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

Rev	Author	Line No.	Line
2287	-	1	using GMap.NET;
		2	using GMap.NET.MapProviders;
		3	using GMap.NET.WindowsPresentation;
		4	using MKLiveView.GMapCustomMarkers;
		5	using System;
		6	using System.Collections.Generic;
		7	using System.ComponentModel;
		8	using System.Data;
		9	using System.Diagnostics;
		10	using System.IO;
		11	using System.Linq;
		12	using System.Linq.Expressions;
		13	using System.Runtime.InteropServices;
		14	using System.Text;
		15	using System.Threading;
		16	using System.Threading.Tasks;
		17	using System.Windows;
		18	using System.Windows.Controls;
		19	using System.Windows.Data;
		20	using System.Windows.Documents;
		21	using System.Windows.Input;
		22	using System.Windows.Interop;
		23	using System.Windows.Media;
		24	using System.Windows.Media.Animation;
		25	using System.Windows.Media.Imaging;
		26	using System.Windows.Navigation;
		27	using System.Windows.Shapes;
		28	using System.Windows.Threading;
2313	-	29	using System.Globalization;
2324	-	30	using System.Xml;
		31	using System.Xml.Linq;
2287	-	32
		33	namespace MKLiveView
		34	{
		35	/// <summary>
		36	/// Interaktionslogik für MainWindow.xaml
		37	/// </summary>
		38	public partial class MainWindow : Window
		39	{
2304	-	40	#region declarations
		41
2287	-	42	GMapMarker copter;
		43	GMapMarker home;
		44	PointLatLng start;
		45	PointLatLng end;
		46	PointLatLng pHome;
2328	-	47	GMapRoute mRouteWP;
2342	-	48	GMapMarker wpActiveMarker;
2328	-	49	List<PointLatLng> wpList = new List<PointLatLng>();
2324	-	50	#region NC-Errors
2287	-	51	String[] NC_Error = new string[44]
		52	{
		53	"No Error",
		54	"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		55	"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		56	"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		57	"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		58	"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		59	"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		60	"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		61	"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		62	"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		63	"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		64	"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		65	"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		66	"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		67	"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		68	"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		69	"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		70	"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		71	"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		72	"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		73	"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		74	"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		75	"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		76	"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		77	"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		78	"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		79	"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		80	"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		81	"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		82	"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		83	"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		84	"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		85	"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		86	"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		87	"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		88	"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		89	"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		90	"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		91	"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		92	"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		93	"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		94	"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		95	"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		96	"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		97	};
2324	-	98	#endregion NC-Errors
2287	-	99	[FlagsAttribute]
		100	enum NC_HWError0 : short
		101	{
		102	None = 0,
		103	SPI_RX = 1,
		104	COMPASS_RX = 2,
		105	FC_INCOMPATIBLE = 4,
		106	COMPASS_INCOMPATIBLE = 8,
		107	GPS_RX = 16,
		108	COMPASS_VALUE = 32
		109	};
		110	[FlagsAttribute]
		111	enum FC_HWError0 : short
		112	{
		113	None = 0,
		114	GYRO_NICK = 1,
		115	GYRO_ROLL = 2,
		116	GYRO_YAW = 4,
		117	ACC_NICK = 8,
		118	ACC_ROLL = 16,
		119	ACC_TOP = 32,
		120	PRESSURE = 64,
		121	CAREFREE = 128
		122	};
		123	[FlagsAttribute]
		124	enum FC_HWError1 : short
		125	{
		126	None = 0,
		127	I2C = 1,
		128	BL_MISSING = 2,
		129	SPI_RX = 4,
		130	PPM = 8,
		131	MIXER = 16,
		132	RC_VOLTAGE = 32,
		133	ACC_NOT_CAL = 64,
		134	RES3 = 128
		135	};
		136	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		137	// Various colors for logging info
		138	private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red };
		139
		140	bool _bCBInit = true;
		141	bool _init = true;
		142	bool check_HWError = false;
		143
		144	string filePath = Directory.GetCurrentDirectory();
		145	bool bReadContinously = false;
		146	bool _debugDataAutorefresh = true;
		147	bool _navCtrlDataAutorefresh = true;
		148	bool _blctrlDataAutorefresh = true;
		149	bool _OSDAutorefresh = true;
		150	bool _bErrorLog = false;
		151	bool _bConnErr = false;
		152	bool _bFollowCopter = false;
2324	-	153	bool _bGPXLog = false;
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	}
2379	-	632	private void Window_Closed(object sender, EventArgs e)
		633	{
		634	Application.Current.Shutdown();
		635	}
		636
2287	-	637	#endregion events
		638
		639	#region GMap
		640
		641	void _setupMap()
		642	{
		643	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		644	MainMap.MapProvider = GMapProviders.BingHybridMap;
		645	MainMap.SetPositionByKeywords("Landshut");
		646	MainMap.MinZoom = 0;
		647	MainMap.MaxZoom = 24;
		648	MainMap.Zoom = 16;
		649	MainMap.ShowCenter = true;
		650	MainMap.ShowTileGridLines = false;
		651	sliderMapZoom.Value = 16;
		652	comboBoxMapType.ItemsSource = providerList;
		653	comboBoxMapType.DisplayMemberPath = "Name";
		654	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		655
		656	// acccess mode
		657	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		658	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		659
		660	}
		661
		662	/// <summary>
		663	/// selection of relevant map providers --> if You need more, You can change the line:
		664	/// comboBoxMapType.ItemsSource = providerList;
		665	/// to:
		666	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		667	/// in _setupMap()
		668	/// or add items here:
		669	/// </summary>
		670	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		671	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		672	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		673	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		674	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		675
		676	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		677	{
		678	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		679	copter = new GMapMarker(MainMap.Position);
2318	-	680
		681	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"),"red");
		682	if (comboBoxCopterColor.SelectionBoxItem != null)
		683	{
		684	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		685	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		686	}
2287	-	687	copter.Offset = new System.Windows.Point(-18, -18);
		688	copter.ZIndex = int.MaxValue;
		689	MainMap.Markers.Add(copter);
		690	copter.Position = MainMap.Position;
		691	}
2347	-	692	void _setHomePos()
2287	-	693	{
		694	pHome = MainMap.Position;
		695	if (!MainMap.Markers.Contains(home))
		696	{
		697	home = new GMapMarker(MainMap.Position);
		698	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		699	home.Offset = new System.Windows.Point(-18, -18);
		700	// home.ZIndex = int.MaxValue;
		701	MainMap.Markers.Add(home);
		702	}
		703	home.Position = MainMap.Position;
		704	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		705	}
2347	-	706	void _setActiveWP(int iIndex)
2287	-	707	{
2347	-	708	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
		709	{
		710	Dispatcher.Invoke(() =>
		711	{
		712	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		713	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		714	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		715	MainMap.Markers.Add(wpActiveMarker);
		716	});
		717	}
		718	else
		719	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
		720
		721	}
		722	void _clearHomePos()
		723	{
2287	-	724	MainMap.Markers.Remove(home);
		725	}
2335	-	726	void _clearMapMarkers(Type markerType)
		727	{
		728	for (int k = 0; k < MainMap.Markers.Count;)
		729	{
		730	GMapMarker p = MainMap.Markers[k];
2340	-	731	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	732	MainMap.Markers.Remove(p);
		733	else
		734	k++;
		735	}
2287	-	736
2335	-	737	}
2369	-	738
		739	GMapMarker _findWPMarker(string name)
2368	-	740	{
		741	for (int k = 0; k < MainMap.Markers.Count;)
		742	{
		743	GMapMarker p = MainMap.Markers[k];
		744	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
2369	-	745	if (((CustomMarkerWP)p.Shape).WPText == name)
		746	return p;
2368	-	747	else
		748	k++;
		749	else
		750	k++;
		751	}
2369	-	752	return null;
2368	-	753	}
2369	-	754	void _clearWPMarker(string name)
		755	{
		756	GMapMarker p = _findWPMarker(name);
		757	if(p != null)
		758	MainMap.Markers.Remove(p);
		759	}
2368	-	760	void _renameWPMarker(string s1, string s2)
		761	{
2369	-	762	GMapMarker p = _findWPMarker(s1);
		763	if (p != null)
		764	((CustomMarkerWP)p.Shape).WPText = s2;
2368	-	765	}
2372	-	766	void _WPMarkerSetType(string text, int type)
		767	{
		768	GMapMarker p = _findWPMarker(text);
		769	if (p != null)
		770	((CustomMarkerWP)p.Shape).WPType = type;
		771	}
2369	-	772	void _repositionWPMarker(PointLatLng point, string name)
		773	{
		774	GMapMarker p = _findWPMarker(name);
		775	if (p != null)
		776	p.Position = point;
		777	}
		778
2287	-	779	// access mode
		780	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		781	{
		782	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		783	MainMap.ReloadMap();
		784	}
		785	// zoom up
		786	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		787	{
		788	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		789	}
		790
		791	// zoom down
		792	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		793	{
		794	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		795	}
		796
		797	// prefetch
		798	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		799	{
		800	RectLatLng area = MainMap.SelectedArea;
		801	if (!area.IsEmpty)
		802	{
		803	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		804	{
		805	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		806
		807	if (res == MessageBoxResult.Yes)
		808	{
		809	TilePrefetcher obj = new TilePrefetcher();
		810	obj.Owner = this;
		811	obj.ShowCompleteMessage = true;
		812	obj.Start(area, i, MainMap.MapProvider, 100);
		813	}
		814	else if (res == MessageBoxResult.No)
		815	{
		816	continue;
		817	}
		818	else if (res == MessageBoxResult.Cancel)
		819	{
		820	break;
		821	}
		822	}
		823	}
		824	else
		825	{
		826	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		827	}
		828	}
		829
		830	// goto by geocoder
		831	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		832	{
		833	_goto_byGeoCoder();
		834	}
		835	// goto by geocoder
		836	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		837	{
		838	if (e.Key == System.Windows.Input.Key.Enter)
		839	_goto_byGeoCoder();
		840	}
		841	void _goto_byGeoCoder()
		842	{
		843	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		844	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		845	{
		846	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		847	}
		848	}
		849	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		850	{
		851	try
		852	{
		853	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		854	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		855
		856	MainMap.Position = new PointLatLng(lat, lng);
		857	}
		858	catch (Exception ex)
		859	{
		860	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		861	}
		862
		863	}
		864
		865	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		866	{
		867	MainMap.ReloadMap();
		868	}
		869
		870	private void MainMap_OnPositionChanged(PointLatLng point)
		871	{
		872	if (_bFollowCopter)
		873	_setCopterData(MainMap.Position);
		874	}
		875
		876	private void MainMap_OnMapZoomChanged()
		877	{
		878	if (_bFollowCopter)
		879	_setCopterData(MainMap.Position);
		880	if((int)sliderMapZoom.Value != MainMap.Zoom)
		881	sliderMapZoom.Value = MainMap.Zoom;
		882	}
		883
		884	void _setCopterData(PointLatLng p)
		885	{
		886	Dispatcher.Invoke(() =>
		887	{
		888	copter.Position = p;
		889	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		890	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		891	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		892	});
		893	if (home != null && MainMap.Markers.Contains(home))
		894	{
		895	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		896	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		897	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	898
		899	if(d*1000 < _dThresholdDistanceWarn)
		900	{
		901	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		902	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		903	{
		904	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		905	_bAnimDistanceActive = false;
		906	}
		907	}
		908	else
		909	{
		910	if (_iDistanceJitter < 20)
		911	{ _iDistanceJitter++; }
		912	if (_iDistanceJitter == 20)
		913	{
		914	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		915	{
		916	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		917	_bAnimDistanceActive = true;
		918	}
		919	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		920	{
2295	-	921	Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		922	t.Start();
2291	-	923	_bVoiceDistanceActive = true;
		924	}
		925	_iDistanceJitter++;
		926	}
		927	}
2287	-	928	}
		929	}
		930
		931	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		932	{
		933	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		934	}
		935
		936	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		937	{
		938	if (MainMap.Zoom != sliderMapZoom.Value)
		939	MainMap.Zoom = (int)sliderMapZoom.Value;
		940	}
		941	#region Touch zooming hackattack ;)
		942	/// <summary>
		943	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		944	/// </summary>
		945	bool bFirstAccess = true;
		946	double dDistance = 0;
		947	int iZoom;
		948	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		949	{
		950	var id = e.StylusDevice.Id;
		951	e.StylusDevice.Capture(MainMap);
		952	if (iFirstStylusID == -1)
		953	{
		954	iFirstStylusID = id;
		955	}
		956	else
		957	{
		958
		959	MainMap.CanDragMap = false;
		960	}
		961	}
		962	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		963	{
		964	MainMap.ReleaseStylusCapture();
		965	iFirstStylusID = -1;
		966	bFirstAccess = true;
		967	MainMap.CanDragMap = true;
		968	iZoom = 0;
		969	}
		970	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		971	{
		972	var id = e.StylusDevice.Id;
		973	var tp = e.GetPosition(MainMap);
		974
		975	// This is the first Stylus point; just record its position.
