	break;
		2271	}
		2272	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	2273	k++;
2335	-	2274	}
2313	-	2275	}
		2276	}
		2277	else
		2278	Log(LogMsgType.Error, "NOT CONNECTED!");
		2279
		2280	}
2376	-	2281	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	2282	{
2313	-	2283
2340	-	2284	if (serialPortCtrl.Port.IsOpen)
		2285	{
		2286	byte[] bData = new byte[30];
		2287	for (int i = 0; i < 30; i++)
		2288	bData[i] = 0;
		2289	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2290	byte[] bytes;
		2291	int iVal;
		2292	double dVal;
		2293	NumberFormatInfo nfi = new NumberFormatInfo();
		2294	nfi.NumberDecimalSeparator = ",";
		2295
		2296	//longitude
		2297	dVal = Convert.ToDouble(dr[4], nfi);
		2298	iVal = (int)(dVal * Math.Pow(10, 7));
		2299	bData[0] = (byte)(iVal & 0xff);
		2300	bData[1] = (byte)((iVal >> 8) & 0xff);
		2301	bData[2] = (byte)((iVal >> 16) & 0xff);
		2302	bData[3] = (byte)(iVal >> 24);
		2303	//latitude
		2304	dVal = Convert.ToDouble(dr[3], nfi);
		2305	iVal = (int)(dVal * Math.Pow(10, 7));
		2306	bData[4] = (byte)(iVal & 0xff);
		2307	bData[5] = (byte)((iVal >> 8) & 0xff);
		2308	bData[6] = (byte)((iVal >> 16) & 0xff);
		2309	bData[7] = (byte)(iVal >> 24);
		2310	//altitude
		2311	dVal = Convert.ToDouble(dr[5], nfi);
		2312	iVal = (int)(dVal * 10);
		2313	bData[8] = (byte)(iVal & 0xff);
		2314	bData[9] = (byte)((iVal >> 8) & 0xff);
		2315	bData[10] = (byte)((iVal >> 16) & 0xff);
		2316	bData[11] = (byte)(iVal >> 24);
2376	-	2317	if(bSim)
		2318	bData[12] = 3; //Status 'SIMULATE'
2340	-	2319	//Status 'NEWDATA'
2376	-	2320	else
		2321	bData[12] = 1;
2340	-	2322	//heading
		2323	iVal = Convert.ToInt16(dr[6]);
		2324	bData[13] = (byte)(iVal & 0xff);
		2325	bData[14] = (byte)((iVal >> 8) & 0xff);
		2326	//ToleranceRadius
		2327	bData[15] = Convert.ToByte(dr[9]);
		2328	//HoldTime
		2329	bData[16] = Convert.ToByte(dr[10]);
		2330	//Event_Flag
		2331	bData[17] = Convert.ToByte(dr[13]);
		2332	//Index
		2333	bData[18] = index > 0 ? (byte)index : Convert.ToByte((int)dr[0]);
		2334	//Type
		2335	bData[19] = Convert.ToByte(dr[1]);
		2336	//WP_EventChannelValue
		2337	bData[20] = Convert.ToByte(dr[14]);
		2338	//AltitudeRate
		2339	bData[21] = Convert.ToByte(dr[8]);
		2340	//Speed
		2341	bData[22] = Convert.ToByte(dr[7]);
		2342	//CamAngle
		2343	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2344	//Name
2362	-	2345	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		2346	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	2347	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2348	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2349	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2350	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2351	//Autotrigger
		2352	bData[28] = Convert.ToByte(dr[11]);
		2353
2356	-	2354	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	2355	serialStream.Write(bytes, 0, bytes.Length);
		2356
		2357	return true;
		2358	}
		2359
		2360	return false;
		2361	}
2287	-	2362	#region OSD-Menue
		2363
		2364	/// <summary>
		2365	/// one time query of the OSD Menue with pagenumber
		2366	/// </summary>
		2367	/// <param name="iMenue">Menue page</param>
		2368	void _OSDMenue(int iMenue)
		2369	{
		2370	if (serialPortCtrl.Port.IsOpen)
		2371	{
		2372	if (iMenue > iOSDMax)
		2373	iMenue = 0;
		2374	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2375	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2376	serialStream.Write(bytes, 0, bytes.Length);
		2377	}
		2378	else
		2379	Log(LogMsgType.Error, "NOT CONNECTED!");
		2380
		2381	}
		2382	/// <summary>
		2383	/// call the OSDMenue and start autorefresh
		2384	/// usually by sending a menuekey
		2385	/// 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)
		2386	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2387	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2388	/// </summary>
		2389	void _OSDMenueAutoRefresh()
		2390	{
		2391	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2392	}
		2393	void _OSDMenueAutoRefresh(byte key)
		2394	{
		2395	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2396	}
		2397	/// <summary>
		2398	/// initialize the OSD menue combobox
		2399	/// combox is filled by numbers from 0 to max pagenumber
		2400	/// </summary>
		2401	void _initOSDCB()
		2402	{
		2403	_bCBInit = true;
		2404	if (iOSDMax == 0)
		2405	{
		2406	_OSDMenue(0);
		2407	Thread.Sleep(10);
		2408	}
		2409	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2410	for (int i = 0; i <= iOSDMax; i++)
		2411	{
		2412	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2413	}
		2414	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2415	_bCBInit = false;
		2416	}
		2417	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2418	{
		2419	iOSDPage++;
		2420	if (iOSDPage > iOSDMax)
		2421	iOSDPage = 0;
		2422
		2423	_OSDMenue(iOSDPage);
		2424	}
		2425	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2426	{
		2427	iOSDPage--;
		2428	if (iOSDPage < 0)
		2429	iOSDPage = iOSDMax;
		2430
		2431	_OSDMenue(iOSDPage);
		2432	}
		2433	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2434	{
		2435	_OSDMenueAutoRefresh(8);
		2436	}
		2437	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2438	{
		2439	_OSDMenueAutoRefresh(4);
		2440	}
		2441	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2442	{
		2443	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2444	_OSDMenue(cbOSD.SelectedIndex);
		2445	}
		2446	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2447	{
		2448	Dispatcher.Invoke(() =>
		2449	{
		2450	TextRange tr;
		2451	if (bNew)
		2452	{
		2453	rtfOSD.SelectAll();
		2454	rtfOSD.Selection.Text = string.Empty;
		2455	}
		2456	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2457	tr.Text = msg;
		2458	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2459	// rtfOSD.AppendText("\r");
		2460	rtfOSD.ScrollToEnd();
		2461
		2462	});
		2463	}
		2464
		2465	#endregion OSD-Menue
		2466
		2467	#endregion controller messages
		2468
2295	-	2469	void _mediaPlayer(string file)
		2470	{
		2471	if (File.Exists(file))
		2472	{
		2473	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		2474	mp.Open(file);
		2475	mp.Play();
		2476	}
		2477	}
2310	-	2478
2362	-	2479	#region ui
2310	-	2480	/// <summary>
		2481	/// Switch between fullscreen and normal window mode
		2482	/// save & restore scaling settings
		2483	/// </summary>
		2484	/// <param name="sender"></param>
		2485	/// <param name="e"></param>
2287	-	2486	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2487	{
		2488	if (winState.isMaximized)
		2489	{
		2490	winState.Restore(this);
		2491	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2492	if(_bSaveWinStateFull)
		2493	_saveScaleSliders(true);
		2494	if(_bSaveWinStateNormal)
		2495	_setScaleSliders(false);
		2496	}
		2497	else
		2498	{
		2499	winState.Maximize(this);
		2500	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2501	if(_bSaveWinStateNormal)
		2502	_saveScaleSliders(false);
		2503	if(_bSaveWinStateFull)
		2504	_setScaleSliders(true);
		2505	}
		2506	}
		2507
		2508	/// <summary>
		2509	/// reset the scaling of all UI elements to default
		2510	/// </summary>
		2511	/// <param name="sender"></param>
		2512	/// <param name="e"></param>
		2513	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2514	{
		2515	UIScaleHorizonSlider.Value =
		2516	UIScaleLOGSlider.Value =
		2517	UIScaleMotorsSlider.Value =
		2518	UIScaleOSDSlider.Value =
		2519	UIScaleSlider.Value =
		2520	UIScaleTopSlider.Value = 1;
		2521	}
		2522	/// <summary>
		2523	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2524	/// </summary>
		2525	/// <param name="sender"></param>
		2526	/// <param name="e"></param>
		2527	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2528	{
		2529	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2530	if (GridMotors != null)
		2531	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2532	if (GridSideBar != null)
		2533	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2534	if (GridOSD != null)
		2535	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2536	if (GridData != null)
		2537	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2538	if (GridWP != null)
		2539	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2540	}
2310	-	2541	/// <summary>
		2542	/// restore the saved scalings for the fullscreen/normal window mode
		2543	/// </summary>
		2544	/// <param name="bFull">the mode the window is set to</param>
2287	-	2545	void _setScaleSliders(bool bFull)
		2546	{
		2547	if(bFull)
		2548	{
		2549	UIScaleSlider.Value = scaleFullAll;
		2550	UIScaleTopSlider.Value = scaleFullTopBar;
		2551	UIScaleMotorsSlider.Value = scaleFullMotors;
		2552	UIScaleOSDSlider.Value = scaleFullOSD;
		2553	UIScaleLOGSlider.Value = scaleFullLOG;
		2554	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2555	}
