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",
2381	-	54	"FC not compatible",
		55	"MK3Mag not compatible",
		56	"no FC communication",
		57	"no compass communication",
		58	"no GPS communication",
		59	"bad compass value",
		60	"RC Signal lost",
		61	"FC spi rx error",
		62	"ERR: no NC communication",
		63	"ERR: FC Nick Gyro",
		64	"ERR: FC Roll Gyro",
		65	"ERR: FC Yaw Gyro",
		66	"ERR: FC Nick ACC",
		67	"ERR: FC Roll ACC",
		68	"ERR: FC Z-ACC",
		69	"ERR: Pressure sensor",
		70	"ERR: FC I2C",
		71	"ERR: Bl Missing",
		72	"Mixer Error",
		73	"FC: Carefree Error",
		74	"ERR: GPS lost",
		75	"ERR: Magnet Error",
		76	"Motor restart",
		77	"BL Limitation",
		78	"Waypoint range",
		79	"ERR:No SD-Card",
		80	"ERR:SD Logging aborted",
		81	"ERR:Flying range!",
		82	"ERR:Max Altitude",
		83	"No GPS Fix",
		84	"compass not calibrated",
		85	"ERR:BL selftest",
		86	"no ext. compass",
		87	"compass sensor",
		88	"FAILSAFE pos.!",
		89	"ERR:Redundancy",
		90	"Redundancy test",
		91	"GPS Update rate",
		92	"ERR:Canbus",
		93	"ERR: 5V RC-Supply",
		94	"ERR:Power-Supply",
		95	"ACC not calibr.",
		96	"ERR:Parachute!"
2287	-	97	};
2381	-	98	String[] NC_Error_Link = new string[44]
		99	{
		100	"",
		101	"http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		102	"http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		103	"http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		104	"http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		105	"http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		106	"http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		107	"http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		108	"http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		109	"http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		110	"http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		111	"http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		112	"http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		113	"http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		114	"http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		115	"http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		116	"http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		117	"http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		118	"http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		119	"http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		120	"http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		121	"http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		122	"http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		123	"http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		124	"http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		125	"http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		126	"http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		127	"http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		128	"http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		129	"http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		130	"http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		131	"http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		132	"http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		133	"http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		134	"http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		135	"http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		136	"http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		137	"http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		138	"http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		139	"http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		140	"http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		141	"http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		142	"http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		143	"http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		144	};
		145
2324	-	146	#endregion NC-Errors
2287	-	147	[FlagsAttribute]
		148	enum NC_HWError0 : short
		149	{
		150	None = 0,
		151	SPI_RX = 1,
		152	COMPASS_RX = 2,
		153	FC_INCOMPATIBLE = 4,
		154	COMPASS_INCOMPATIBLE = 8,
		155	GPS_RX = 16,
		156	COMPASS_VALUE = 32
		157	};
		158	[FlagsAttribute]
		159	enum FC_HWError0 : short
		160	{
		161	None = 0,
		162	GYRO_NICK = 1,
		163	GYRO_ROLL = 2,
		164	GYRO_YAW = 4,
		165	ACC_NICK = 8,
		166	ACC_ROLL = 16,
		167	ACC_TOP = 32,
		168	PRESSURE = 64,
		169	CAREFREE = 128
		170	};
		171	[FlagsAttribute]
		172	enum FC_HWError1 : short
		173	{
		174	None = 0,
		175	I2C = 1,
		176	BL_MISSING = 2,
		177	SPI_RX = 4,
		178	PPM = 8,
		179	MIXER = 16,
		180	RC_VOLTAGE = 32,
		181	ACC_NOT_CAL = 64,
		182	RES3 = 128
		183	};
		184	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		185	// Various colors for logging info
		186	private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red };
		187
		188	bool _bCBInit = true;
		189	bool _init = true;
		190	bool check_HWError = false;
		191
		192	string filePath = Directory.GetCurrentDirectory();
		193	bool bReadContinously = false;
		194	bool _debugDataAutorefresh = true;
		195	bool _navCtrlDataAutorefresh = true;
		196	bool _blctrlDataAutorefresh = true;
		197	bool _OSDAutorefresh = true;
		198	bool _bErrorLog = false;