		976	if (id == iFirstStylusID)
		977	{
		978	pTouch1.X = tp.X;
		979	pTouch1.Y = tp.Y;
		980	}
		981	else
		982	if (iFirstStylusID > -1)
		983	{
		984	pTouch2.X = tp.X;
		985	pTouch2.Y = tp.Y;
		986	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		987	if (!bFirstAccess)
		988	{
		989	if (distance > dDistance)
		990	iZoom++;
		991	else
		992	if (distance < dDistance)
		993	iZoom--;
		994	}
		995	if (iZoom > 30)
		996	{
		997	iZoom = 0;
		998	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		999	}
		1000	if (iZoom < -30)
		1001	{
		1002	iZoom = 0;
		1003	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1004	}
		1005	dDistance = distance;
		1006	bFirstAccess = false;
		1007	}
		1008	}
		1009	#endregion Touch zooming hackattack ;)
		1010
		1011	#endregion GMap
		1012
		1013	#region settings
		1014	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1015	{
		1016	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		1017	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1018	}
		1019	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1020	{
		1021	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		1022	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1023	}
		1024	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1025	{
		1026	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1027	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1028	}
		1029	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1030	{
		1031	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1032	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1033	}
		1034	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1035	{
		1036	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1037	}
		1038	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1039	{
		1040	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1041	}
		1042	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1043	{
		1044	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1045	}
		1046	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1047	{
		1048	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1049	}
		1050
		1051	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1052	{
		1053	if (cBoxLiPoCells.SelectedIndex > -1)
		1054	{
		1055	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1056	_LipoMinMax();
		1057	}
		1058	}
		1059	void _LipoMinMax()
		1060	{
		1061	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1062	_dLipoVMin = (double)_LipoCells * 3;
		1063	pbTopVoltage.Maximum = _dLipoVMax;
		1064	pbTopVoltage.Minimum = _dLipoVMin;
		1065	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1066	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1067	}
		1068	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1069	{
		1070	if (cBoxMotors.SelectedIndex > -1)
		1071	{
		1072	_iMotors = cBoxMotors.SelectedIndex + 3;
		1073	Dispatcher.Invoke(() =>
		1074	{
		1075	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1076	GridMotors.Height = dgvMotors1.Height + 10;
		1077	});
		1078	}
		1079	}
		1080	void _setMotorGridSize()
		1081	{
		1082	if (dgvMotors1.Columns.Count > 2)
		1083	{
		1084	dgvMotors1.Columns[0].Width = 24;
		1085	dgvMotors1.Columns[1].Width = 50;
		1086	dgvMotors1.Columns[2].Width = 50;
		1087	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1088	GridMotors.Height = dgvMotors1.Height + 10;
		1089	}
		1090
		1091	}
		1092	#endregion settings
		1093
		1094	#region functions
		1095
		1096	#region logging
		1097	/// <summary> Log data to the terminal window. </summary>
		1098	/// <param name="msgtype"> The type of message to be written. </param>
		1099	/// <param name="msg"> The string containing the message to be shown. </param>
		1100	private void Log(LogMsgType msgtype, string msg)
		1101	{
		1102	Dispatcher.Invoke(() =>
		1103	{
		1104	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1105	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1106	// rtfTerminal.AppendText(msg + "\r");
		1107	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1108	tr.Text = msg;
		1109	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1110	rtfTerminal.AppendText("\r");
		1111	rtfTerminal.ScrollToEnd();
		1112	});
		1113	}
		1114	private void ErrorLog(LogMsgType msgtype, string msg)
		1115	{
		1116	Dispatcher.Invoke(() =>
		1117	{
		1118	TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1119	tr.Text = msg;
		1120	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1121	rtfError.AppendText("\r");
		1122	rtfError.ScrollToEnd();
		1123
		1124	_bErrorLog = true;
		1125	});
		1126	}
		1127	/// <summary>
		1128	/// Clear the line in the errorlog window
		1129	/// containing the error string when error has ceased
		1130	/// </summary>
		1131	/// <param name="s">substring of errrormessage</param>
		1132	void _clearErrorLog(string s)
		1133	{
		1134	Dispatcher.Invoke((Action)(() =>
		1135	{
		1136	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1137	TextRange foundRange = FindTextInRange(searchRange, s);
		1138
		1139	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1140
		1141
		1142	if (iStart > -1)
		1143	{
		1144	int iLength = 0;
		1145	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1146	if (iEnd > 0)
		1147	{
		1148	iLength = iEnd + 1;
		1149	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1150	if (iHttp == iLength)
		1151	{
		1152	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1153	if (iEnd2 > iLength)
		1154	{
		1155	iLength = iEnd2 + 1;
		1156	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1157
		1158	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1159	rtfError.Selection.Text = string.Empty;
		1160	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1161	}
		1162
		1163	}
		1164	else
		1165	{
		1166	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1167	rtfError.Selection.Text = string.Empty;
		1168	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1169	}
		1170	}
		1171	}
		1172	}));
		1173
		1174	}
		1175	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1176	{
		1177	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1178	if (offset < 0)
		1179	return null; // Not found
		1180
		1181	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1182	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1183
		1184	return result;
		1185	}
		1186	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1187	{
		1188	while (position != null)
		1189	{
		1190	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1191	{
		1192	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1193	if (characterCount <= count)
		1194	{
		1195	return position.GetPositionAtOffset(characterCount);
		1196	}
		1197
		1198	characterCount -= count;
		1199	}
		1200
		1201	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1202	if (nextContextPosition == null)
		1203	return position;
		1204
		1205	position = nextContextPosition;
		1206	}
		1207
		1208	return position;
		1209	}
		1210	#endregion logging
		1211
		1212	#region processing received data
		1213
		1214	private void processMessage(byte[] message)
		1215	{
		1216	if (message.Length > 0)
		1217	{
		1218	_iLifeCounter++;
		1219	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1220	//Log(LogMsgType.Incoming, message.Length.ToString());
		1221	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1222	char cmdID;
		1223	byte adr;
		1224	byte[] data;
		1225	byte[] tmp = null;
		1226	if (message[0] != '#')
		1227	{
		1228	int iFound = -1;
		1229	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1230	{ //so this is a workaround to not spam the log box
		1231	if (message[i] == 35)
		1232	{
		1233	iFound = i;
		1234	break;
		1235	}
		1236	}
		1237	if (iFound > 0)
		1238	{
		1239	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1240	tmp = new byte[message.Length - iFound];
		1241	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1242	}
		1243	s = s.Trim('\0', '\n', '\r');
		1244	if (s.Length > 0)
		1245	Log(LogMsgType.Normal, s);
		1246	if (tmp != null)
		1247	{
		1248	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1249	processMessage(tmp);
		1250	}
		1251	}
		1252	//Debug.Print(s);
		1253	else
		1254	{
		1255	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1256
		1257	if (adr == 255) { crcError++; }
		1258	else crcError = 0;
		1259	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1260	//display the active controller (FC / NC)
		1261	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...???
		1262	{
		1263	_iCtrlAct = adr;
		1264	switch (adr)
		1265	{
		1266	case 1:
		1267	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2298	-	1268	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
2287	-	1269	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1270	// _setFieldsNA(); //display fields NA for FC
		1271	break;
		1272	case 2:
		1273	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1274	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1275	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1276	break;
		1277	//case 3:
		1278	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1279	// break;
		1280	//case 4:
		1281	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1282	// break;
		1283	default:
		1284	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1285	break;
		1286	}
		1287	// _loadLabelNames();
		1288	}
		1289	// else
		1290	// Debug.Print("Address == 0?");
		1291
		1292	if (data != null && data.Length > 0)
		1293	{
		1294	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1295	s = s.Trim('\0', '\n');
		1296
		1297	switch (cmdID)
		1298	{
		1299	//case 'A': //Label names
		1300	// _processLabelNames(s);
		1301	// break;
		1302
		1303	case 'D': //Debug data
		1304	_processDebugVals(adr, data);
		1305	break;
		1306
		1307	case 'V': //Version
		1308	_processVersion(adr, data);
		1309	break;
		1310
		1311	case 'K'://BL-CTRL data
		1312	_processBLCtrl(data);
		1313	break;
		1314
		1315	case 'O': //NC Data
		1316	_processNCData(data);
		1317	break;
		1318
		1319	case 'E': //NC error-string
		1320	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1321	break;
		1322
		1323	case 'L': //OSD Menue (called by pagenumber)
		1324	_processOSDSingle(data);
		1325	break;
		1326
		1327	case 'H': //OSD Menue (with autoupdate - called by Key)
		1328	_processOSDAuto(data);
		1329	break;
		1330
		1331	case 'X': //Waypoint data
		1332	_processWPData(data);
		1333	break;
		1334
2313	-	1335	case 'W': //return new Waypoint items count after sending waypoint to copter
		1336	_iWPCount = data[0];
		1337	break;
2287	-	1338	//default:
		1339	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1340	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1341	// break;
		1342	}
		1343	}
		1344	//else
		1345	//{
		1346	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1347	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1348	//}
		1349	}
		1350	}
		1351	}
		1352	/// <summary>
		1353	/// Analog label names 'A'
		1354	/// each label name is returned as a single string
		1355	/// and added to string array sAnalogLabel[]
		1356	/// and the datatable dtAnalog
		1357	/// </summary>
		1358	/// <param name="s">the label name</param>
		1359	void _processLabelNames(string s)
		1360	{
		1361	//if (iLableIndex < 32)
		1362	//{
		1363	// sAnalogLabel[iLableIndex] = s;
		1364	// if (dtAnalog.Rows.Count < 32)
		1365	// dtAnalog.Rows.Add(s, "");
		1366	// else
		1367	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1368
		1369	// // _getAnalogLabels(iLableIndex + 1);
		1370	//}
		1371	//Debug.Print(s);
		1372	}
		1373	/// <summary>
		1374	/// Debug values 'D'
		1375	/// </summary>
		1376	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1377	/// <param name="data">the received byte array to process</param>
		1378	void _processDebugVals(byte adr, byte[] data)
		1379	{
		1380	if (data.Length == 66)
		1381	{
2324	-	1382
2287	-	1383	double v;
		1384	int index = 0;
		1385	Int16 i16 = 0;
		1386	double dTemp = 0;
		1387	for (int i = 2; i < 66; i += 2)
		1388	{
		1389	i16 = data[i + 1];
		1390	i16 = (Int16)(i16 << 8);
		1391	iAnalogData[index] = data[i] + i16;
		1392	sAnalogData[index] = (data[i] + i16).ToString();
		1393	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1394
		1395	if (adr == 2) //NC
		1396	{
		1397	switch (index)
		1398	{
		1399	case 0: //pitch (German: nick)
		1400	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1401	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1402	break;
		1403	case 1: //roll
		1404	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1405	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1406	break;
		1407	case 4: //altitude
		1408	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1409	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2324	-	1410	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1411	break;
		1412	case 7: //Voltage
		1413	v = (double)iAnalogData[index] / (double)10;
		1414	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1415	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1416	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1417	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1418	{
		1419	if (v == _dVoltLast)
		1420	if(_iVoltJitter < 20) _iVoltJitter++;
		1421	else
		1422	{
		1423	_iVoltJitter = 0;
		1424	_dVoltLast = v;
		1425	}
		1426	if (_iVoltJitter == 20)
		1427	{
		1428	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1429
		1430	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1431	{
		1432	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1433	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1434	{
		1435	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1436	_bCritAnimVoltActive = true;
		1437	}
		1438	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1439	{
2295	-	1440	Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1441	t.Start();
2287	-	1442	_bCritVoiceVoltActive = true;
		1443	}
		1444	}
		1445	else
		1446	{
		1447	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1448	{
		1449	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1450	_bCritAnimVoltActive = false;
		1451	}
		1452	_bCritVoiceVoltActive = false;
		1453
2291	-	1454	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1455	{
2295	-	1456	Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1457	t.Start();
2291	-	1458	_bWarnVoiceVoltActive = true;
2287	-	1459	}
		1460	}
		1461	}
		1462	}
		1463	else
		1464	{
		1465	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1466	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1467	{
		1468	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1469	_bCritAnimVoltActive = false;
		1470	}
		1471	_bCritVoiceVoltActive = false;
2291	-	1472	_bWarnVoiceVoltActive = false;
2287	-	1473	_iVoltJitter = 0;
		1474	}
		1475	break;
		1476	case 8: // Current
		1477	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1478	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1479	break;
		1480	case 10: //heading
2291	-	1481	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2287	-	1482	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1483	break;
		1484	case 12: // SPI error
2291	-	1485	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1486	break;
		1487	case 14: //i2c error
2291	-	1488	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1489	break;
		1490	case 20: //Earthmagnet field
2291	-	1491	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1492	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1493
		1494	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1495	{
		1496	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1497	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1498	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1499	{
		1500	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1501	_bAnimMagneticFieldActive = false;
		1502	}
		1503	}
		1504	else
		1505	{
		1506	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1507	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1508	{
		1509	if (_iMagneticFieldJitter < 20)
		1510	_iMagneticFieldJitter++;
		1511	}
		1512	else
		1513	{
		1514	_iMagneticFieldJitter = 0;
		1515	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1516	}
		1517	if(_iMagneticFieldJitter == 20)
		1518	{
		1519	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1520	{
		1521	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1522	_bAnimMagneticFieldActive = true;
		1523	}
		1524	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1525	{
2295	-	1526	Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1527	t.Start();
2291	-	1528	_bVoiceMagneticFieldActive = true;
		1529	}
		1530	}
		1531	}
2287	-	1532	break;
		1533	case 21: //GroundSpeed
		1534	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1535	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1536	break;
2291	-	1537
		1538	///******** needs testing --> not sure what position this is *************
2287	-	1539	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1540	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1541	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1542	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1543	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1544	dTemp = Math.Sqrt(dTemp) / (double)10;
		1545	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1546	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1547	break;
2291	-	1548
2287	-	1549	case 31: //Sats used
		1550	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1551	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1552	break;
		1553	}
		1554	}
		1555	index++;
		1556	}
		1557	}
		1558	else
		1559	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1560	}
		1561	/// <summary>
		1562	/// Version string 'V'
		1563	/// </summary>
		1564	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1565	/// <param name="data">the received byte array to process</param>
		1566	void _processVersion(byte adr, byte[] data)
		1567	{
		1568	if (data.Length == 12)
		1569	{
		1570	if (!check_HWError)
		1571	{
		1572	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1573	string sVersion = "";
		1574	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1575	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1576	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1577	Log(LogMsgType.Incoming, sVersion);
		1578	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1579	Log(LogMsgType.Incoming, sVersion);
		1580	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1581	}
		1582	if (data[5] > 0) //error0
		1583	{
		1584	if (adr == 1)
		1585	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		1586	if (adr == 2)
		1587	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		1588	}
		1589	if (data[6] > 0) //error1
		1590	{
		1591	if (adr == 1)
		1592	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		1593	if (adr == 2)
		1594	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		1595	}
		1596	if ((data[5] + data[6] == 0) && _bErrorLog)
		1597	_clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		1598
		1599	}
		1600	check_HWError = false;
		1601	}
		1602	/// <summary>
		1603	/// BL-Ctrl data 'K'
		1604	/// for FC you have to use a customized firmware
		1605	/// </summary>
		1606	/// <param name="data">the received byte array to process</param>
		1607	void _processBLCtrl(byte[] data)
		1608	{
		1609	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1610	{
		1611	bool bAvailable = false;
		1612	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1613	{
		1614
		1615	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1616	bAvailable = true;
		1617	else
		1618	bAvailable = false;
		1619
		1620	if (data[i] < _iMotors)
		1621	{
		1622	if (bAvailable)
		1623	{
2315	-	1624	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1625	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1626	}
		1627	else
		1628	{
2315	-	1629	dtMotors.Rows[data[i]].SetField(1, "NA");
		1630	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1631	}
		1632	}
		1633	//if (data[i] > 3 && data[i] < 8)
		1634	//{
		1635	// if (bAvailable)
		1636	// {
		1637	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1638	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1639	// }
		1640	// else
		1641	// {
		1642	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1643	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1644	// }
		1645	//}
		1646	}
		1647	}
		1648	}
		1649	/// <summary>
		1650	/// Navi-Ctrl data 'O'
		1651	/// GPS-Position, capacatiy, flying time...