		2556	else
		2557	{
		2558	UIScaleSlider.Value = scaleNormalAll;
		2559	UIScaleTopSlider.Value = scaleNormalTopBar;
		2560	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2561	UIScaleOSDSlider.Value = scaleNormalOSD;
		2562	UIScaleLOGSlider.Value = scaleNormalLOG;
		2563	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2564	}
		2565	}
		2566
2310	-	2567	/// <summary>
		2568	/// save the scalings for the actual window mode
		2569	/// </summary>
		2570	/// <param name="bFull">the actual window mode</param>
2287	-	2571	void _saveScaleSliders(bool bFull)
		2572	{
		2573
		2574	if (bFull)
		2575	{
		2576	scaleFullAll = UIScaleSlider.Value;
		2577	scaleFullTopBar = UIScaleTopSlider.Value;
		2578	scaleFullMotors = UIScaleMotorsSlider.Value;
		2579	scaleFullOSD = UIScaleOSDSlider.Value;
		2580	scaleFullLOG = UIScaleLOGSlider.Value;
		2581	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2582	}
		2583	else
		2584	{
		2585	scaleNormalAll = UIScaleSlider.Value;
		2586	scaleNormalTopBar = UIScaleTopSlider.Value;
		2587	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2588	scaleNormalOSD = UIScaleOSDSlider.Value;
		2589	scaleNormalLOG = UIScaleLOGSlider.Value;
		2590	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2591	}
		2592	}
2362	-	2593	#endregion ui
2287	-	2594
		2595	/// <summary>
		2596	/// read settings from ini-file
		2597	/// </summary>
		2598	void _readIni()
		2599	{
		2600	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2601	_writeIni();
		2602	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2603	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2604	try
		2605	{
2287	-	2606
2312	-	2607	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2608	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2609	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2610	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2611	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2612	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2613	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2614	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2615
2312	-	2616	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2617	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2618	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2619	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2620	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2621	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2622	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2623	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2624
2312	-	2625	sVal = ini.IniReadValue("topBar", "voltage");
		2626	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2627	sVal = ini.IniReadValue("topBar", "capacity");
		2628	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2629	sVal = ini.IniReadValue("topBar", "current");
		2630	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2631	sVal = ini.IniReadValue("topBar", "flightTime");
		2632	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2633	sVal = ini.IniReadValue("topBar", "distanceHP");
		2634	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2635	sVal = ini.IniReadValue("topBar", "height");
		2636	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2637	sVal = ini.IniReadValue("topBar", "speed");
		2638	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2639	sVal = ini.IniReadValue("topBar", "magneticField");
		2640	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2641	sVal = ini.IniReadValue("topBar", "satellites");
		2642	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2643	sVal = ini.IniReadValue("topBar", "rc");
		2644	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2645
2312	-	2646	sVal = ini.IniReadValue("style", "saveFullScreen");
		2647	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2648	sVal = ini.IniReadValue("style", "saveNormalState");
		2649	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2650
2312	-	2651	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2652	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2653	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2654	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2655	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2656	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2657	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2658	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2659	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2660	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2661	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2662	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2663
2312	-	2664	sVal = ini.IniReadValue("style", "scaleFullAll");
		2665	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2666	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2667	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2668	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2669	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2670	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2671	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2672	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2673	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2674	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2675	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2676
2312	-	2677	sVal = ini.IniReadValue("general", "LiPoCells");
		2678	_LipoCells = Convert.ToInt16(sVal);
		2679	sVal = ini.IniReadValue("general", "Motors");
		2680	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2681
2312	-	2682	sVal = ini.IniReadValue("map", "followMe");
		2683	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2684	sVal = ini.IniReadValue("map", "AutoSetHome");
		2685	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2686	sVal = ini.IniReadValue("map", "GPXLog");
		2687	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2688
2312	-	2689	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2690	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2691	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2692	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2693	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2694	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2695	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2696	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2697	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2698	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2699	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2700	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2701	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2702	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2703	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2704	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2705	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2706	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2707	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2708	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2709	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2710	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2711
		2712	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2713	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2714	sVal = ini.IniReadValue("waypoints", "poicolor");
		2715	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2716	sVal = ini.IniReadValue("waypoints", "fscolor");
		2717	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2718	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2719	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	2720	sVal = ini.IniReadValue("waypoints", "routecolor");
		2721	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		2722	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		2723	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2349	-	2724
		2725	for (int i = 0; i < 12; i++)
		2726	{
		2727	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		2728	if (sVal != "")
		2729	serChan[i] = Convert.ToInt16(sVal);
		2730	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		2731	if (sVal != "")
		2732	serChanTitle[i] = sVal;
		2733	for (int y = 0; i < 4 && y < 3; y++)
		2734	{
		2735	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		2736	if (sVal != "")
		2737	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		2738	}
		2739	}
		2740
2312	-	2741	}
		2742	catch (Exception e)
		2743	{
2287	-	2744
2312	-	2745	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2746	}
		2747
2287	-	2748	}
		2749
		2750	/// <summary>
		2751	/// save settings to ini-file
		2752	/// </summary>
		2753	void _writeIni()
		2754	{
		2755
		2756	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2757	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2758