		1652	/// </summary>
		1653	/// <param name="data">the received byte array to process</param>
		1654	void _processNCData(byte[] data)
		1655	{
		1656	int i_32, i_16, iVal;
		1657	double d;
		1658	i_32 = data[4];
		1659	iVal = i_32 << 24;
		1660	i_32 = data[3];
		1661	iVal += i_32 << 16;
		1662	i_32 = data[2];
		1663	iVal += i_32 << 8;
		1664	iVal += data[1];
		1665	d = (double)iVal / Math.Pow(10, 7);
2324	-	1666	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1667
2287	-	1668	PointLatLng p = new PointLatLng();
		1669
		1670	p.Lng = d;
		1671	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1672	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1673
		1674	i_32 = data[8];
		1675	iVal = i_32 << 24;
		1676	i_32 = data[7];
		1677	iVal += i_32 << 16;
		1678	i_32 = data[6];
		1679	iVal += i_32 << 8;
		1680	iVal += data[5];
		1681	d = (double)iVal / Math.Pow(10, 7);
2324	-	1682	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1683	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1684	p.Lat = d;
2291	-	1685	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1686	{
		1687	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1688	if(_bAutoHome && !_bFirstSatFix)
		1689	{
		1690	if (_iFirstSatFix < 3)
		1691	_iFirstSatFix++;
		1692	else
		1693	{
		1694	_bFirstSatFix = true;
2347	-	1695	Dispatcher.Invoke(() => _setHomePos());
2295	-	1696	}
		1697	}
2291	-	1698	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1699	{
		1700	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1701	_bAnimSatFixActive = false;
		1702	}
		1703	if (!_bFollowCopter)
		1704	{
		1705	_setCopterData(p);
		1706	if (!MainMap.ViewArea.Contains(p))
		1707	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1708
2291	-	1709	}
		1710	else
2287	-	1711	Dispatcher.Invoke(() => MainMap.Position = p);
		1712	}
		1713	else
2291	-	1714	{
		1715	if(_bSatFix)
		1716	{
		1717	if (data[50] == _iSatsLast)
		1718	{
		1719	if (_iSatsJitter < 20) _iSatsJitter++;
		1720	}
		1721	else
		1722	{
		1723	_iSatsJitter = 0;
		1724	_iSatsLast = data[50];
		1725	}
2287	-	1726
2291	-	1727	if (_iSatsJitter == 20)
		1728	{
		1729	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1730	{
		1731	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1732	_bAnimSatFixActive = true;
		1733	}
		1734	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1735	{
2335	-	1736	Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
2295	-	1737	th.Start();
2291	-	1738	_bVoiceSatFixActive = true;
		1739	}
		1740
		1741	_bSatFix = false;
		1742	}
		1743	}
		1744	}
		1745
2287	-	1746	i_16 = data[28];
		1747	i_16 = (Int16)(i_16 << 8);
		1748	iVal = data[27] + i_16;
		1749	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1750
		1751	i_16 = data[45];
		1752	i_16 = (Int16)(i_16 << 8);
		1753	iVal = data[44] + i_16;
		1754	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1755	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1756
		1757	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2355	-	1758	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2347	-	1759	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count > 0)
2342	-	1760	{
2347	-	1761	_setActiveWP(data[48]-1);
2355	-	1762	if((data[67] & 2) == 2)
		1763	Dispatcher.Invoke(() => {
		1764	DataGridRow row;
		1765	if (_wpIndex > -1)
		1766	{
		1767	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1768	row.Background = new SolidColorBrush(Colors.Transparent);
		1769	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1770	row.BorderThickness = new Thickness(0);
		1771	}
		1772	_wpIndex = data[48] - 1;
		1773	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
2366	-	1774	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		1775	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	1776	row.BorderThickness = new Thickness(2);
		1777	dgvWP.UpdateLayout();
		1778	});
2347	-	1779	_wpIndex = data[48]-1;
2342	-	1780	}
2347	-	1781	else
		1782	{
		1783	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	1784	{
2347	-	1785	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	1786	Dispatcher.Invoke(() =>
		1787	{
		1788	DataGridRow row;
2368	-	1789	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	1790	{
		1791	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1792	row.Background = new SolidColorBrush(Colors.Transparent);
		1793	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1794	row.BorderThickness = new Thickness(0);
		1795	_wpIndex = -1;
		1796	}
		1797	});
		1798
		1799	}
2347	-	1800	}
2342	-	1801
2287	-	1802	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	1803	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	1804	_wpCount = data[49];
2287	-	1805	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1806
		1807	//--------------- Capacity used ------------------------
		1808	i_16 = data[81];
		1809	i_16 = (Int16)(i_16 << 8);
		1810	iVal = data[80] + i_16;
		1811	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1812	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1813
		1814	//--------------- Flying time ------------------------
		1815	i_16 = data[56];
		1816	i_16 = (Int16)(i_16 << 8);
		1817	iVal = data[55] + i_16;
		1818	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1819	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1820	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1821	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1822
		1823	//--------------- RC quality ------------------------
		1824	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1825	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1826
2291	-	1827	if(data[66] > _iThresholdRC)
		1828	{
		1829	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1830	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1831	{
		1832	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1833	_bAnimRCLevelActive = false;
		1834	}
		1835	}
		1836	else
		1837	{
		1838	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1839	if (_iRCLevelJitter == 20)
		1840	{
		1841	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1842	{
		1843	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1844	_bAnimRCLevelActive = true;
		1845	}
		1846	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1847	{
2295	-	1848	Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1849	th.Start();
2291	-	1850	_bVoiceRCLevelActive = true;
		1851	}
		1852	_iRCLevelJitter++;
		1853	}
		1854	}
		1855
2287	-	1856	//--------------- NC Error ------------------------
		1857	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1858	if (data[69] > 0)
		1859	_readNCError();
		1860	if (data[69] > 0 & data[69] < 44)
		1861	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
		1862	else
		1863	if (_bErrorLog) _clearErrorLog("NC Error");
		1864
2298	-	1865	//-------------FC / NC Status Flags
		1866	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1867	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1868	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1869	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1870	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1871	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1872
		1873	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1874	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1875	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1876	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1877	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1878	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
		1879	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		1880	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		1881
		1882	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1883	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1884	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1885	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1886	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1887	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1888	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	1889
		1890	//Sidebar StatusSymbols
		1891	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1892	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
		1893	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
		1894
		1895	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1896	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
		1897	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
		1898
		1899	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	1900	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
		1901	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	-	1902
		1903	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1904	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
		1905	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
		1906
		1907	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	1908	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
		1909	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
		1910	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	-	1911
2324	-	1912	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	1913	}
		1914	/// <summary>
		1915	/// Navi-Ctrl WP data struct 'X'
		1916	/// called by index
		1917	/// </summary>
		1918	/// <param name="data">the received byte array to process</param>
		1919	void _processWPData(byte[] data)
		1920	{
2313	-	1921	_iWPCount = data[0];
2287	-	1922	_bGetWPCount = false;
		1923	if (data.Length >= 28)
		1924	{
		1925	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		1926	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		1927	if (_bGetWP)
		1928	{
		1929	if (data[1] == 1)
2315	-	1930	{
2333	-	1931	Dispatcher.Invoke(() =>
		1932	{
2356	-	1933	wpList.Clear();
		1934	_clearMapMarkers(typeof(CustomMarkerWP));
		1935	if (mRouteWP != null)
		1936	MainMap.Markers.Remove(mRouteWP);
		1937	if (wpActiveMarker != null)
		1938	MainMap.Markers.Remove(wpActiveMarker);
		1939	lblWPRouteDistance.Content = "0 m";
		1940	dtWaypoints.Rows.Clear();
2368	-	1941	_wpEdit = -1;_wpIndex = -1;
2318	-	1942	});
2315	-	1943	}
2287	-	1944	DataRow dr = dtWaypoints.NewRow();
		1945	dr = Waypoints.toDataRow(data, dr);
2313	-	1946	dtWaypoints.Rows.Add(dr);
2363	-	1947	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1]);
2313	-	1948	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1949	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	1950	if (data[1] == data[0])
		1951	{
		1952	_bGetWP = false;
2368	-	1953	_routeUpdate();
2287	-	1954	}
		1955
		1956	}
		1957	}
		1958	else
		1959	{
		1960	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		1961	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		1962	}
		1963	}
		1964	/// <summary>
		1965	/// OSD Menue 'L'
		1966	/// single page called by pagenumber
		1967	/// no autoupdate
		1968	/// </summary>
		1969	/// <param name="data">the received byte array to process</param>
		1970	void _processOSDSingle(byte[] data)
		1971	{
		1972	if (data.Length == 84)
		1973	{
		1974	string sMessage = "";
		1975	iOSDPage = data[0];
		1976	iOSDMax = data[1];
		1977	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		1978	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		1979	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1980	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1981	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1982	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1983	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		1984	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		1985
		1986	}
		1987	//else
		1988	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		1989
		1990	}
		1991	/// <summary>
		1992	/// OSD Menue 'H'
		1993	/// called by keys (0x01,0x02,0x03,0x04)
		1994	/// autoupdate
		1995	/// </summary>
		1996	/// <param name="data">the received byte array to process</param>
		1997	void _processOSDAuto(byte[] data)
		1998	{
		1999	if (data.Length == 81)
		2000	{
		2001	string sMessage = "";
		2002	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2003	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2004	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2005	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2006	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2007
		2008	}
		2009	//else
		2010	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2011	}
		2012
		2013	#endregion processing received data
		2014
		2015	#region controller messages
		2016	/// <summary> send message to controller to request data
		2017	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2018	/// </summary>
		2019	/// <param name="CMDID"> the command ID </param>
		2020	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2021	private void _sendControllerMessage(char CMDID, byte address)
		2022	{
		2023	if (serialPortCtrl.Port.IsOpen)
		2024	{
		2025	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2026	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2027	serialStream.Write(bytes, 0, bytes.Length);
		2028
		2029	}
		2030	else
		2031	Log(LogMsgType.Error, "NOT CONNECTED!");
		2032	}
		2033	/// <summary> send message to controller to request data
		2034	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2035	/// </summary>
		2036	/// <param name="CMDID"> the command ID </param>
		2037	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2038	/// <param name="data"> additional data for the request</param>
		2039	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2040	{
		2041	if (serialPortCtrl.Port.IsOpen)
		2042	{
		2043	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2044	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2045	serialStream.Write(bytes, 0, bytes.Length);
		2046
		2047	}
		2048	else
		2049	Log(LogMsgType.Error, "NOT CONNECTED!");
		2050	}
		2051
		2052	/// <summary>
		2053	/// start/stop continous polling of controller values
		2054	/// </summary>
		2055	/// <param name="b">start/stop switch</param>
		2056	void _readCont(bool b)
		2057	{
		2058	bReadContinously = b;
		2059	if (bReadContinously)
		2060	{
		2061	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2062	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2063	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2064	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2065	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2066	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2067	}
		2068	else
		2069	{
		2070	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2071	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2072	_bConnErr = false;
		2073	}
		2074	_iLifeCounter = 0;
		2075	}
		2076
		2077	private void _getVersion()
		2078	{
		2079	_sendControllerMessage('v', 0);
		2080	}
		2081	/// <summary>
		2082	/// get FC version struct via NC
		2083	/// by sending '1' as data (not documented in wiki...)
		2084	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2085	/// </summary>
		2086	/// <param name="ctrl">controller number 1=FC</param>
		2087	private void _getVersion(byte ctrl)
		2088	{
		2089	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2090	}
		2091	/// <summary>
		2092	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2093	/// </summary>
		2094	private void _switchToNC()
		2095	{
		2096	if (serialPortCtrl.Port.IsOpen)
		2097	{
		2098	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2099	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2100	serialStream.Write(bytes, 0, bytes.Length);
		2101
		2102	Thread.Sleep(100);
		2103	_getVersion();
		2104	Thread.Sleep(100);
		2105	// _OSDMenue(0);
		2106	}
		2107	else
		2108	Log(LogMsgType.Error, "NOT CONNECTED!");
		2109	}
		2110	/// <summary>
		2111	/// switch to FC
		2112	/// </summary>
		2113	private void _switchToFC()
		2114	{
		2115	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2116	Thread.Sleep(100);
		2117	_getVersion();
		2118	Thread.Sleep(100);
		2119	// _OSDMenue(0);
		2120	}
		2121	/// <summary>
		2122	/// send RESET signal to FC
		2123	/// </summary>
		2124	private void _resetCtrl()
		2125	{
		2126	_sendControllerMessage('R', 1);
		2127	}
		2128	/// <summary>
		2129	/// poll the debug data (4sec subscription)
		2130	/// </summary>
		2131	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2132	private void _readDebugData(bool auto)
		2133	{
		2134	byte interval = auto ? debugInterval : (byte)0;
		2135	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2136	}
		2137	/// <summary>
		2138	/// poll the BL-CTRL status via NC (4sec subscription)
		2139	/// </summary>
		2140	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2141	private void _readBLCtrl(bool auto)
		2142	{
		2143	byte interval = auto ? blctrlInterval : (byte)0;
		2144	_sendControllerMessage('k', 0, new byte[1] { interval });
		2145	}
		2146	/// <summary>
		2147	/// poll the NC data struct (4sec subscription)
		2148	/// </summary>
		2149	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2150	private void _readNavData(bool auto)
		2151	{
		2152	byte interval = auto ? navctrlInterval : (byte)0;
		2153	_sendControllerMessage('o', 2, new byte[1] { interval });
		2154	}
		2155	/// <summary>
		2156	/// get the errortext for pending NC error
		2157	/// </summary>
		2158	private void _readNCError()
		2159	{
		2160	_sendControllerMessage('e', 2);
		2161	}
		2162	/// <summary>
		2163	/// request the Waypoint at index
		2164	/// </summary>
		2165	/// <param name="index"></param>
		2166	void _getpWP(int index)
		2167	{
		2168	if (serialPortCtrl.Port.IsOpen)
		2169	{
		2170	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2171	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2172	serialStream.Write(bytes, 0, bytes.Length);
		2173	}
		2174	else
		2175	Log(LogMsgType.Error, "NOT CONNECTED!");
		2176
		2177	}
		2178	void _getWP()
		2179	{
2335	-	2180	int iTimeout = 0;
2287	-	2181	_bGetWPCount = true;
2315	-	2182	_getpWP(1); //get the itemscount of wp
2335	-	2183	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2184	{
		2185	Thread.Sleep(10);
		2186	iTimeout++;
		2187	}
		2188	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2189	_getWPList();
		2190	}
		2191	void _getWPList()
		2192	{
		2193	_bGetWP = true;
2313	-	2194	int iTimeout=0;
		2195	for (int j = 0; j < _iWPCount; j++)
2287	-	2196	{
		2197	_getpWP(j + 1);
2313	-	2198	iTimeout = 0;
		2199	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2200	{
		2201	Thread.Sleep(1);
		2202	iTimeout++;
		2203	}
2287	-	2204	}
		2205	}
2363	-	2206	/// <summary>
		2207	/// Wrapper for _clearCopterWPList()
		2208	/// necessary, cause it is called by threadnew which does not like return values...
		2209	/// </summary>
2340	-	2210	void clearCopterWPList()
2313	-	2211	{
2340	-	2212	_clearCopterWPList();
		2213	}
2363	-	2214	/// <summary>
		2215	/// clear the WP list of the copter
		2216	/// by sending 'invalid' and index '0'
		2217	/// </summary>
		2218	/// <returns></returns>
2340	-	2219	bool _clearCopterWPList()
		2220	{
2335	-	2221	int iTimeout = 0;
2313	-	2222	if (serialPortCtrl.Port.IsOpen)
		2223	{
		2224	byte[] bData = new byte[30];
		2225	for (int i = 0; i < 30; i++)
		2226	bData[i] = 0;
		2227	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2228	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2229	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2230
2313	-	2231	_iWPCount = -1;
2340	-	2232	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2233	{
2313	-	2234	Thread.Sleep(10);
2335	-	2235	iTimeout++;
		2236	}
2313	-	2237	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2238	if (_iWPCount > -1)
2340	-	2239	return true;
		2240	else
		2241	Log(LogMsgType.Error, "Timeout while sending list!");
		2242	}
		2243	else
		2244	Log(LogMsgType.Error, "NOT CONNECTED!");
		2245
		2246	return false;
		2247	}
		2248	void _sendWPList()
		2249	{
2362	-	2250	_sendWPList(0);
		2251	}
		2252	void _sendWPList(int iStart)
		2253	{
2340	-	2254	int iTimeout = 0;
		2255	if (serialPortCtrl.Port.IsOpen)
		2256	{
		2257	if (_clearCopterWPList())
2313	-	2258	{
2362	-	2259	int k = 1;
		2260	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	2261	{
2362	-	2262	k = iStart > 0 ? k : -1;
2376	-	2263	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	2264
2335	-	2265	_iWPCount = -1;
		2266	iTimeout = 0;
		2267	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2268	{
		2269	Thread.Sleep(10);
		2270	iTimeout++;
		2271	}
		2272	if (_iWPCount == -1)
		2273	{
		2274	Log(LogMsgType.Error, "Timeout while sending list!");
		2275	break;
		2276	}
		2277	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	2278	k++;
2335	-	2279	}
2313	-	2280	}
		2281	}
		2282	else
		2283	Log(LogMsgType.Error, "NOT CONNECTED!");
		2284
		2285	}
2376	-	2286	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	2287	{
2313	-	2288
2340	-	2289	if (serialPortCtrl.Port.IsOpen)
		2290	{
		2291	byte[] bData = new byte[30];
		2292	for (int i = 0; i < 30; i++)
		2293	bData[i] = 0;
		2294	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2295	byte[] bytes;
		2296	int iVal;
		2297	double dVal;
		2298	NumberFormatInfo nfi = new NumberFormatInfo();
		2299	nfi.NumberDecimalSeparator = ",";
		2300
		2301	//longitude
		2302	dVal = Convert.ToDouble(dr[4], nfi);
		2303	iVal = (int)(dVal * Math.Pow(10, 7));
		2304	bData[0] = (byte)(iVal & 0xff);
		2305	bData[1] = (byte)((iVal >> 8) & 0xff);
		2306	bData[2] = (byte)((iVal >> 16) & 0xff);
		2307	bData[3] = (byte)(iVal >> 24);
		2308	//latitude
		2309	dVal = Convert.ToDouble(dr[3], nfi);
		2310	iVal = (int)(dVal * Math.Pow(10, 7));
		2311	bData[4] = (byte)(iVal & 0xff);
		2312	bData[5] = (byte)((iVal >> 8) & 0xff);
		2313	bData[6] = (byte)((iVal >> 16) & 0xff);
		2314	bData[7] = (byte)(iVal >> 24);
		2315	//altitude
		2316	dVal = Convert.ToDouble(dr[5], nfi);
		2317	iVal = (int)(dVal * 10);
		2318	bData[8] = (byte)(iVal & 0xff);
		2319	bData[9] = (byte)((iVal >> 8) & 0xff);
		2320	bData[10] = (byte)((iVal >> 16) & 0xff);
		2321	bData[11] = (byte)(iVal >> 24);
2376	-	2322	if(bSim)
		2323	bData[12] = 3; //Status 'SIMULATE'
2340	-	2324	//Status 'NEWDATA'
2376	-	2325	else
		2326	bData[12] = 1;
2340	-	2327	//heading
		2328	iVal = Convert.ToInt16(dr[6]);
		2329	bData[13] = (byte)(iVal & 0xff);
		2330	bData[14] = (byte)((iVal >> 8) & 0xff);
		2331	//ToleranceRadius
		2332	bData[15] = Convert.ToByte(dr[9]);
		2333	//HoldTime
		2334	bData[16] = Convert.ToByte(dr[10]);
		2335	//Event_Flag
		2336	bData[17] = Convert.ToByte(dr[13]);
		2337	//Index
2379	-	2338	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
2340	-	2339	//Type
		2340	bData[19] = Convert.ToByte(dr[1]);
		2341	//WP_EventChannelValue
		2342	bData[20] = Convert.ToByte(dr[14]);
		2343	//AltitudeRate
		2344	bData[21] = Convert.ToByte(dr[8]);
		2345	//Speed
		2346	bData[22] = Convert.ToByte(dr[7]);
		2347	//CamAngle
		2348	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2349	//Name
2362	-	2350	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		2351	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	2352	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2353	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2354	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2355	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2356	//Autotrigger
		2357	bData[28] = Convert.ToByte(dr[11]);
		2358
2356	-	2359	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	2360	serialStream.Write(bytes, 0, bytes.Length);
		2361
		2362	return true;
		2363	}
		2364
		2365	return false;
		2366	}
2287	-	2367	#region OSD-Menue
		2368
		2369	/// <summary>
		2370	/// one time query of the OSD Menue with pagenumber
		2371	/// </summary>
		2372	/// <param name="iMenue">Menue page</param>
		2373	void _OSDMenue(int iMenue)
		2374	{
		2375	if (serialPortCtrl.Port.IsOpen)
		2376	{
		2377	if (iMenue > iOSDMax)
		2378	iMenue = 0;
		2379	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2380	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2381	serialStream.Write(bytes, 0, bytes.Length);
		2382	}
		2383	else
		2384	Log(LogMsgType.Error, "NOT CONNECTED!");
		2385
		2386	}
		2387	/// <summary>
		2388	/// call the OSDMenue and start autorefresh
		2389	/// usually by sending a menuekey
		2390	/// 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)
		2391	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2392	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2393	/// </summary>
		2394	void _OSDMenueAutoRefresh()
		2395	{
		2396	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2397	}
		2398	void _OSDMenueAutoRefresh(byte key)
		2399	{
		2400	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2401	}
		2402	/// <summary>
		2403	/// initialize the OSD menue combobox
		2404	/// combox is filled by numbers from 0 to max pagenumber
		2405	/// </summary>
		2406	void _initOSDCB()
		2407	{
		2408	_bCBInit = true;
		2409	if (iOSDMax == 0)
		2410	{
		2411	_OSDMenue(0);
		2412	Thread.Sleep(10);
		2413	}
		2414	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2415	for (int i = 0; i <= iOSDMax; i++)
		2416	{
		2417	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2418	}
		2419	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2420	_bCBInit = false;
		2421	}
		2422	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2423	{
		2424	iOSDPage++;
		2425	if (iOSDPage > iOSDMax)
		2426	iOSDPage = 0;
		2427
		2428	_OSDMenue(iOSDPage);
		2429	}
		2430	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2431	{
		2432	iOSDPage--;
		2433	if (iOSDPage < 0)
		2434	iOSDPage = iOSDMax;
		2435
		2436	_OSDMenue(iOSDPage);
		2437	}
		2438	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2439	{
		2440	_OSDMenueAutoRefresh(8);
		2441	}
		2442	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2443	{
		2444	_OSDMenueAutoRefresh(4);
		2445	}
		2446	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2447	{
		2448	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2449	_OSDMenue(cbOSD.SelectedIndex);
		2450	}
		2451	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2452	{
		2453	Dispatcher.Invoke(() =>
		2454	{
		2455	TextRange tr;
		2456	if (bNew)
		2457	{
		2458	rtfOSD.SelectAll();
		2459	rtfOSD.Selection.Text = string.Empty;
		2460	}
		2461	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2462	tr.Text = msg;
		2463	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2464	// rtfOSD.AppendText("\r");
		2465	rtfOSD.ScrollToEnd();
		2466
		2467	});
		2468	}
		2469
		2470	#endregion OSD-Menue
		2471
		2472	#endregion controller messages
		2473
2295	-	2474	void _mediaPlayer(string file)
		2475	{
		2476	if (File.Exists(file))
		2477	{
		2478	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		2479	mp.Open(file);
		2480	mp.Play();
		2481	}
		2482	}
2310	-	2483
2362	-	2484	#region ui
2310	-	2485	/// <summary>
		2486	/// Switch between fullscreen and normal window mode
		2487	/// save & restore scaling settings
		2488	/// </summary>
		2489	/// <param name="sender"></param>
		2490	/// <param name="e"></param>
2287	-	2491	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2492	{
		2493	if (winState.isMaximized)
		2494	{
		2495	winState.Restore(this);
		2496	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2497	if(_bSaveWinStateFull)
		2498	_saveScaleSliders(true);
		2499	if(_bSaveWinStateNormal)
		2500	_setScaleSliders(false);
		2501	}
		2502	else
		2503	{
		2504	winState.Maximize(this);
		2505	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2506	if(_bSaveWinStateNormal)
		2507	_saveScaleSliders(false);
		2508	if(_bSaveWinStateFull)
		2509	_setScaleSliders(true);
		2510	}
		2511	}
		2512
		2513	/// <summary>
		2514	/// reset the scaling of all UI elements to default
		2515	/// </summary>
		2516	/// <param name="sender"></param>
		2517	/// <param name="e"></param>
		2518	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2519	{
		2520	UIScaleHorizonSlider.Value =
		2521	UIScaleLOGSlider.Value =
		2522	UIScaleMotorsSlider.Value =
		2523	UIScaleOSDSlider.Value =
		2524	UIScaleSlider.Value =
		2525	UIScaleTopSlider.Value = 1;
		2526	}
		2527	/// <summary>
		2528	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2529	/// </summary>
		2530	/// <param name="sender"></param>
		2531	/// <param name="e"></param>
		2532	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2533	{
		2534	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2535	if (GridMotors != null)
		2536	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2537	if (GridSideBar != null)
		2538	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2539	if (GridOSD != null)
		2540	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2541	if (GridData != null)
		2542	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2543	if (GridWP != null)
		2544	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2545	}
2310	-	2546	/// <summary>
		2547	/// restore the saved scalings for the fullscreen/normal window mode
		2548	/// </summary>
		2549	/// <param name="bFull">the mode the window is set to</param>
2287	-	2550	void _setScaleSliders(bool bFull)
		2551	{
		2552	if(bFull)
		2553	{
		2554	UIScaleSlider.Value = scaleFullAll;
		2555	UIScaleTopSlider.Value = scaleFullTopBar;
		2556	UIScaleMotorsSlider.Value = scaleFullMotors;
		2557	UIScaleOSDSlider.Value = scaleFullOSD;
		2558	UIScaleLOGSlider.Value = scaleFullLOG;
		2559	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2560	}
		2561	else
		2562	{
		2563	UIScaleSlider.Value = scaleNormalAll;
		2564	UIScaleTopSlider.Value = scaleNormalTopBar;
		2565	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2566	UIScaleOSDSlider.Value = scaleNormalOSD;
		2567	UIScaleLOGSlider.Value = scaleNormalLOG;
		2568	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2569	}
		2570	}
		2571
2310	-	2572	/// <summary>
		2573	/// save the scalings for the actual window mode
		2574	/// </summary>
		2575	/// <param name="bFull">the actual window mode</param>