2312	-	2759	try
		2760	{
2287	-	2761
2312	-	2762	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2763	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2764	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2765	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2766
2312	-	2767	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2768	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2769	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2770	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2771
2312	-	2772	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2773	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2774
2312	-	2775	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2776	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	2777	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	2778
2312	-	2779	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2780	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2781	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2782	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2783	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2784	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2785	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2786	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2787	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2788	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2789
2312	-	2790	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2791	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2792
2312	-	2793	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2794	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2795	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2796	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2797	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2798	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	2799
2312	-	2800	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2801	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2802	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2803	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2804	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2805	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	2806
2312	-	2807	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2808
		2809	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2810	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2811	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2812	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2813	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2814	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2815	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2816	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2817	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2818	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2819	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	2820
		2821	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		2822	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		2823	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		2824	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2328	-	2825	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		2826	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2349	-	2827
		2828	for (int i = 0; i < 12; i++)
		2829	{
		2830	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		2831	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		2832	for (int y = 0; i < 4 && y < 3; y++)
		2833	{
		2834	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		2835	}
		2836	}
		2837
2312	-	2838	}
		2839	catch (Exception e)
		2840	{
		2841
		2842	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);
		2843	}
2287	-	2844	}
2350	-	2845
2349	-	2846	#region serial channels
		2847	/// <summary>
		2848	/// Sending the serial channel values
		2849	/// </summary>
		2850	void _sendSerialData()
		2851	{
		2852	byte[] serData = new byte[12];
		2853	for (int i = 0; i < 12; i++)
		2854	{
		2855	serData[i] = unchecked((byte)(serChan[i] - 127));
		2856	}
		2857	_sendControllerMessage('y', 1, serData);
		2858	}
		2859	/// <summary>
		2860	/// init the controls for displaying
		2861	/// and setting serial control channels
		2862	/// </summary>
		2863	void _initSerialCtrl()
		2864	{
		2865	SerChan1ScaleSlider.Value = serChan[0];
		2866	textBoxSerial1.Text = serChanTitle[0];
		2867	SerChan2ScaleSlider.Value = serChan[1];
		2868	textBoxSerial2.Text = serChanTitle[1];
2350	-	2869	SerChan3ScaleSlider.Value = serChan[2];
		2870	textBoxSerial3.Text = serChanTitle[2];
2349	-	2871	//SerChan4ScaleSlider.Value = serChan[3];
		2872	//textBoxSerial4.Text = serChanTitle[3];
		2873	//trckbarSerial5.Value = serChan[4];
		2874	//textBoxSerial5.Text = serChanTitle[4];
		2875	//trckbarSerial6.Value = serChan[5];
		2876	//textBoxSerial6.Text = serChanTitle[5];
		2877	//trckbarSerial7.Value = serChan[6];
		2878	//textBoxSerial7.Text = serChanTitle[6];
		2879	//trckbarSerial8.Value = serChan[7];
		2880	//textBoxSerial8.Text = serChanTitle[7];
2312	-	2881
2349	-	2882	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		2883	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		2884	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		2885	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		2886	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		2887	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	2888	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		2889	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		2890	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	2891	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		2892	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		2893	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		2894	}
		2895	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2896	{
		2897	if (!_init)
		2898	{
		2899	serChan[0] = (int)SerChan1ScaleSlider.Value;
		2900	_sendSerialData();
		2901	}
		2902	}
		2903	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		2904	{
		2905	if (!_init)
		2906	{
		2907	serChanTitle[0] = textBoxSerial1.Text;
		2908	}
		2909	}
		2910	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		2911	{
		2912	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		2913	{
		2914	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		2915	}
		2916	}
		2917	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		2918	{
		2919	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		2920	{
		2921	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		2922	}
		2923	}
		2924	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		2925	{
		2926	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		2927	{
		2928	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		2929	}
		2930	}
		2931	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		2932	{
		2933	if (textBoxSerial1_val1.Text.Length > 0)
		2934	{
		2935	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		2936	}
		2937	}
		2938	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		2939	{
		2940	SerChan1ScaleSlider.Value = 0;
		2941	}
		2942	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		2943	{
		2944	SerChan1ScaleSlider.Value = 127;
		2945	}
		2946	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		2947	{
		2948	SerChan1ScaleSlider.Value = 254;
		2949	}
		2950	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		2951	{
		2952	if (textBoxSerial1_val2.Text.Length > 0)
		2953	{
		2954	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		2955	}
		2956	}
		2957	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		2958	{
		2959	if (textBoxSerial1_val3.Text.Length > 0)
		2960	{
		2961	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		2962	}
		2963	}
		2964
		2965	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2966	{
		2967	if (!_init)
		2968	{
		2969	serChan[1] = (int)SerChan2ScaleSlider.Value;
		2970	_sendSerialData();
		2971	}
		2972	}
		2973	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		2974	{
		2975	if (!_init)
		2976	{
		2977	serChanTitle[1] = textBoxSerial2.Text;
		2978	}
		2979	}
		2980	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		2981	{
		2982	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		2983	{
		2984	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		2985	}
		2986	}
		2987	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		2988	{
		2989	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		2990	{
		2991	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		2992	}
		2993	}
		2994	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		2995	{
		2996	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		2997	{
		2998	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		2999	}