2287	-	2576	void _saveScaleSliders(bool bFull)
		2577	{
		2578
		2579	if (bFull)
		2580	{
		2581	scaleFullAll = UIScaleSlider.Value;
		2582	scaleFullTopBar = UIScaleTopSlider.Value;
		2583	scaleFullMotors = UIScaleMotorsSlider.Value;
		2584	scaleFullOSD = UIScaleOSDSlider.Value;
		2585	scaleFullLOG = UIScaleLOGSlider.Value;
		2586	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2587	}
		2588	else
		2589	{
		2590	scaleNormalAll = UIScaleSlider.Value;
		2591	scaleNormalTopBar = UIScaleTopSlider.Value;
		2592	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2593	scaleNormalOSD = UIScaleOSDSlider.Value;
		2594	scaleNormalLOG = UIScaleLOGSlider.Value;
		2595	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2596	}
		2597	}
2362	-	2598	#endregion ui
2287	-	2599
		2600	/// <summary>
		2601	/// read settings from ini-file
		2602	/// </summary>
		2603	void _readIni()
		2604	{
		2605	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2606	_writeIni();
		2607	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2608	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2609	try
		2610	{
2287	-	2611
2312	-	2612	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2613	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2614	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2615	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2616	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2617	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2618	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2619	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2620
2312	-	2621	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2622	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2623	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2624	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2625	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2626	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2627	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2628	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2629
2312	-	2630	sVal = ini.IniReadValue("topBar", "voltage");
		2631	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2632	sVal = ini.IniReadValue("topBar", "capacity");
		2633	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2634	sVal = ini.IniReadValue("topBar", "current");
		2635	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2636	sVal = ini.IniReadValue("topBar", "flightTime");
		2637	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2638	sVal = ini.IniReadValue("topBar", "distanceHP");
		2639	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2640	sVal = ini.IniReadValue("topBar", "height");
		2641	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2642	sVal = ini.IniReadValue("topBar", "speed");
		2643	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2644	sVal = ini.IniReadValue("topBar", "magneticField");
		2645	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2646	sVal = ini.IniReadValue("topBar", "satellites");
		2647	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2648	sVal = ini.IniReadValue("topBar", "rc");
		2649	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2650
2312	-	2651	sVal = ini.IniReadValue("style", "saveFullScreen");
		2652	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2653	sVal = ini.IniReadValue("style", "saveNormalState");
		2654	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2655
2312	-	2656	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2657	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2658	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2659	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2660	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2661	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2662	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2663	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2664	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2665	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2666	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2667	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2668
2312	-	2669	sVal = ini.IniReadValue("style", "scaleFullAll");
		2670	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2671	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2672	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2673	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2674	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2675	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2676	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2677	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2678	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2679	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2680	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2681
2312	-	2682	sVal = ini.IniReadValue("general", "LiPoCells");
		2683	_LipoCells = Convert.ToInt16(sVal);
		2684	sVal = ini.IniReadValue("general", "Motors");
		2685	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2686
2312	-	2687	sVal = ini.IniReadValue("map", "followMe");
		2688	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2689	sVal = ini.IniReadValue("map", "AutoSetHome");
		2690	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2691	sVal = ini.IniReadValue("map", "GPXLog");
		2692	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2693
2312	-	2694	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2695	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2696	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2697	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2698	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2699	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2700	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2701	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2702	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2703	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2704	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2705	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2706	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2707	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2708	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2709	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2710	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2711	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2712	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2713	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2714	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2715	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2716
		2717	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2718	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2719	sVal = ini.IniReadValue("waypoints", "poicolor");
		2720	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2721	sVal = ini.IniReadValue("waypoints", "fscolor");
		2722	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2723	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2724	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2379	-	2725	sVal = ini.IniReadValue("waypoints", "landingcolor");
		2726	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	2727	sVal = ini.IniReadValue("waypoints", "routecolor");
		2728	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		2729	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		2730	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2349	-	2731
		2732	for (int i = 0; i < 12; i++)
		2733	{
		2734	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		2735	if (sVal != "")
		2736	serChan[i] = Convert.ToInt16(sVal);
		2737	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		2738	if (sVal != "")
		2739	serChanTitle[i] = sVal;
		2740	for (int y = 0; i < 4 && y < 3; y++)
		2741	{
		2742	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		2743	if (sVal != "")
		2744	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		2745	}
		2746	}
		2747
2312	-	2748	}
		2749	catch (Exception e)
		2750	{
2287	-	2751
2312	-	2752	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2753	}
		2754
2287	-	2755	}
		2756
		2757	/// <summary>
		2758	/// save settings to ini-file
		2759	/// </summary>
		2760	void _writeIni()
		2761	{
		2762
		2763	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2764	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2765
2312	-	2766	try
		2767	{
2287	-	2768
2312	-	2769	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2770	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2771	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2772	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2773
2312	-	2774	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2775	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2776	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2777	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2778
2312	-	2779	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2780	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2781
2312	-	2782	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2783	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	2784	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	2785
2312	-	2786	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2787	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2788	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2789	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2790	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2791	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2792	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2793	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2794	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2795	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2796
2312	-	2797	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2798	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2799
2312	-	2800	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2801	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2802	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2803	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2804	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2805	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	2806
2312	-	2807	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2808	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2809	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2810	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2811	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2812	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	2813
2312	-	2814	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2815
		2816	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2817	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2818	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2819	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2820	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2821	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2822	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2823	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2824	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2825	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2826	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	2827
		2828	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		2829	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		2830	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		2831	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2379	-	2832	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
2328	-	2833	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		2834	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2349	-	2835
		2836	for (int i = 0; i < 12; i++)
		2837	{
		2838	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		2839	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		2840	for (int y = 0; i < 4 && y < 3; y++)
		2841	{
		2842	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		2843	}
		2844	}
		2845
2312	-	2846	}
		2847	catch (Exception e)
		2848	{
		2849
		2850	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);
		2851	}
2287	-	2852	}
2350	-	2853
2349	-	2854	#region serial channels
		2855	/// <summary>
		2856	/// Sending the serial channel values
		2857	/// </summary>
		2858	void _sendSerialData()
		2859	{
		2860	byte[] serData = new byte[12];
		2861	for (int i = 0; i < 12; i++)
		2862	{
		2863	serData[i] = unchecked((byte)(serChan[i] - 127));
		2864	}
		2865	_sendControllerMessage('y', 1, serData);
		2866	}
		2867	/// <summary>
		2868	/// init the controls for displaying
		2869	/// and setting serial control channels
		2870	/// </summary>
		2871	void _initSerialCtrl()
		2872	{
		2873	SerChan1ScaleSlider.Value = serChan[0];
		2874	textBoxSerial1.Text = serChanTitle[0];
		2875	SerChan2ScaleSlider.Value = serChan[1];
		2876	textBoxSerial2.Text = serChanTitle[1];
2350	-	2877	SerChan3ScaleSlider.Value = serChan[2];
		2878	textBoxSerial3.Text = serChanTitle[2];
2349	-	2879	//SerChan4ScaleSlider.Value = serChan[3];
		2880	//textBoxSerial4.Text = serChanTitle[3];
		2881	//trckbarSerial5.Value = serChan[4];
		2882	//textBoxSerial5.Text = serChanTitle[4];
		2883	//trckbarSerial6.Value = serChan[5];
		2884	//textBoxSerial6.Text = serChanTitle[5];
		2885	//trckbarSerial7.Value = serChan[6];
		2886	//textBoxSerial7.Text = serChanTitle[6];
		2887	//trckbarSerial8.Value = serChan[7];
		2888	//textBoxSerial8.Text = serChanTitle[7];
2312	-	2889
2349	-	2890	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		2891	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		2892	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		2893	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		2894	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		2895	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	2896	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		2897	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		2898	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	2899	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		2900	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		2901	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		2902	}
		2903	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2904	{
		2905	if (!_init)
		2906	{
		2907	serChan[0] = (int)SerChan1ScaleSlider.Value;
		2908	_sendSerialData();
		2909	}
		2910	}
		2911	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		2912	{
		2913	if (!_init)
		2914	{
		2915	serChanTitle[0] = textBoxSerial1.Text;
		2916	}
		2917	}
		2918	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		2919	{
		2920	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		2921	{
		2922	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		2923	}
		2924	}
		2925	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		2926	{
		2927	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		2928	{
		2929	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		2930	}
		2931	}
		2932	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		2933	{
		2934	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		2935	{
		2936	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		2937	}
		2938	}
		2939	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		2940	{
		2941	if (textBoxSerial1_val1.Text.Length > 0)
		2942	{
		2943	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		2944	}
		2945	}
		2946	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		2947	{
		2948	SerChan1ScaleSlider.Value = 0;
		2949	}
		2950	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		2951	{
		2952	SerChan1ScaleSlider.Value = 127;
		2953	}
		2954	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		2955	{
		2956	SerChan1ScaleSlider.Value = 254;
		2957	}
		2958	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		2959	{
		2960	if (textBoxSerial1_val2.Text.Length > 0)
		2961	{
		2962	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		2963	}
		2964	}
		2965	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		2966	{
		2967	if (textBoxSerial1_val3.Text.Length > 0)
		2968	{
		2969	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		2970	}
		2971	}
		2972
		2973	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2974	{
		2975	if (!_init)
		2976	{
		2977	serChan[1] = (int)SerChan2ScaleSlider.Value;
		2978	_sendSerialData();
		2979	}
		2980	}
		2981	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		2982	{
		2983	if (!_init)
		2984	{
		2985	serChanTitle[1] = textBoxSerial2.Text;
		2986	}
		2987	}
		2988	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		2989	{
		2990	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		2991	{
		2992	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		2993	}
		2994	}
		2995	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		2996	{
		2997	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		2998	{
		2999	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		3000	}
		3001	}
		3002	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		3003	{
		3004	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		3005	{
		3006	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3007	}
		3008	}
		3009	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3010	{
		3011	SerChan2ScaleSlider.Value = 0;
		3012	}
		3013	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3014	{
		3015	SerChan2ScaleSlider.Value = 127;
		3016	}
		3017	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3018	{
		3019	SerChan2ScaleSlider.Value = 254;
		3020	}
		3021	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3022	{
		3023	if (textBoxSerial2_val1.Text.Length > 0)
		3024	{
		3025	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3026	}
		3027	}
		3028	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3029	{
		3030	if (textBoxSerial2_val2.Text.Length > 0)
		3031	{
		3032	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3033	}
		3034	}
		3035	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3036	{
		3037	if (textBoxSerial2_val3.Text.Length > 0)
		3038	{
		3039	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3040	}
		3041	}
2350	-	3042
		3043	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3044	{
		3045	if (!_init)
		3046	{
		3047	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3048	_sendSerialData();
		3049	}
		3050	}
		3051	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3052	{
		3053	if (!_init)
		3054	{
		3055	serChanTitle[2] = textBoxSerial3.Text;
		3056	}
		3057	}
		3058	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3059	{
		3060	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3061	{
		3062	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3063	}
		3064	}
		3065	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3066	{
		3067	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3068	{
		3069	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3070	}
		3071	}
		3072	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3073	{
		3074	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3075	{
		3076	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3077	}
		3078	}
		3079	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3080	{
		3081	SerChan3ScaleSlider.Value = 0;
		3082	}
		3083	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3084	{
		3085	SerChan3ScaleSlider.Value = 127;
		3086	}
		3087	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3088	{
		3089	SerChan3ScaleSlider.Value = 254;
		3090	}
		3091	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3092	{
		3093	if (textBoxSerial3_val1.Text.Length > 0)
		3094	{
		3095	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3096	}
		3097	}
		3098	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3099	{
		3100	if (textBoxSerial3_val2.Text.Length > 0)
		3101	{
		3102	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3103	}
		3104	}
		3105	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3106	{
		3107	if (textBoxSerial3_val3.Text.Length > 0)
		3108	{
		3109	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3110	}
		3111	}
2349	-	3112	/// <summary>
		3113	/// checks the input of a textbox
		3114	/// for valid data
		3115	/// in this case values 0-254
		3116	/// </summary>
		3117	/// <param name="sender"></param>
		3118	/// <param name="e"></param>
		3119	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3120	{
		3121	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3122	e.Handled = true;
		3123	else
		3124	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3125	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3126	e.Handled = true;
		3127	else
		3128	{
		3129	int i = -1;
		3130	switch (((TextBox)sender).Name)
		3131	{
		3132	case "textBoxSerial1_val1":
		3133	i = 0;
		3134	break;
		3135	case "textBoxSerial1_val2":
		3136	i = 1;
		3137	break;
		3138	case "textBoxSerial1_val3":
		3139	i = 2;
		3140	break;
		3141	case "textBoxSerial2_val1":
		3142	i = 3;
		3143	break;
		3144	case "textBoxSerial2_val2":
		3145	i = 4;
		3146	break;
		3147	case "textBoxSerial2_val3":
		3148	i = 5;
		3149	break;
		3150	case "textBoxSerial3_val1":
		3151	i = 6;
		3152	break;
		3153	case "textBoxSerial3_val2":
		3154	i = 7;
		3155	break;
		3156	case "textBoxSerial3_val3":
		3157	i = 8;
		3158	break;
		3159	case "textBoxSerial4_val1":
		3160	i = 9;
		3161	break;
		3162	case "textBoxSerial4_val2":
		3163	i = 10;
		3164	break;
		3165	case "textBoxSerial4_val3":
		3166	i = 11;
		3167	break;
		3168	}
		3169	if (i > -1)
		3170	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3171	}
		3172	}
		3173
		3174	#endregion serial channels
2315	-	3175	#region WP
2312	-	3176	void _readWPLFile()
		3177	{
		3178	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3179	fd.Filter = "Waypointlists \| *.wpl";
		3180	fd.Multiselect = false;
		3181	if (fd.ShowDialog().Value)
		3182	{
		3183	string file = fd.SafeFileName;
		3184	IniFile ini = new IniFile(fd.SafeFileName);
		3185	ini.path = fd.FileName;
		3186
		3187	try
		3188	{
		3189	string sVal = ini.IniReadValue("General", "FileVersion");
		3190	if (sVal == "")
		3191	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3192	else
		3193	{
		3194	if (Convert.ToInt16(sVal) < 3)
		3195	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3196	else
		3197	{
		3198	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3199	if (sVal == "")
		3200	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3201	else
		3202	{
		3203	int wpnum = Convert.ToInt16(sVal);
		3204	string wp;
		3205	int i;
2313	-	3206	NumberFormatInfo nfi = new NumberFormatInfo();
		3207	nfi.NumberDecimalSeparator = ".";
2312	-	3208	dtWaypoints.Rows.Clear();
2368	-	3209	_wpEdit = -1;_wpIndex = -1;
2327	-	3210	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	3211	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	3212	wpList.Clear();
		3213	if (mRouteWP != null)
		3214	MainMap.Markers.Remove(mRouteWP);
2363	-	3215	//if (wpActiveMarker != null)
		3216	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	3217	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3218
2312	-	3219	for (int k = 1; k <= wpnum; k++)
		3220	{
		3221	DataRow dr = dtWaypoints.NewRow();
		3222	dr.ItemArray = new object[16];
		3223	object[] o = new object[16];
		3224	i = 0;
		3225	wp = "Point" + k.ToString();
		3226	o[i] = k;
		3227	i++;
		3228	sVal = ini.IniReadValue(wp, "Type");
		3229	if (sVal != "")
2315	-	3230	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3231	i++;
		3232	sVal = ini.IniReadValue(wp, "Prefix");
		3233	if (sVal != "")
2350	-	3234	o[i] = sVal + k.ToString();
		3235	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3236	i++;
2313	-	3237	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3238	if (sVal != "")
2313	-	3239	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3240	i++;
2313	-	3241	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3242	if (sVal != "")
2313	-	3243	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3244	i++;
		3245	sVal = ini.IniReadValue(wp, "Altitude");
		3246	if (sVal != "")
2313	-	3247	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3248	i++;
		3249	sVal = ini.IniReadValue(wp, "Heading");
		3250	if (sVal != "")
		3251	o[i] = Convert.ToInt16(sVal);
		3252	i++;
		3253	sVal = ini.IniReadValue(wp, "Speed");
		3254	if (sVal != "")
2315	-	3255	o[i] = Convert.ToInt16(sVal);
2312	-	3256	i++;
		3257	sVal = ini.IniReadValue(wp, "ClimbRate");
		3258	if (sVal != "")
		3259	o[i] = Convert.ToInt16(sVal);
		3260	i++;
		3261	sVal = ini.IniReadValue(wp, "Radius");
		3262	if (sVal != "")
		3263	o[i] = Convert.ToInt16(sVal);
		3264	i++;
		3265	sVal = ini.IniReadValue(wp, "DelayTime");
		3266	if (sVal != "")
		3267	o[i] = Convert.ToInt16(sVal);
		3268	i++;
		3269	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3270	if (sVal != "")
		3271	o[i] = Convert.ToInt16(sVal); ;
		3272	i++;
		3273	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3274	if (sVal != "")
2313	-	3275	o[i] = Convert.ToInt16(sVal);
2312	-	3276	i++;
		3277	o[i] = 0;
		3278	i++;
		3279	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3280	if (sVal != "")
		3281	o[i] = Convert.ToInt16(sVal);
		3282	i++;
		3283	o[i] = "New";
		3284
		3285	dr.ItemArray = o;
		3286	dtWaypoints.Rows.Add(dr);
2363	-	3287	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1]);
2315	-	3288
2312	-	3289	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3290	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3291	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3292	Thread.Sleep(10);
		3293	}
2359	-	3294	_routeUpdate();
2312	-	3295	}
		3296	}
		3297	}
		3298
		3299	}
		3300	catch (Exception e)
		3301	{
		3302
		3303	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		3304	}
		3305
		3306	}
		3307	}
2350	-	3308	void _saveWPLFile()
		3309	{
		3310	if (dtWaypoints.Rows.Count > 0)
		3311	{
		3312	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		3313	fd.Filter = "Waypointlists \| *.wpl";
		3314	fd.AddExtension = true;
		3315	if (fd.ShowDialog().Value)
		3316	{
		3317	string file = fd.SafeFileName;
		3318	IniFile ini = new IniFile(fd.SafeFileName);
		3319	ini.path = fd.FileName;
		3320	NumberFormatInfo nfi = new NumberFormatInfo();
		3321	nfi.NumberDecimalSeparator = ".";
		3322
		3323	try
		3324	{
		3325	ini.IniWriteValue("General", "FileVersion", "3");
		3326	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		3327	ini.IniWriteValue("General", "Mapfile", "");
		3328	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		3329	{
		3330	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		3331	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		3332	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		3333	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		3334	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		3335	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		3336	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		3337	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		3338	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		3339	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		3340	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		3341	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));
		3342	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		3343	}
		3344	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		3345	}
		3346	catch { }
		3347	}
		3348	}
		3349	else
		3350	MessageBox.Show("Nothing to save...");
		3351	}
		3352	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		3353	{
		3354	_saveWPLFile();
		3355	}
		3356	/// <summary>
		3357	/// set the selected color for the route
		3358	/// </summary>
		3359	/// <param name="color"></param>
		3360	/// <returns></returns>
2328	-	3361	Brush _getBrush(string color)
		3362	{
		3363	switch (color)
		3364	{
		3365	case "red":
		3366	return Brushes.Red;
		3367	case "green":
		3368	return Brushes.Lime;
		3369	case "blue":
		3370	return Brushes.Aqua;
		3371	case "pink":
		3372	return Brushes.Magenta;
		3373	case "yellow":
		3374	return Brushes.Yellow;
		3375	default:
		3376	return Brushes.Magenta;
		3377	}
		3378	}
2359	-	3379	void _routeUpdate()
		3380	{
		3381	Dispatcher.Invoke(() =>
		3382	{
		3383	if (comboBoxRouteColor.SelectionBoxItem != null)
		3384	{
		3385	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3386	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3387	}
		3388	else
		3389	mRouteWP = new GMapRoute(wpList, null);
		3390
		3391	if (_bShowWPRoute)
2368	-	3392	MainMap.Markers.Add(mRouteWP);
2359	-	3393	});
		3394
		3395	MapRoute mr = new MapRoute(wpList, "WPList");
		3396	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		3397	}
2363	-	3398	GMapMarker _createWP(PointLatLng p, string name, int type)
		3399	{
		3400	GMapMarker wpMarker = new GMapMarker(p);
		3401	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
		3402	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		3403	wpMarker.ZIndex = 100;
		3404	_setMarkerColor(wpMarker, type);
		3405	Dispatcher.Invoke(() => MainMap.Markers.Add(wpMarker));
2372	-	3406	if (type == 0 \|\| type == 3)
2363	-	3407	wpList.Add(p);
		3408	return wpMarker;
		3409	}
2315	-	3410	void _setMarkerColor(GMapMarker wpMarker,int iType)
		3411	{
2369	-	3412	if(wpMarker != null)
2315	-	3413	Dispatcher.Invoke(() =>
		3414	{
		3415	switch (iType)
		3416	{
		3417	case 0:
		3418	if (comboBoxWPColor.SelectionBoxItem != null)
		3419	{
		3420	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3421	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3422	}
		3423	else
2372	-	3424	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	3425	break;
		3426	case 1:
		3427	if (comboBoxPOIColor.SelectionBoxItem != null)
		3428	{