		3000	}
		3001	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3002	{
		3003	SerChan2ScaleSlider.Value = 0;
		3004	}
		3005	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3006	{
		3007	SerChan2ScaleSlider.Value = 127;
		3008	}
		3009	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3010	{
		3011	SerChan2ScaleSlider.Value = 254;
		3012	}
		3013	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3014	{
		3015	if (textBoxSerial2_val1.Text.Length > 0)
		3016	{
		3017	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3018	}
		3019	}
		3020	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3021	{
		3022	if (textBoxSerial2_val2.Text.Length > 0)
		3023	{
		3024	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3025	}
		3026	}
		3027	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3028	{
		3029	if (textBoxSerial2_val3.Text.Length > 0)
		3030	{
		3031	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3032	}
		3033	}
2350	-	3034
		3035	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3036	{
		3037	if (!_init)
		3038	{
		3039	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3040	_sendSerialData();
		3041	}
		3042	}
		3043	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3044	{
		3045	if (!_init)
		3046	{
		3047	serChanTitle[2] = textBoxSerial3.Text;
		3048	}
		3049	}
		3050	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3051	{
		3052	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3053	{
		3054	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3055	}
		3056	}
		3057	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3058	{
		3059	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3060	{
		3061	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3062	}
		3063	}
		3064	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3065	{
		3066	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3067	{
		3068	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3069	}
		3070	}
		3071	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3072	{
		3073	SerChan3ScaleSlider.Value = 0;
		3074	}
		3075	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3076	{
		3077	SerChan3ScaleSlider.Value = 127;
		3078	}
		3079	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3080	{
		3081	SerChan3ScaleSlider.Value = 254;
		3082	}
		3083	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3084	{
		3085	if (textBoxSerial3_val1.Text.Length > 0)
		3086	{
		3087	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3088	}
		3089	}
		3090	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3091	{
		3092	if (textBoxSerial3_val2.Text.Length > 0)
		3093	{
		3094	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3095	}
		3096	}
		3097	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3098	{
		3099	if (textBoxSerial3_val3.Text.Length > 0)
		3100	{
		3101	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3102	}
		3103	}
2349	-	3104	/// <summary>
		3105	/// checks the input of a textbox
		3106	/// for valid data
		3107	/// in this case values 0-254
		3108	/// </summary>
		3109	/// <param name="sender"></param>
		3110	/// <param name="e"></param>
		3111	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3112	{
		3113	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3114	e.Handled = true;
		3115	else
		3116	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3117	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3118	e.Handled = true;
		3119	else
		3120	{
		3121	int i = -1;
		3122	switch (((TextBox)sender).Name)
		3123	{
		3124	case "textBoxSerial1_val1":
		3125	i = 0;
		3126	break;
		3127	case "textBoxSerial1_val2":
		3128	i = 1;
		3129	break;
		3130	case "textBoxSerial1_val3":
		3131	i = 2;
		3132	break;
		3133	case "textBoxSerial2_val1":
		3134	i = 3;
		3135	break;
		3136	case "textBoxSerial2_val2":
		3137	i = 4;
		3138	break;
		3139	case "textBoxSerial2_val3":
		3140	i = 5;
		3141	break;
		3142	case "textBoxSerial3_val1":
		3143	i = 6;
		3144	break;
		3145	case "textBoxSerial3_val2":
		3146	i = 7;
		3147	break;
		3148	case "textBoxSerial3_val3":
		3149	i = 8;
		3150	break;
		3151	case "textBoxSerial4_val1":
		3152	i = 9;
		3153	break;
		3154	case "textBoxSerial4_val2":
		3155	i = 10;
		3156	break;
		3157	case "textBoxSerial4_val3":
		3158	i = 11;
		3159	break;
		3160	}
		3161	if (i > -1)
		3162	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3163	}
		3164	}
		3165
		3166	#endregion serial channels
2315	-	3167	#region WP
2312	-	3168	void _readWPLFile()
		3169	{
		3170	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3171	fd.Filter = "Waypointlists \| *.wpl";
		3172	fd.Multiselect = false;
		3173	if (fd.ShowDialog().Value)
		3174	{
		3175	string file = fd.SafeFileName;
		3176	IniFile ini = new IniFile(fd.SafeFileName);
		3177	ini.path = fd.FileName;
		3178
		3179	try
		3180	{
		3181	string sVal = ini.IniReadValue("General", "FileVersion");
		3182	if (sVal == "")
		3183	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3184	else
		3185	{
		3186	if (Convert.ToInt16(sVal) < 3)
		3187	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3188	else
		3189	{
		3190	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3191	if (sVal == "")
		3192	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3193	else
		3194	{
		3195	int wpnum = Convert.ToInt16(sVal);
		3196	string wp;
		3197	int i;
2313	-	3198	NumberFormatInfo nfi = new NumberFormatInfo();
		3199	nfi.NumberDecimalSeparator = ".";
2312	-	3200	dtWaypoints.Rows.Clear();
2368	-	3201	_wpEdit = -1;_wpIndex = -1;
2327	-	3202	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	3203	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	3204	wpList.Clear();
		3205	if (mRouteWP != null)
		3206	MainMap.Markers.Remove(mRouteWP);
2363	-	3207	//if (wpActiveMarker != null)
		3208	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	3209	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3210
2312	-	3211	for (int k = 1; k <= wpnum; k++)
		3212	{
		3213	DataRow dr = dtWaypoints.NewRow();
		3214	dr.ItemArray = new object[16];
		3215	object[] o = new object[16];
		3216	i = 0;
		3217	wp = "Point" + k.ToString();
		3218	o[i] = k;
		3219	i++;
		3220	sVal = ini.IniReadValue(wp, "Type");
		3221	if (sVal != "")
2315	-	3222	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3223	i++;
		3224	sVal = ini.IniReadValue(wp, "Prefix");
		3225	if (sVal != "")
2350	-	3226	o[i] = sVal + k.ToString();
		3227	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3228	i++;
2313	-	3229	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3230	if (sVal != "")
2313	-	3231	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3232	i++;
2313	-	3233	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3234	if (sVal != "")
2313	-	3235	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3236	i++;
		3237	sVal = ini.IniReadValue(wp, "Altitude");
		3238	if (sVal != "")
2313	-	3239	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3240	i++;
		3241	sVal = ini.IniReadValue(wp, "Heading");
		3242	if (sVal != "")
		3243	o[i] = Convert.ToInt16(sVal);
		3244	i++;
		3245	sVal = ini.IniReadValue(wp, "Speed");
		3246	if (sVal != "")
2315	-	3247	o[i] = Convert.ToInt16(sVal);
2312	-	3248	i++;
		3249	sVal = ini.IniReadValue(wp, "ClimbRate");
		3250	if (sVal != "")
		3251	o[i] = Convert.ToInt16(sVal);
		3252	i++;
		3253	sVal = ini.IniReadValue(wp, "Radius");
		3254	if (sVal != "")
		3255	o[i] = Convert.ToInt16(sVal);
		3256	i++;
		3257	sVal = ini.IniReadValue(wp, "DelayTime");
		3258	if (sVal != "")
		3259	o[i] = Convert.ToInt16(sVal);
		3260	i++;
		3261	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3262	if (sVal != "")
		3263	o[i] = Convert.ToInt16(sVal); ;
		3264	i++;
		3265	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3266	if (sVal != "")
2313	-	3267	o[i] = Convert.ToInt16(sVal);
2312	-	3268	i++;
		3269	o[i] = 0;
		3270	i++;
		3271	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3272	if (sVal != "")
		3273	o[i] = Convert.ToInt16(sVal);
		3274	i++;
		3275	o[i] = "New";
		3276
		3277	dr.ItemArray = o;
		3278	dtWaypoints.Rows.Add(dr);
2363	-	3279	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1]);
2315	-	3280
2312	-	3281	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3282	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3283	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3284	Thread.Sleep(10);
		3285	}
2359	-	3286	_routeUpdate();
2312	-	3287	}
		3288	}
		3289	}
		3290
		3291	}
		3292	catch (Exception e)
		3293	{
		3294
		3295	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		3296	}
		3297
		3298	}
		3299	}
2350	-	3300	void _saveWPLFile()
		3301	{
		3302	if (dtWaypoints.Rows.Count > 0)
		3303	{
		3304	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		3305	fd.Filter = "Waypointlists \| *.wpl";
		3306	fd.AddExtension = true;
		3307	if (fd.ShowDialog().Value)
		3308	{