		3429	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3430	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3431	}
		3432	else
2372	-	3433	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	3434	break;
		3435	case 2:
		3436	if (comboBoxFSColor.SelectionBoxItem != null)
		3437	{
		3438	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3439	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3440	}
		3441	else
		3442	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3443	break;
2372	-	3444	case 3:
		3445	if (comboBoxLandingColor.SelectionBoxItem != null)
		3446	{
		3447	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		3448	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3449	}
		3450	else
		3451	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		3452	break;
2315	-	3453	default:
		3454	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3455	break;
		3456	}
		3457	});
2312	-	3458
2315	-	3459	}
2372	-	3460	void _MarkerColorSelection(object sender,int type)
		3461	{
2315	-	3462	Dispatcher.Invoke(() =>
		3463	{
2372	-	3464	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	3465	{
		3466	for (int k = 0; k < MainMap.Markers.Count; k++)
		3467	{
		3468	GMapMarker p = MainMap.Markers[k];
2372	-	3469	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	3470	{
2372	-	3471	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	3472	{
2372	-	3473	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	3474	((CustomMarkerWP)(p.Shape)).setColor(s);
		3475	}
		3476	}
		3477	}
		3478	}
		3479	});
2287	-	3480	}
2379	-	3481	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	3482	{
2376	-	3483	_MarkerColorSelection(sender, 0);
		3484	}
		3485	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		3486	{
		3487	_MarkerColorSelection(sender, 1);
		3488	}
		3489	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		3490	{
		3491	_MarkerColorSelection(sender, 2);
		3492	}
		3493	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		3494	{
		3495	_MarkerColorSelection(sender,3);
		3496	}
		3497	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
		3498	{
2318	-	3499	Dispatcher.Invoke(() => {
		3500	if (comboBoxCopterColor.SelectionBoxItem != null)
		3501	{
		3502	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
		3503	((CustomMarkerCopter)(copter.Shape)).setColor(s);
		3504	}
		3505	else
		3506	((CustomMarkerCopter)(copter.Shape)).setColor("red");
		3507	});
		3508	}
2328	-	3509	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3510	{
		3511	Dispatcher.Invoke(() =>
		3512	{
		3513	if (comboBoxRouteColor.SelectionBoxItem != null)
		3514	{
		3515	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3516	MainMap.Markers.Remove(mRouteWP);
		3517	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3518	if (_bShowWPRoute)
		3519	MainMap.Markers.Add(mRouteWP);
		3520	}
		3521	});
		3522	}
		3523	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3524	{
		3525	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3526	if (_bShowWPRoute)
		3527	{
		3528	if (mRouteWP != null)
		3529	MainMap.Markers.Add(mRouteWP);
		3530	}
		3531	else
		3532	{
		3533	if (mRouteWP != null)
		3534	MainMap.Markers.Remove(mRouteWP);
		3535	}
		3536	}
2315	-	3537	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3538	{
2315	-	3539	_readWPLFile();
2287	-	3540	}
2335	-	3541	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3542	{
		3543	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	3544	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	3545	wpList.Clear();
		3546	if (mRouteWP != null)
		3547	MainMap.Markers.Remove(mRouteWP);
2347	-	3548	//if (wpActiveMarker != null)
		3549	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	3550	dtWaypoints.Rows.Clear();
2356	-	3551	_wpEdit = -1;
2368	-	3552	_wpIndex = -1;
2335	-	3553	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3554	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3555	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3556	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3557	}
2340	-	3558	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3559	{
		3560	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3561	t.Start();
		3562	}
2355	-	3563	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	3564	{
		3565	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3566	{
2372	-	3567	if (_wpCount > 0)
2376	-	3568	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	3569	else
2376	-	3570	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	3571
2372	-	3572	//int index = dgvWP.SelectedIndex;
		3573	//Thread t = new Thread(() => _sendWPList(index));
		3574	//t.Start();
2354	-	3575
		3576	Dispatcher.Invoke(() => {
		3577	DataGridRow row;
2368	-	3578	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	3579	{
2368	-	3580	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	3581	row.Background = new SolidColorBrush(Colors.Transparent);
		3582	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3583	row.BorderThickness = new Thickness(0);
2376	-	3584	dgvWP.UpdateLayout();
2354	-	3585	}
2376	-	3586	//_wpEdit = dgvWP.SelectedIndex;
		3587	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3588	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		3589	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		3590	//row.BorderThickness = new Thickness(2);
2354	-	3591	});
2340	-	3592	}
		3593	}
2376	-	3594	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		3595	{
		3596	_Simulate = !_Simulate;
		3597	if (dtWaypoints.Rows.Count > 0)
		3598	{
		3599	DataRow dr = dtWaypoints.Rows[0];
		3600	dr[13] = _Simulate ? 3 : 0;
2379	-	3601	_sendWayPoint(dr, 0, 's', true);
2376	-	3602	rectSimulate.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
		3603	}
		3604	}
2355	-	3605	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		3606	{
2359	-	3607	_dgvWPselectEditRow();
		3608	}
		3609	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		3610	{
		3611	}
		3612	void _dgvWPselectEditRow()
		3613	{
2355	-	3614	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3615	{
2368	-	3616	Dispatcher.Invoke(() => {
2355	-	3617	DataGridRow row;
2368	-	3618	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	3619	{
		3620	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3621	row.Background = new SolidColorBrush(Colors.Transparent);
		3622	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3623	row.BorderThickness = new Thickness(0);
		3624	}
		3625	_wpEdit = dgvWP.SelectedIndex;
		3626	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3627	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		3628	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		3629	row.BorderThickness = new Thickness(2);
		3630	dgvWP.UpdateLayout();
2340	-	3631
2355	-	3632	_setWPEditFields(_wpEdit);
		3633	});
		3634	}
		3635	}
		3636	void _setWPEditFields(int index)
		3637	{
		3638	int iVal;
		3639	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		3640	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		3641	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		3642	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		3643	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		3644	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		3645	if (iVal == 0)
		3646	{
		3647	cbWPEditHeading.SelectedIndex = 0;
		3648	tbWPEditHeading.Text = " - - -";
		3649	tbWPEditHeading.IsReadOnly = true;
		3650	}
		3651	if (iVal > 0 && iVal < 360)
		3652	{
		3653	cbWPEditHeading.SelectedIndex = 2;
		3654	tbWPEditHeading.Text = iVal.ToString();
		3655	tbWPEditHeading.IsReadOnly = false;
		3656	}
		3657	if (iVal < 0)
		3658	{
		3659	cbWPEditHeading.SelectedIndex = 1;
		3660	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		3661	tbWPEditHeading.IsReadOnly = false;
		3662	}
		3663	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		3664	if (iVal == 0)
		3665	{
		3666	cbWPEditSpeed.SelectedIndex = 0;
		3667	tbWPEditSpeed.Text = "MAX";
		3668	tbWPEditSpeed.IsReadOnly = true;
		3669	}
		3670	if (iVal > 0 && iVal < 248)
		3671	{
		3672	cbWPEditSpeed.SelectedIndex = 1;
		3673	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		3674	tbWPEditSpeed.IsReadOnly = false;
		3675	}
		3676	if (iVal > 247)
		3677	{
		3678	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		3679	tbWPEditSpeed.Text = "";
		3680	tbWPEditSpeed.IsReadOnly = true;
		3681	}
		3682	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		3683	if (iVal == 255)
		3684	{
		3685	cbWPEditClimbrate.SelectedIndex = 0;
		3686	tbWPEditClimbrate.Text = "AUTO";
		3687	tbWPEditClimbrate.IsReadOnly = true;
		3688	}
		3689	else
		3690	{
		3691	cbWPEditClimbrate.SelectedIndex = 1;
		3692	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		3693	tbWPEditClimbrate.IsReadOnly = false;
		3694	}
		3695	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		3696	tbWPEditRadius.Text = iVal.ToString();
		3697	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		3698	tbWPEditHoldtime.Text = iVal.ToString();
		3699	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		3700	tbWPEditAutoTrigger.Text = iVal.ToString();
		3701	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		3702	if (iVal == 0)
		3703	{
		3704	cbWPEditCamAngle.SelectedIndex = 0;
		3705	tbWPEditCamAngle.Text = " - - - ";
		3706	tbWPEditCamAngle.IsReadOnly = true;
		3707	}
		3708	if (iVal < 0 \| iVal == 255)
		3709	{
		3710	cbWPEditCamAngle.SelectedIndex = 1;
		3711	tbWPEditCamAngle.Text = "AUTO";
		3712	tbWPEditCamAngle.IsReadOnly = true;
		3713	}
		3714	if (iVal > 0 & iVal < 255)
		3715	{
		3716	cbWPEditCamAngle.SelectedIndex = 2;
		3717	tbWPEditCamAngle.Text = iVal.ToString();
		3718	tbWPEditCamAngle.IsReadOnly = false;
		3719	}
		3720	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		3721	tbWPEditOut1.Text = iVal.ToString();
		3722
		3723	}
		3724
2361	-	3725	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		3726	{
2363	-	3727	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3728	{
2369	-	3729	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	3730	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		3731	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		3732	int i = wpList.IndexOf(pOld);
2363	-	3733	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		3734	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3735	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3736	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	3737	if (i > -1)
		3738	{
		3739	if((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		3740	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		3741	else
		3742	wpList.Remove(pOld);
		3743	}
		3744	else
		3745	{
		3746	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		3747	{
		3748	int found = 0;
		3749	for (int k = 0; k < dgvWP.SelectedIndex; k++)
		3750	if ((int)dtWaypoints.Rows[k][1] == 0)
		3751	found++;
		3752	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		3753	}
		3754	}
2363	-	3755	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		3756	switch (cbWPEditHeading.SelectedIndex)
		3757	{
		3758	case 0:
		3759	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		3760	break;
		3761	case 1:
		3762	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		3763	break;
		3764	case 2:
		3765	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		3766	break;
		3767	}
		3768	switch (cbWPEditSpeed.SelectedIndex)
		3769	{
		3770	case 0:
		3771	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		3772	break;
		3773	case 1:
		3774	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3775	break;
		3776	case 2:
		3777	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3778	break;
		3779	}
		3780	switch (cbWPEditClimbrate.SelectedIndex)
		3781	{
		3782	case 0:
		3783	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		3784	break;
		3785	case 1:
		3786	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		3787	break;
		3788	}
		3789	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		3790	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		3791	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		3792	switch (cbWPEditCamAngle.SelectedIndex)
		3793	{
		3794	case 0:
		3795	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		3796	break;
		3797	case 1:
		3798	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		3799	break;
		3800	case 2:
		3801	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		3802	break;
		3803	}
		3804	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	3805
2369	-	3806	// _clearMapMarkers(typeof(CustomMarkerWP));
		3807	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		3808	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	3809	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	3810	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	3811	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	3812	// wpList.Clear();
2363	-	3813	if (mRouteWP != null)
		3814	MainMap.Markers.Remove(mRouteWP);
		3815
2369	-	3816	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		3817	//{
		3818	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		3819	//}
2363	-	3820	_routeUpdate();
		3821	dgvWP.Items.Refresh();
		3822
		3823	}
		3824
2361	-	3825	}
		3826	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		3827	{
2368	-	3828	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3829	{
		3830	int index = dgvWP.SelectedIndex;
		3831	Dispatcher.Invoke(() => {
		3832	DataGridRow row;
		3833	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		3834	{
		3835	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3836	row.Background = new SolidColorBrush(Colors.Transparent);
		3837	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3838	row.BorderThickness = new Thickness(0);
		3839	}
2372	-	3840	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	3841	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
		3842	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	3843	if (wpActiveMarker != null)
		3844	MainMap.Markers.Remove(wpActiveMarker);
2368	-	3845	dtWaypoints.Rows[index].Delete();
		3846	_wpIndex = -1;
		3847	_wpEdit = -1;
		3848	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		3849	{
		3850	dtWaypoints.Rows[i][0] = i + 1;
		3851	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		3852	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		3853	_renameWPMarker(s1, s2);
		3854	dtWaypoints.Rows[i][2] = s2;
		3855	}
		3856	lblWPCount.Content = dtWaypoints.Rows.Count;
		3857	if (mRouteWP != null)
		3858	MainMap.Markers.Remove(mRouteWP);
		3859	_routeUpdate();
2361	-	3860
2368	-	3861	dgvWP.UpdateLayout();
		3862	});
		3863	}
2361	-	3864	}
2366	-	3865	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		3866	{
		3867	_wpWEdit(sender);
		3868	}
2361	-	3869	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		3870	{
2366	-	3871	_wpWEdit(sender);
		3872	}
2369	-	3873	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		3874	{
		3875	_wpWEdit(sender);
		3876	}
2366	-	3877	void _wpWEdit(object sender)
		3878	{
2369	-	3879	// if (!((TextBox)sender).IsReadOnly)
2361	-	3880	{