		3309	string file = fd.SafeFileName;
		3310	IniFile ini = new IniFile(fd.SafeFileName);
		3311	ini.path = fd.FileName;
		3312	NumberFormatInfo nfi = new NumberFormatInfo();
		3313	nfi.NumberDecimalSeparator = ".";
		3314
		3315	try
		3316	{
		3317	ini.IniWriteValue("General", "FileVersion", "3");
		3318	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		3319	ini.IniWriteValue("General", "Mapfile", "");
		3320	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		3321	{
		3322	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		3323	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		3324	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		3325	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		3326	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		3327	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		3328	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		3329	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		3330	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		3331	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		3332	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		3333	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));
		3334	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		3335	}
		3336	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		3337	}
		3338	catch { }
		3339	}
		3340	}
		3341	else
		3342	MessageBox.Show("Nothing to save...");
		3343	}
		3344	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		3345	{
		3346	_saveWPLFile();
		3347	}
		3348	/// <summary>
		3349	/// set the selected color for the route
		3350	/// </summary>
		3351	/// <param name="color"></param>
		3352	/// <returns></returns>
2328	-	3353	Brush _getBrush(string color)
		3354	{
		3355	switch (color)
		3356	{
		3357	case "red":
		3358	return Brushes.Red;
		3359	case "green":
		3360	return Brushes.Lime;
		3361	case "blue":
		3362	return Brushes.Aqua;
		3363	case "pink":
		3364	return Brushes.Magenta;
		3365	case "yellow":
		3366	return Brushes.Yellow;
		3367	default:
		3368	return Brushes.Magenta;
		3369	}
		3370	}
2359	-	3371	void _routeUpdate()
		3372	{
		3373	Dispatcher.Invoke(() =>
		3374	{
		3375	if (comboBoxRouteColor.SelectionBoxItem != null)
		3376	{
		3377	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3378	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3379	}
		3380	else
		3381	mRouteWP = new GMapRoute(wpList, null);
		3382
		3383	if (_bShowWPRoute)
2368	-	3384	MainMap.Markers.Add(mRouteWP);
2359	-	3385	});
		3386
		3387	MapRoute mr = new MapRoute(wpList, "WPList");
		3388	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		3389	}
2363	-	3390	GMapMarker _createWP(PointLatLng p, string name, int type)
		3391	{
		3392	GMapMarker wpMarker = new GMapMarker(p);
		3393	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
		3394	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		3395	wpMarker.ZIndex = 100;
		3396	_setMarkerColor(wpMarker, type);
		3397	Dispatcher.Invoke(() => MainMap.Markers.Add(wpMarker));
2372	-	3398	if (type == 0 \|\| type == 3)
2363	-	3399	wpList.Add(p);
		3400	return wpMarker;
		3401	}
2315	-	3402	void _setMarkerColor(GMapMarker wpMarker,int iType)
		3403	{
2369	-	3404	if(wpMarker != null)
2315	-	3405	Dispatcher.Invoke(() =>
		3406	{
		3407	switch (iType)
		3408	{
		3409	case 0:
		3410	if (comboBoxWPColor.SelectionBoxItem != null)
		3411	{
		3412	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3413	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3414	}
		3415	else
2372	-	3416	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	3417	break;
		3418	case 1:
		3419	if (comboBoxPOIColor.SelectionBoxItem != null)
		3420	{
		3421	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3422	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3423	}
		3424	else
2372	-	3425	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	3426	break;
		3427	case 2:
		3428	if (comboBoxFSColor.SelectionBoxItem != null)
		3429	{
		3430	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3431	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3432	}
		3433	else
		3434	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3435	break;
2372	-	3436	case 3:
		3437	if (comboBoxLandingColor.SelectionBoxItem != null)
		3438	{
		3439	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		3440	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3441	}
		3442	else
		3443	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		3444	break;
2315	-	3445	default:
		3446	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3447	break;
		3448	}
		3449	});
2312	-	3450
2315	-	3451	}
2372	-	3452	void _MarkerColorSelection(object sender,int type)
		3453	{
2315	-	3454	Dispatcher.Invoke(() =>
		3455	{
2372	-	3456	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	3457	{
		3458	for (int k = 0; k < MainMap.Markers.Count; k++)
		3459	{
		3460	GMapMarker p = MainMap.Markers[k];
2372	-	3461	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	3462	{
2372	-	3463	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	3464	{
2372	-	3465	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	3466	((CustomMarkerWP)(p.Shape)).setColor(s);
		3467	}
		3468	}
		3469	}
		3470	}
		3471	});
2287	-	3472	}
2376	-	3473	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	3474	{
2376	-	3475	_MarkerColorSelection(sender, 0);
		3476	}
		3477	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		3478	{
		3479	_MarkerColorSelection(sender, 1);
		3480	}
		3481	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		3482	{
		3483	_MarkerColorSelection(sender, 2);
		3484	}
		3485	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		3486	{
		3487	_MarkerColorSelection(sender,3);
		3488	}
		3489	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
		3490	{
2318	-	3491	Dispatcher.Invoke(() => {
		3492	if (comboBoxCopterColor.SelectionBoxItem != null)
		3493	{
		3494	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		3495	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		3496	}
		3497	else
		3498	((CustomMarkerCopter)(copter.Shape)).setColor("red");
		3499	});
		3500	}
2328	-	3501	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3502	{
		3503	Dispatcher.Invoke(() =>
		3504	{
		3505	if (comboBoxRouteColor.SelectionBoxItem != null)
		3506	{
		3507	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3508	MainMap.Markers.Remove(mRouteWP);
		3509	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3510	if (_bShowWPRoute)
		3511	MainMap.Markers.Add(mRouteWP);
		3512	}
		3513	});
		3514	}
		3515	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3516	{
		3517	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3518	if (_bShowWPRoute)
		3519	{
		3520	if (mRouteWP != null)
		3521	MainMap.Markers.Add(mRouteWP);
		3522	}
		3523	else
		3524	{
		3525	if (mRouteWP != null)
		3526	MainMap.Markers.Remove(mRouteWP);
		3527	}
		3528	}
2315	-	3529	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3530	{
2315	-	3531	_readWPLFile();
2287	-	3532	}
2335	-	3533	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3534	{
		3535	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	3536	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	3537	wpList.Clear();
		3538	if (mRouteWP != null)
		3539	MainMap.Markers.Remove(mRouteWP);
2347	-	3540	//if (wpActiveMarker != null)
		3541	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	3542	dtWaypoints.Rows.Clear();
2356	-	3543	_wpEdit = -1;
2368	-	3544	_wpIndex = -1;
2335	-	3545	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3546	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3547	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3548	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3549	}
2340	-	3550	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3551	{
		3552	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3553	t.Start();
		3554	}
2355	-	3555	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	3556	{
		3557	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3558	{
2372	-	3559	if (_wpCount > 0)
2376	-	3560	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	3561	else
2376	-	3562	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	3563
2372	-	3564	//int index = dgvWP.SelectedIndex;
		3565	//Thread t = new Thread(() => _sendWPList(index));
		3566	//t.Start();
2354	-	3567
		3568	Dispatcher.Invoke(() => {
		3569	DataGridRow row;
2368	-	3570	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	3571	{
2368	-	3572	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	3573	row.Background = new SolidColorBrush(Colors.Transparent);
		3574	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3575	row.BorderThickness = new Thickness(0);
2376	-	3576	dgvWP.UpdateLayout();
2354	-	3577	}
2376	-	3578	//_wpEdit = dgvWP.SelectedIndex;
		3579	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3580	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		3581	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		3582	//row.BorderThickness = new Thickness(2);
2354	-	3583	});
2340	-	3584	}
		3585	}
2376	-	3586	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		3587	{
		3588	_Simulate = !_Simulate;
		3589	if (dtWaypoints.Rows.Count > 0)
		3590	{
		3591	DataRow dr = dtWaypoints.Rows[0];
		3592	dr[13] = _Simulate ? 3 : 0;
		3593	_sendWayPoint(dr, 1, 's', true);
		3594	rectSimulate.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
		3595	}
		3596	}
2355	-	3597	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		3598	{
2359	-	3599	_dgvWPselectEditRow();
		3600	}
		3601	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		3602	{
		3603	}
		3604	void _dgvWPselectEditRow()
		3605	{
2355	-	3606	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3607	{
2368	-	3608	Dispatcher.Invoke(() => {
2355	-	3609	DataGridRow row;
2368	-	3610	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	3611	{
		3612	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3613	row.Background = new SolidColorBrush(Colors.Transparent);
		3614	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3615	row.BorderThickness = new Thickness(0);
		3616	}
		3617	_wpEdit = dgvWP.SelectedIndex;
		3618	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3619	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		3620	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		3621	row.BorderThickness = new Thickness(2);
		3622	dgvWP.UpdateLayout();
2340	-	3623
2355	-	3624	_setWPEditFields(_wpEdit);
		3625	});
		3626	}
		3627	}
		3628	void _setWPEditFields(int index)
		3629	{
		3630	int iVal;
		3631	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		3632	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		3633	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		3634	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		3635	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		3636	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		3637	if (iVal == 0)
		3638	{
		3639	cbWPEditHeading.SelectedIndex = 0;
		3640	tbWPEditHeading.Text = " - - -";
		3641	tbWPEditHeading.IsReadOnly = true;
		3642	}
		3643	if (iVal > 0 && iVal < 360)
		3644	{
		3645	cbWPEditHeading.SelectedIndex = 2;
		3646	tbWPEditHeading.Text = iVal.ToString();
		3647	tbWPEditHeading.IsReadOnly = false;
		3648	}
		3649	if (iVal < 0)
		3650	{
		3651	cbWPEditHeading.SelectedIndex = 1;
		3652	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		3653	tbWPEditHeading.IsReadOnly = false;
		3654	}
		3655	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		3656	if (iVal == 0)
		3657	{
		3658	cbWPEditSpeed.SelectedIndex = 0;
		3659	tbWPEditSpeed.Text = "MAX";
		3660	tbWPEditSpeed.IsReadOnly = true;
		3661	}
		3662	if (iVal > 0 && iVal < 248)
		3663	{
		3664	cbWPEditSpeed.SelectedIndex = 1;
		3665	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		3666	tbWPEditSpeed.IsReadOnly = false;
		3667	}
		3668	if (iVal > 247)
		3669	{
		3670	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		3671	tbWPEditSpeed.Text = "";
		3672	tbWPEditSpeed.IsReadOnly = true;
		3673	}
		3674	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		3675	if (iVal == 255)
		3676	{
		3677	cbWPEditClimbrate.SelectedIndex = 0;
		3678	tbWPEditClimbrate.Text = "AUTO";
		3679	tbWPEditClimbrate.IsReadOnly = true;
		3680	}
		3681	else
		3682	{
		3683	cbWPEditClimbrate.SelectedIndex = 1;
		3684	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		3685	tbWPEditClimbrate.IsReadOnly = false;
		3686	}
		3687	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		3688	tbWPEditRadius.Text = iVal.ToString();
		3689	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		3690	tbWPEditHoldtime.Text = iVal.ToString();
		3691	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		3692	tbWPEditAutoTrigger.Text = iVal.ToString();
		3693	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		3694	if (iVal == 0)
		3695	{
		3696	cbWPEditCamAngle.SelectedIndex = 0;
		3697	tbWPEditCamAngle.Text = " - - - ";
		3698	tbWPEditCamAngle.IsReadOnly = true;
		3699	}
		3700	if (iVal < 0 \| iVal == 255)
		3701	{
		3702	cbWPEditCamAngle.SelectedIndex = 1;
		3703	tbWPEditCamAngle.Text = "AUTO";
		3704	tbWPEditCamAngle.IsReadOnly = true;
		3705	}
		3706	if (iVal > 0 & iVal < 255)
		3707	{
		3708	cbWPEditCamAngle.SelectedIndex = 2;
		3709	tbWPEditCamAngle.Text = iVal.ToString();
		3710	tbWPEditCamAngle.IsReadOnly = false;
		3711	}
		3712	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		3713	tbWPEditOut1.Text = iVal.ToString();
		3714
		3715	}
		3716
2361	-	3717	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		3718	{
2363	-	3719	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3720	{
2369	-	3721	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	3722	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		3723	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		3724	int i = wpList.IndexOf(pOld);
2363	-	3725	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		3726	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3727	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3728	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	3729	if (i > -1)
		3730	{
		3731	if((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		3732	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		3733	else
		3734	wpList.Remove(pOld);
		3735	}
		3736	else
		3737	{
		3738	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		3739	{
		3740	int found = 0;
		3741	for (int k = 0; k < dgvWP.SelectedIndex; k++)
		3742	if ((int)dtWaypoints.Rows[k][1] == 0)
		3743	found++;
		3744	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		3745	}
		3746	}
2363	-	3747	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		3748	switch (cbWPEditHeading.SelectedIndex)
		3749	{
		3750	case 0:
		3751	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		3752	break;
		3753	case 1:
		3754	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		3755	break;
		3756	case 2:
		3757	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		3758	break;
		3759	}
		3760	switch (cbWPEditSpeed.SelectedIndex)
		3761	{
		3762	case 0:
		3763	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		3764	break;
		3765	case 1:
		3766	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3767	break;
		3768	case 2:
		3769	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3770	break;
		3771	}
		3772	switch (cbWPEditClimbrate.SelectedIndex)
		3773	{
		3774	case 0:
		3775	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		3776	break;
		3777	case 1:
		3778	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		3779	break;
		3780	}
		3781	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		3782	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		3783	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		3784	switch (cbWPEditCamAngle.SelectedIndex)
		3785	{
		3786	case 0:
		3787	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		3788	break;
		3789	case 1:
		3790	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		3791	break;
		3792	case 2:
		3793	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		3794	break;
		3795	}
		3796	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	3797
2369	-	3798	// _clearMapMarkers(typeof(CustomMarkerWP));
		3799	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		3800	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	3801	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	3802	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	3803	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	3804	// wpList.Clear();
2363	-	3805	if (mRouteWP != null)
		3806	MainMap.Markers.Remove(mRouteWP);
		3807
2369	-	3808	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		3809	//{
		3810	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		3811	//}
2363	-	3812	_routeUpdate();
		3813	dgvWP.Items.Refresh();
		3814
		3815	}
		3816
2361	-	3817	}
		3818	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		3819	{
2368	-	3820	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3821	{
		3822	int index = dgvWP.SelectedIndex;
		3823	Dispatcher.Invoke(() => {
		3824	DataGridRow row;
		3825	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		3826	{
		3827	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3828	row.Background = new SolidColorBrush(Colors.Transparent);
		3829	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3830	row.BorderThickness = new Thickness(0);
		3831	}
2372	-	3832	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	3833	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
		3834	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	3835	if (wpActiveMarker != null)
		3836	MainMap.Markers.Remove(wpActiveMarker);
2368	-	3837	dtWaypoints.Rows[index].Delete();