		3881	KeyPad.Keypad k = new KeyPad.Keypad(this);
		3882
2363	-	3883	switch (((TextBox)sender).Name)
		3884	{
		3885	case "tbWPEditLat":
		3886	k.Title = "Latitude";
		3887	k.LENGTH = 17;
		3888	k.MAX = 359.9;
		3889	break;
		3890	case "tbWPEditLon":
		3891	k.Title = "Longitude";
		3892	k.LENGTH = 17;
		3893	k.MAX = 359.9;
		3894	break;
		3895	case "tbWPEditAlt":
		3896	k.Title = "Altitude";
		3897	k.LENGTH = 3;
		3898	k.MAX = 254;
		3899	k.disableDecimal();
		3900	break;
		3901	case "tbWPEditHeading":
		3902	k.Title = "Heading";
		3903	k.LENGTH = 3;
		3904	k.MAX = 359;
		3905	k.MIN = 1;
		3906	k.disableDecimal();
		3907	break;
		3908	case "tbWPEditSpeed":
		3909	k.Title = "Speed";
		3910	k.LENGTH = 4;
		3911	k.MAX = 24.7;
		3912	k.MIN = 0.1;
		3913	break;
		3914	case "tbWPEditClimbrate":
		3915	k.Title = "Climbrate";
		3916	k.LENGTH = 4;
		3917	k.MAX = 25.4;
		3918	k.MIN = 0.1;
		3919	break;
		3920	case "tbWPEditRadius":
		3921	k.Title = "Radius";
		3922	k.LENGTH = 3;
		3923	k.MAX = 254;
		3924	k.disableDecimal();
		3925	break;
		3926	case "tbWPEditHoldtime":
		3927	k.Title = "Holdtime";
		3928	k.LENGTH = 3;
		3929	k.MAX = 254;
		3930	break;
		3931	case "tbWPEditAutoTrigger":
		3932	k.Title = "Autotrigger";
		3933	k.LENGTH = 3;
		3934	k.MAX = 254;
		3935	k.disableDecimal();
		3936	break;
		3937	case "tbWPEditCamAngle":
		3938	k.Title = "Camera angle";
		3939	k.LENGTH = 3;
		3940	k.MAX = 254;
		3941	k.MIN = 1;
		3942	k.disableDecimal();
		3943	break;
		3944	case "tbWPEditOut1":
		3945	k.Title = "OUT1 timer interval";
		3946	k.LENGTH = 3;
		3947	k.MAX = 254;
		3948	k.disableDecimal();
		3949	break;
		3950	}
		3951	k.Result = ((TextBox)sender).Text;
2366	-	3952	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	3953	((TextBox)sender).Text = k.Result;
2361	-	3954	}
2366	-	3955
2361	-	3956	}
2356	-	3957	private void tbWPEditHeading_KeyDown(object sender, KeyEventArgs e)
		3958	{
		3959	if(!tbWPEditHeading.IsReadOnly)
		3960	{
		3961	//var x = KeyInterop.VirtualKeyFromKey(e.Key);
		3962	KeyConverter x = new KeyConverter();
		3963	string s = x.ConvertToString(e.Key);
		3964
		3965	if ("1234567890,\b".IndexOf(s) < 0) //general check for valid chars(0-9) and backspace (\b)
		3966	e.Handled = true;
		3967	else
		3968	if ("\b".IndexOf(s) < 0)
		3969	if (Convert.ToInt16(((TextBox)sender).Text + s) > 360) //if valid and not backspace, check for upper limit of the resulting number
		3970	e.Handled = true;
		3971
		3972	}
		3973	}
2361	-	3974	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	3975	{
2359	-	3976	object[] o = new object[16];
2356	-	3977
2359	-	3978	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		3979	o[1] = 0;
		3980	// cbWPEditType.SelectedIndex = 0;
		3981	// tbWPEditPrefix.Text = "P";
		3982	o[2] = "P" + o[0].ToString();
		3983	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		3984	o[3] = copter.Position.Lat;
		3985	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		3986	o[4] = copter.Position.Lng;
		3987	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		3988	o[5] = iAnalogData[4].ToString();
2356	-	3989
2359	-	3990	// cbWPEditHeading.SelectedIndex = 2;
		3991	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		3992	// tbWPEditHeading.IsReadOnly = false;
2356	-	3993
2359	-	3994	// cbWPEditSpeed.SelectedIndex = 1;
		3995	// tbWPEditSpeed.Text = "5.0";
		3996	// tbWPEditSpeed.IsReadOnly = false;
2372	-	3997	o[7] = "10";
2356	-	3998
2359	-	3999	// cbWPEditClimbrate.SelectedIndex = 1;
		4000	// tbWPEditClimbrate.Text = "5.0";
		4001	// tbWPEditClimbrate.IsReadOnly = false;
2372	-	4002	o[8] = "10";
2356	-	4003
2359	-	4004	// tbWPEditRadius.Text = "10";
2372	-	4005	o[9] = "5";
2359	-	4006	// tbWPEditHoldtime.Text = "5";
		4007	o[10] = "5";
		4008	// tbWPEditAutoTrigger.Text = "0";
		4009	o[11] = "0";
		4010	// cbWPEditCamAngle.SelectedIndex = 1;
		4011	// tbWPEditCamAngle.Text = "AUTO";
		4012	// tbWPEditCamAngle.IsReadOnly = true;
		4013	o[12] = "255";
2356	-	4014
2359	-	4015	o[13] = "0";
		4016	// tbWPEditOut1.Text = "0";
		4017	o[14] = "0";
		4018	o[15] = "0";
		4019
		4020	dtWaypoints.Rows.Add(o);
2368	-	4021	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1]);
2359	-	4022	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4023	if (mRouteWP != null)
		4024	MainMap.Markers.Remove(mRouteWP);
		4025	_routeUpdate();
		4026	Dispatcher.Invoke(() => {
		4027	dgvWP.Items.Refresh();
		4028	dgvWP.SelectedIndex = (int)o[0] -1;
		4029	dgvWP.UpdateLayout();
		4030	_dgvWPselectEditRow();
		4031	});
2356	-	4032	}
		4033
2315	-	4034	#endregion WP
2324	-	4035	#region GPX
		4036	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		4037	{
		4038	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		4039	}
		4040	void _gpxAdd(double lat,double lon, int elevation)
		4041	{
		4042	DataRow dr = dtGPX.NewRow();
		4043	dr[0] = dtGPX.Rows.Count - 1;
		4044	dr[1] = lat;
		4045	dr[2] = lon;
		4046	dr[3] = elevation;
		4047	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		4048	dtGPX.Rows.Add(dr);
		4049	}
		4050	void _saveGPXLog()
		4051	{
		4052	if (!Directory.Exists("GPXLog"))
		4053	Directory.CreateDirectory("GPXLog");
		4054	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		4055	XmlTextWriter myXmlTextWriter = null;
		4056	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		4057	NumberFormatInfo nfi = new NumberFormatInfo();
		4058	nfi.NumberDecimalSeparator = ".";
2315	-	4059
2324	-	4060	try
		4061	{
		4062	myXmlTextWriter.Formatting = Formatting.Indented;
		4063
		4064	myXmlTextWriter.WriteStartDocument();
		4065
		4066	myXmlTextWriter.WriteStartElement("gpx");
		4067
		4068	myXmlTextWriter.WriteAttributeString("version", "1.0");
		4069	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		4070	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		4071	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		4072	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		4073
		4074	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		4075
		4076	myXmlTextWriter.WriteStartElement("trk");
		4077	myXmlTextWriter.WriteStartElement("trkseg");
		4078	for(int i = 0; i< dtGPX.Rows.Count;i++)
		4079	{
		4080	myXmlTextWriter.WriteStartElement("trkpt");
		4081	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		4082	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		4083	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		4084	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		4085	myXmlTextWriter.WriteEndElement();
		4086	}
		4087	myXmlTextWriter.WriteEndElement();
		4088	myXmlTextWriter.WriteEndElement();
		4089	myXmlTextWriter.WriteEndElement();
		4090	}
		4091	catch (Exception e)
		4092	{
		4093	Console.WriteLine("Exception: {0}", e.ToString());
		4094	}
		4095	finally
		4096	{
		4097	if (myXmlTextWriter != null)
		4098	{
		4099	myXmlTextWriter.Close();
		4100	}
		4101	}
		4102	}
2356	-	4103
2324	-	4104	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		4105	{
		4106	_loadGPXLog();
		4107	}
2327	-	4108	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		4109	{
		4110	_clearMapMarkers(typeof(GMapRoute));
		4111	}
2324	-	4112	void _loadGPXLog()
		4113	{
		4114
		4115	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4116	fd.Filter = "GPX-Logfile \| *.gpx";
		4117	fd.Multiselect = false;
		4118	if (fd.ShowDialog().Value)
		4119	{
		4120	string file = fd.FileName;
		4121	try
		4122	{
		4123	XDocument gpxDoc = XDocument.Load(file);
		4124	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		4125
		4126	NumberFormatInfo nfi = new NumberFormatInfo();
		4127	nfi.NumberDecimalSeparator = ".";
		4128
		4129	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		4130	select new
		4131	{
		4132	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		4133	Segs = (
		4134	from trackpoint in track.Descendants(gpx + "trkpt")
		4135	select new
		4136	{
		4137	Latitude = trackpoint.Attribute("lat").Value,
		4138	Longitude = trackpoint.Attribute("lon").Value,
		4139	Elevation = trackpoint.Element(gpx + "ele") != null ?
		4140	trackpoint.Element(gpx + "ele").Value : null,
		4141	Time = trackpoint.Element(gpx + "time") != null ?
		4142	trackpoint.Element(gpx + "time").Value : null
		4143	}
		4144	)
		4145	};
		4146
		4147	List<PointLatLng> wpl = new List<PointLatLng>();
		4148	foreach(var trk in tracks)
		4149	{
		4150	foreach(var trkseg in trk.Segs)
		4151	{
		4152	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		4153	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		4154	}
		4155
		4156	}
		4157	if(wpl.Count() > 0)
		4158	{
2327	-	4159	_clearMapMarkers(typeof(GMapRoute));
2324	-	4160	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	4161	Dispatcher.Invoke(() =>
		4162	{
		4163	GMapRoute mRoute;
		4164	if (comboBoxRouteColor.SelectionBoxItem != null)
		4165	{
		4166	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	4167	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	4168	}
		4169	else
2366	-	4170	mRoute = new GMapRoute(wpl, null);
2324	-	4171
2328	-	4172	MainMap.Markers.Add(mRoute);
		4173	});
2324	-	4174	}
		4175
		4176	}
		4177	catch (Exception e)
		4178	{
		4179	Console.WriteLine("Exception: {0}", e.ToString());
		4180	}
		4181	}
		4182	}
		4183	#endregion GPX
2315	-	4184	#endregion functions
2287	-	4185	}
2315	-	4186	/// <summary>
		4187	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		4188	/// </summary>
2313	-	4189	public class waypointsConverter : IValueConverter
		4190	{
		4191	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		4192	{
		4193	if (value != null)
		4194	{
		4195	switch ((string)parameter)
		4196	{
		4197	case "Latitude":
		4198	return value.ToString() + " °";
		4199	case "Longitude":
		4200	return value.ToString() + " °";
		4201	case "Radius":
		4202	return value.ToString() + " m";
		4203	case "Altitude":
		4204	return value.ToString() + " m";
		4205	case "ClimbRate":
		4206	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		4207	case "DelayTime":
		4208	return value.ToString() + " s";
		4209	case "Heading":
		4210	return Waypoints.Heading(System.Convert.ToInt32(value));
		4211	case "Speed":
		4212	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		4213	case "CamAngle":
		4214	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		4215	case "Type":
		4216	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		4217	case "AutoTrigger":
		4218	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		4219	case "Status":
2355	-	4220	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	4221	}
		4222
		4223	return value.ToString();
		4224	}
		4225	else return value;
		4226	}
		4227
		4228	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		4229	{
		4230	throw new NotImplementedException();
		4231	}
		4232	}
		4233
2287	-	4234	public class IniFile
		4235	{
		4236	public string path;
		4237
		4238	[DllImport("kernel32")]
		4239	private static extern long WritePrivateProfileString(string section,
		4240	string key, string val, string filePath);
		4241
		4242	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		4243	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		4244	uint nSize, string lpFileName);
		4245
		4246	[DllImport("kernel32")]
		4247	private static extern int GetPrivateProfileString(string section,
		4248	string key, string def, StringBuilder retVal,
		4249	int size, string filePath);
		4250
		4251	public IniFile(string INIPath)
		4252	{
		4253	path = INIPath;
		4254	}
		4255
		4256	public void IniWriteValue(string Section, string Key, string Value)
		4257	{
		4258	WritePrivateProfileString(Section, Key, Value, this.path);
		4259	}
		4260
		4261	public string IniReadValue(string Section, string Key)
		4262	{
		4263	StringBuilder temp = new StringBuilder(255);
		4264	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		4265	return temp.ToString();
		4266	}
		4267	//Ini_sections auslesen in String-Array
		4268	public string[] IniSectionNames()
		4269	{
		4270
		4271	// uint MAX_BUFFER = 32767;
		4272	uint MAX_BUFFER = 8388608;
		4273	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		4274	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		4275	if (bytesReturned == 0)
		4276	{
		4277	Marshal.FreeCoTaskMem(pReturnedString);
		4278	return null;
		4279	}
		4280	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		4281	Marshal.FreeCoTaskMem(pReturnedString);
		4282	//use of Substring below removes terminating null for split
		4283	return local.Substring(0, local.Length - 1).Split('\0');
		4284
		4285
		4286	}
		4287	}
		4288
		4289	/// <summary>
		4290	/// Selected Win AI Function Calls
		4291	/// </summary>
		4292	public class WinApi
		4293	{
		4294	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		4295	public static extern int GetSystemMetrics(int which);
		4296	[DllImport("user32.dll")]
		4297	public static extern void
		4298	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		4299	int X, int Y, int width, int height, uint flags);
		4300
		4301	private const int SM_CXSCREEN = 0;
		4302	private const int SM_CYSCREEN = 1;
		4303	private static IntPtr HWND_TOP = IntPtr.Zero;
		4304	private const int SWP_SHOWWINDOW = 64; // 0x0040
		4305
		4306	public static int ScreenX
		4307	{
		4308	get { return GetSystemMetrics(SM_CXSCREEN); }
		4309	}
		4310
		4311	public static int ScreenY
		4312	{
		4313	get { return GetSystemMetrics(SM_CYSCREEN); }
		4314	}
		4315
		4316	public static void SetWinFullScreen(IntPtr hwnd)
		4317	{
		4318	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		4319	}
		4320	}
		4321	/// <summary>
		4322	/// Class used to preserve / restore state of the window
		4323	/// </summary>
		4324	public class WinState
		4325	{
		4326	private WindowState winState;
		4327	private WindowStyle brdStyle;
		4328	private bool topMost;
		4329	private Rect restore;
		4330	private bool IsMaximized = false;
		4331
		4332	public bool isMaximized
		4333	{
		4334	get { return IsMaximized; }
		4335	}
		4336	public void Maximize(Window targetForm)
		4337	{
		4338	if (!IsMaximized)
		4339	{
		4340	IsMaximized = true;
		4341	Save(targetForm);
		4342	targetForm.WindowState = WindowState.Maximized;
		4343	targetForm.WindowStyle = WindowStyle.None;
		4344	targetForm.Topmost = true;
		4345	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		4346	}
		4347	}
		4348
		4349	public void Save(Window targetForm)
		4350	{
		4351	winState = targetForm.WindowState;
		4352	brdStyle = targetForm.WindowStyle;
		4353	topMost = targetForm.Topmost;
		4354	restore = targetForm.RestoreBounds;
		4355	}
		4356	public void Restore(Window targetForm)
		4357	{
		4358	targetForm.WindowState = winState;
		4359	targetForm.WindowStyle = brdStyle;
		4360	targetForm.Topmost = topMost;
		4361
		4362	targetForm.Left = restore.Left;
		4363	targetForm.Top = restore.Top;
		4364	targetForm.Height = restore.Height;
		4365	targetForm.Width = restore.Width;
		4366	IsMaximized = false;
		4367	}
		4368	}
		4369
		4370	}

Subversion Repositories Projects

(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2379 - Rev