		3838	_wpIndex = -1;
		3839	_wpEdit = -1;
		3840	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		3841	{
		3842	dtWaypoints.Rows[i][0] = i + 1;
		3843	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		3844	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		3845	_renameWPMarker(s1, s2);
		3846	dtWaypoints.Rows[i][2] = s2;
		3847	}
		3848	lblWPCount.Content = dtWaypoints.Rows.Count;
		3849	if (mRouteWP != null)
		3850	MainMap.Markers.Remove(mRouteWP);
		3851	_routeUpdate();
2361	-	3852
2368	-	3853	dgvWP.UpdateLayout();
		3854	});
		3855	}
2361	-	3856	}
2366	-	3857	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		3858	{
		3859	_wpWEdit(sender);
		3860	}
2361	-	3861	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		3862	{
2366	-	3863	_wpWEdit(sender);
		3864	}
2369	-	3865	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		3866	{
		3867	_wpWEdit(sender);
		3868	}
2366	-	3869	void _wpWEdit(object sender)
		3870	{
2369	-	3871	// if (!((TextBox)sender).IsReadOnly)
2361	-	3872	{
		3873	KeyPad.Keypad k = new KeyPad.Keypad(this);
		3874
2363	-	3875	switch (((TextBox)sender).Name)
		3876	{
		3877	case "tbWPEditLat":
		3878	k.Title = "Latitude";
		3879	k.LENGTH = 17;
		3880	k.MAX = 359.9;
		3881	break;
		3882	case "tbWPEditLon":
		3883	k.Title = "Longitude";
		3884	k.LENGTH = 17;
		3885	k.MAX = 359.9;
		3886	break;
		3887	case "tbWPEditAlt":
		3888	k.Title = "Altitude";
		3889	k.LENGTH = 3;
		3890	k.MAX = 254;
		3891	k.disableDecimal();
		3892	break;
		3893	case "tbWPEditHeading":
		3894	k.Title = "Heading";
		3895	k.LENGTH = 3;
		3896	k.MAX = 359;
		3897	k.MIN = 1;
		3898	k.disableDecimal();
		3899	break;
		3900	case "tbWPEditSpeed":
		3901	k.Title = "Speed";
		3902	k.LENGTH = 4;
		3903	k.MAX = 24.7;
		3904	k.MIN = 0.1;
		3905	break;
		3906	case "tbWPEditClimbrate":
		3907	k.Title = "Climbrate";
		3908	k.LENGTH = 4;
		3909	k.MAX = 25.4;
		3910	k.MIN = 0.1;
		3911	break;
		3912	case "tbWPEditRadius":
		3913	k.Title = "Radius";
		3914	k.LENGTH = 3;
		3915	k.MAX = 254;
		3916	k.disableDecimal();
		3917	break;
		3918	case "tbWPEditHoldtime":
		3919	k.Title = "Holdtime";
		3920	k.LENGTH = 3;
		3921	k.MAX = 254;
		3922	break;
		3923	case "tbWPEditAutoTrigger":
		3924	k.Title = "Autotrigger";
		3925	k.LENGTH = 3;
		3926	k.MAX = 254;
		3927	k.disableDecimal();
		3928	break;
		3929	case "tbWPEditCamAngle":
		3930	k.Title = "Camera angle";
		3931	k.LENGTH = 3;
		3932	k.MAX = 254;
		3933	k.MIN = 1;
		3934	k.disableDecimal();
		3935	break;
		3936	case "tbWPEditOut1":
		3937	k.Title = "OUT1 timer interval";
		3938	k.LENGTH = 3;
		3939	k.MAX = 254;
		3940	k.disableDecimal();
		3941	break;
		3942	}
		3943	k.Result = ((TextBox)sender).Text;
2366	-	3944	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	3945	((TextBox)sender).Text = k.Result;
2361	-	3946	}
2366	-	3947
2361	-	3948	}
2356	-	3949	private void tbWPEditHeading_KeyDown(object sender, KeyEventArgs e)
		3950	{
		3951	if(!tbWPEditHeading.IsReadOnly)
		3952	{
		3953	//var x = KeyInterop.VirtualKeyFromKey(e.Key);
		3954	KeyConverter x = new KeyConverter();
		3955	string s = x.ConvertToString(e.Key);
		3956
		3957	if ("1234567890,\b".IndexOf(s) < 0) //general check for valid chars(0-9) and backspace (\b)
		3958	e.Handled = true;
		3959	else
		3960	if ("\b".IndexOf(s) < 0)
		3961	if (Convert.ToInt16(((TextBox)sender).Text + s) > 360) //if valid and not backspace, check for upper limit of the resulting number
		3962	e.Handled = true;
		3963
		3964	}
		3965	}
2361	-	3966	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	3967	{
2359	-	3968	object[] o = new object[16];
2356	-	3969
2359	-	3970	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		3971	o[1] = 0;
		3972	// cbWPEditType.SelectedIndex = 0;
		3973	// tbWPEditPrefix.Text = "P";
		3974	o[2] = "P" + o[0].ToString();
		3975	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		3976	o[3] = copter.Position.Lat;
		3977	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		3978	o[4] = copter.Position.Lng;
		3979	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		3980	o[5] = iAnalogData[4].ToString();
2356	-	3981
2359	-	3982	// cbWPEditHeading.SelectedIndex = 2;
		3983	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		3984	// tbWPEditHeading.IsReadOnly = false;
2356	-	3985
2359	-	3986	// cbWPEditSpeed.SelectedIndex = 1;
		3987	// tbWPEditSpeed.Text = "5.0";
		3988	// tbWPEditSpeed.IsReadOnly = false;
2372	-	3989	o[7] = "10";
2356	-	3990
2359	-	3991	// cbWPEditClimbrate.SelectedIndex = 1;
		3992	// tbWPEditClimbrate.Text = "5.0";
		3993	// tbWPEditClimbrate.IsReadOnly = false;
2372	-	3994	o[8] = "10";
2356	-	3995
2359	-	3996	// tbWPEditRadius.Text = "10";
2372	-	3997	o[9] = "5";
2359	-	3998	// tbWPEditHoldtime.Text = "5";
		3999	o[10] = "5";
		4000	// tbWPEditAutoTrigger.Text = "0";
		4001	o[11] = "0";
		4002	// cbWPEditCamAngle.SelectedIndex = 1;
		4003	// tbWPEditCamAngle.Text = "AUTO";
		4004	// tbWPEditCamAngle.IsReadOnly = true;
		4005	o[12] = "255";
2356	-	4006
2359	-	4007	o[13] = "0";
		4008	// tbWPEditOut1.Text = "0";
		4009	o[14] = "0";
		4010	o[15] = "0";
		4011
		4012	dtWaypoints.Rows.Add(o);
2368	-	4013	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1]);
2359	-	4014	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4015	if (mRouteWP != null)
		4016	MainMap.Markers.Remove(mRouteWP);
		4017	_routeUpdate();
		4018	Dispatcher.Invoke(() => {
		4019	dgvWP.Items.Refresh();
		4020	dgvWP.SelectedIndex = (int)o[0] -1;
		4021	dgvWP.UpdateLayout();
		4022	_dgvWPselectEditRow();
		4023	});
2356	-	4024	}
		4025
2315	-	4026	#endregion WP
2324	-	4027	#region GPX
		4028	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		4029	{
		4030	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		4031	}
		4032	void _gpxAdd(double lat,double lon, int elevation)
		4033	{
		4034	DataRow dr = dtGPX.NewRow();
		4035	dr[0] = dtGPX.Rows.Count - 1;
		4036	dr[1] = lat;
		4037	dr[2] = lon;
		4038	dr[3] = elevation;
		4039	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		4040	dtGPX.Rows.Add(dr);
		4041	}
		4042	void _saveGPXLog()
		4043	{
		4044	if (!Directory.Exists("GPXLog"))
		4045	Directory.CreateDirectory("GPXLog");
		4046	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		4047	XmlTextWriter myXmlTextWriter = null;
		4048	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		4049	NumberFormatInfo nfi = new NumberFormatInfo();
		4050	nfi.NumberDecimalSeparator = ".";
2315	-	4051
2324	-	4052	try
		4053	{
		4054	myXmlTextWriter.Formatting = Formatting.Indented;
		4055
		4056	myXmlTextWriter.WriteStartDocument();
		4057
		4058	myXmlTextWriter.WriteStartElement("gpx");
		4059
		4060	myXmlTextWriter.WriteAttributeString("version", "1.0");
		4061	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		4062	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		4063	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		4064	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		4065
		4066	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		4067
		4068	myXmlTextWriter.WriteStartElement("trk");
		4069	myXmlTextWriter.WriteStartElement("trkseg");
		4070	for(int i = 0; i< dtGPX.Rows.Count;i++)
		4071	{
		4072	myXmlTextWriter.WriteStartElement("trkpt");
		4073	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		4074	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		4075	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		4076	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		4077	myXmlTextWriter.WriteEndElement();
		4078	}
		4079	myXmlTextWriter.WriteEndElement();
		4080	myXmlTextWriter.WriteEndElement();
		4081	myXmlTextWriter.WriteEndElement();
		4082	}
		4083	catch (Exception e)
		4084	{
		4085	Console.WriteLine("Exception: {0}", e.ToString());
		4086	}
		4087	finally
		4088	{
		4089	if (myXmlTextWriter != null)
		4090	{
		4091	myXmlTextWriter.Close();
		4092	}
		4093	}
		4094	}
2356	-	4095
2376	-	4096
2324	-	4097	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		4098	{
		4099	_loadGPXLog();
		4100	}
2327	-	4101	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		4102	{
		4103	_clearMapMarkers(typeof(GMapRoute));
		4104	}
2324	-	4105	void _loadGPXLog()
		4106	{
		4107
		4108	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4109	fd.Filter = "GPX-Logfile \| *.gpx";
		4110	fd.Multiselect = false;
		4111	if (fd.ShowDialog().Value)
		4112	{
		4113	string file = fd.FileName;
		4114	try
		4115	{
		4116	XDocument gpxDoc = XDocument.Load(file);
		4117	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		4118
		4119	NumberFormatInfo nfi = new NumberFormatInfo();
		4120	nfi.NumberDecimalSeparator = ".";
		4121
		4122	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		4123	select new
		4124	{
		4125	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		4126	Segs = (
		4127	from trackpoint in track.Descendants(gpx + "trkpt")
		4128	select new
		4129	{
		4130	Latitude = trackpoint.Attribute("lat").Value,
		4131	Longitude = trackpoint.Attribute("lon").Value,
		4132	Elevation = trackpoint.Element(gpx + "ele") != null ?
		4133	trackpoint.Element(gpx + "ele").Value : null,
		4134	Time = trackpoint.Element(gpx + "time") != null ?
		4135	trackpoint.Element(gpx + "time").Value : null
		4136	}
		4137	)
		4138	};
		4139
		4140	List<PointLatLng> wpl = new List<PointLatLng>();
		4141	foreach(var trk in tracks)
		4142	{
		4143	foreach(var trkseg in trk.Segs)
		4144	{
		4145	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		4146	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		4147	}
		4148
		4149	}
		4150	if(wpl.Count() > 0)
		4151	{
2327	-	4152	_clearMapMarkers(typeof(GMapRoute));
2324	-	4153	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	4154	Dispatcher.Invoke(() =>
		4155	{
		4156	GMapRoute mRoute;
		4157	if (comboBoxRouteColor.SelectionBoxItem != null)
		4158	{
		4159	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	4160	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	4161	}
		4162	else
2366	-	4163	mRoute = new GMapRoute(wpl, null);
2324	-	4164
2328	-	4165	MainMap.Markers.Add(mRoute);
		4166	});
2324	-	4167	}
		4168
		4169	}
		4170	catch (Exception e)
		4171	{
		4172	Console.WriteLine("Exception: {0}", e.ToString());
		4173	}
		4174	}
		4175	}
		4176	#endregion GPX
2315	-	4177	#endregion functions
2287	-	4178	}
2315	-	4179	/// <summary>
		4180	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		4181	/// </summary>
2313	-	4182	public class waypointsConverter : IValueConverter
		4183	{
		4184	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		4185	{
		4186	if (value != null)
		4187	{
		4188	switch ((string)parameter)
		4189	{
		4190	case "Latitude":
		4191	return value.ToString() + " °";
		4192	case "Longitude":
		4193	return value.ToString() + " °";
		4194	case "Radius":
		4195	return value.ToString() + " m";
		4196	case "Altitude":
		4197	return value.ToString() + " m";
		4198	case "ClimbRate":
		4199	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		4200	case "DelayTime":
		4201	return value.ToString() + " s";
		4202	case "Heading":
		4203	return Waypoints.Heading(System.Convert.ToInt32(value));
		4204	case "Speed":
		4205	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		4206	case "CamAngle":
		4207	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		4208	case "Type":
		4209	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		4210	case "AutoTrigger":
		4211	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		4212	case "Status":
2355	-	4213	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	4214	}
		4215
		4216	return value.ToString();
		4217	}
		4218	else return value;
		4219	}
		4220
		4221	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		4222	{
		4223	throw new NotImplementedException();
		4224	}
		4225	}
		4226
2287	-	4227	public class IniFile
		4228	{
		4229	public string path;
		4230
		4231	[DllImport("kernel32")]
		4232	private static extern long WritePrivateProfileString(string section,
		4233	string key, string val, string filePath);
		4234
		4235	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		4236	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		4237	uint nSize, string lpFileName);
		4238
		4239	[DllImport("kernel32")]
		4240	private static extern int GetPrivateProfileString(string section,
		4241	string key, string def, StringBuilder retVal,
		4242	int size, string filePath);
		4243
		4244	public IniFile(string INIPath)
		4245	{
		4246	path = INIPath;
		4247	}
		4248
		4249	public void IniWriteValue(string Section, string Key, string Value)
		4250	{
		4251	WritePrivateProfileString(Section, Key, Value, this.path);
		4252	}
		4253
		4254	public string IniReadValue(string Section, string Key)
		4255	{
		4256	StringBuilder temp = new StringBuilder(255);
		4257	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		4258	return temp.ToString();
		4259	}
		4260	//Ini_sections auslesen in String-Array
		4261	public string[] IniSectionNames()
		4262	{
		4263
		4264	// uint MAX_BUFFER = 32767;
		4265	uint MAX_BUFFER = 8388608;
		4266	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		4267	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		4268	if (bytesReturned == 0)
		4269	{
		4270	Marshal.FreeCoTaskMem(pReturnedString);
		4271	return null;
		4272	}
		4273	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		4274	Marshal.FreeCoTaskMem(pReturnedString);
		4275	//use of Substring below removes terminating null for split
		4276	return local.Substring(0, local.Length - 1).Split('\0');
		4277
		4278
		4279	}
		4280	}
		4281
		4282	/// <summary>
		4283	/// Selected Win AI Function Calls
		4284	/// </summary>
		4285	public class WinApi
		4286	{
		4287	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		4288	public static extern int GetSystemMetrics(int which);
		4289	[DllImport("user32.dll")]
		4290	public static extern void
		4291	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		4292	int X, int Y, int width, int height, uint flags);
		4293
		4294	private const int SM_CXSCREEN = 0;
		4295	private const int SM_CYSCREEN = 1;
		4296	private static IntPtr HWND_TOP = IntPtr.Zero;
		4297	private const int SWP_SHOWWINDOW = 64; // 0x0040
		4298
		4299	public static int ScreenX
		4300	{
		4301	get { return GetSystemMetrics(SM_CXSCREEN); }
		4302	}
		4303
		4304	public static int ScreenY
		4305	{
		4306	get { return GetSystemMetrics(SM_CYSCREEN); }
		4307	}
		4308
		4309	public static void SetWinFullScreen(IntPtr hwnd)
		4310	{
		4311	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		4312	}
		4313	}
		4314	/// <summary>
		4315	/// Class used to preserve / restore state of the window
		4316	/// </summary>
		4317	public class WinState
		4318	{
		4319	private WindowState winState;
		4320	private WindowStyle brdStyle;
		4321	private bool topMost;
		4322	private Rect restore;
		4323	private bool IsMaximized = false;
		4324
		4325	public bool isMaximized
		4326	{
		4327	get { return IsMaximized; }
		4328	}
		4329	public void Maximize(Window targetForm)
		4330	{
		4331	if (!IsMaximized)
		4332	{
		4333	IsMaximized = true;
		4334	Save(targetForm);
		4335	targetForm.WindowState = WindowState.Maximized;
		4336	targetForm.WindowStyle = WindowStyle.None;
		4337	targetForm.Topmost = true;
		4338	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		4339	}
		4340	}
		4341
		4342	public void Save(Window targetForm)
		4343	{
		4344	winState = targetForm.WindowState;
		4345	brdStyle = targetForm.WindowStyle;
		4346	topMost = targetForm.Topmost;
		4347	restore = targetForm.RestoreBounds;
		4348	}
		4349	public void Restore(Window targetForm)
		4350	{
		4351	targetForm.WindowState = winState;
		4352	targetForm.WindowStyle = brdStyle;
		4353	targetForm.Topmost = topMost;
		4354
		4355	targetForm.Left = restore.Left;
		4356	targetForm.Top = restore.Top;
		4357	targetForm.Height = restore.Height;
		4358	targetForm.Width = restore.Width;
		4359	IsMaximized = false;
		4360	}
		4361	}
		4362
		4363	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs - Rev 2376