		199	bool _bConnErr = false;
		200	bool _bFollowCopter = false;
2324	-	201	bool _bGPXLog = false;
2376	-	202	bool _Simulate = false;
2287	-	203
		204	bool _bSaveWinStateNormal = true;
		205	bool _bSaveWinStateFull = true;
		206
		207	double scaleNormalAll = 1;
		208	double scaleNormalTopBar = 1;
		209	double scaleNormalMotors = 1;
		210	double scaleNormalOSD = 1;
		211	double scaleNormalLOG = 1;
		212	double scaleNormalHorizon = 1;
		213
		214	double scaleFullAll = 1;
		215	double scaleFullTopBar = 1;
		216	double scaleFullMotors = 1;
		217	double scaleFullOSD = 1;
		218	double scaleFullLOG = 1;
		219	double scaleFullHorizon = 1;
		220
		221	int _iCtrlAct = 0;
		222	int iOSDPage = 0;
		223	int iOSDMax = 0;
		224	int _iLifeCounter = 0;
		225	int crcError = 0;
		226
2291	-	227	bool _bSatFix = false;
		228	Storyboard stbSatFixLostAnim;
		229	bool _bAnimSatFixActive = false;
		230	bool _bVoiceSatFixActive = false;
		231	bool _bVoiceSatFixPlay = false;
		232	int _iSatsLast = 0;
		233	int _iSatsJitter = 0;
		234
		235	bool _bMagneticFieldOK = false;
		236	Storyboard stbMagneticFieldAnim;
		237	bool _bAnimMagneticFieldActive = false;
		238	bool _bVoiceMagneticFieldActive = false;
		239	bool _bVoiceMagneticFieldPlay = false;
		240	int _iMagneticFieldLast = 0;
		241	int _iMagneticFieldJitter = 0;
		242
		243	bool _bRCLevelOK = false;
		244	Storyboard stbRCLevelAnim;
		245	bool _bAnimRCLevelActive = false;
		246	bool _bVoiceRCLevelActive = false;
		247	bool _bVoiceRCLevelPlay = false;
		248	int _iRCLevelLast = 0;
		249	int _iRCLevelJitter = 0;
		250
2287	-	251	int _iMotors = 4;
		252	int _LipoCells = 4;
		253
		254	double _dLipoVMax = 16.88;
		255	double _dLipoVMin = 12;
		256	double _dThresholdVoltageWarn = 0;
		257	double _dThresholdVoltageCrit = 0;
		258	Storyboard stbVoltageCritAnim;
		259	bool _bCritAnimVoltActive = false;
		260	bool _bCritVoiceVoltActive = false;
2291	-	261	bool _bWarnVoiceVoltActive = false;
2287	-	262	bool _bVoiceVoltPlay = false;
		263	double _dVoltLast = 0;
		264	int _iVoltJitter = 0;
		265
2291	-	266	double _dThresholdDistanceWarn = 100;
		267	Storyboard stbDistanceWarnAnim;
		268	bool _bAnimDistanceActive = false;
		269	bool _bVoiceDistanceActive = false;
		270	bool _bVoiceDistancePlay = false;
		271	double _dDistanceLast = 0;
		272	int _iDistanceJitter = 0;
		273
		274	double _dThresholdDistanceMax = 1000;
		275	int _iThresholdRC = 160;
		276	int _iThresholdMagField = 15;
		277
2295	-	278	bool _bAutoHome = false;
		279	bool _bFirstSatFix = false;
		280	int _iFirstSatFix = 0;
2291	-	281
2287	-	282	double _dTopHeight = 36;
		283
		284	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		285	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		286	string[] serChanTitle = new string[12];
		287
		288	string[] sAnalogLabel = new string[32];
		289	string[] sAnalogData = new string[32];
2324	-	290	int[] iAnalogData = new int[32];
2287	-	291
		292	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 };
		293	int[] iMotors = new int[] {3,4,5,6,7,8,9,10,11,12 };
		294	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		295	/// <summary>
		296	/// interval for sending debugdata (multiplied by 10ms)
		297	/// </summary>
		298	byte debugInterval = 10; //(=> 100ms)
		299	/// <summary>
		300	/// interval for sending BL-CTRL status (multiplied by 10ms)
		301	/// </summary>
		302	byte blctrlInterval = 75;
		303	/// <summary>
		304	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		305	/// </summary>
		306	byte navctrlInterval = 80;
		307	/// <summary>
		308	/// interval for sending OSD page update (multiplied by 10ms)
		309	/// </summary>
		310	byte OSDInterval = 85;
		311	/// <summary>
		312	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		313	/// </summary>
		314	DataTable dtAnalog = new DataTable();
		315	/// <summary>
		316	/// datatable for motordata (current,temp)
		317	/// </summary>
2315	-	318	DataTable dtMotors = new DataTable();
2287	-	319
		320	DataTable dtWaypoints = new DataTable();
2313	-	321	static volatile int _iWPCount = -1;
		322	static volatile int _iWPIndex = -1;
		323	int _iWPTimeout = 1000;
2287	-	324	bool _bGetWP = false;
2328	-	325	bool _bShowWPRoute = false;
2287	-	326	static volatile bool _bGetWPCount = false;
2324	-	327	DataTable dtGPX = new DataTable();
		328	DataRow drGPX;
		329	bool _bAirborne = false;
2355	-	330	int _wpIndex = -1, _wpCount = 0, _wpEdit = -1;
2340	-	331
2287	-	332	DispatcherTimer timer = new DispatcherTimer();
		333
		334	/// <summary>
		335	/// stuff for enabeling touch zoom for the map
		336	/// </summary>
		337	Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0);
		338	int iFirstStylusID = -1;
		339	public string connectButtonText
		340	{
		341	get
		342	{
		343	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		344	}
		345	}
		346
		347	WinState winState = new WinState();
2304	-	348	#endregion declarations
2287	-	349	public MainWindow()
		350	{
		351	InitializeComponent();
		352	_initForm();
		353	_dataTablesInit();
		354	_setupMap();
		355	_init = false;
		356	timer.Tick += new EventHandler(timerEvent);
		357	timer.Interval = new TimeSpan(0, 0, 1);
		358	timer.Start();
		359	}
		360
		361	#region init
		362	void _initForm()
		363	{
		364	_readIni();
		365	if (_bSaveWinStateNormal)
		366	_setScaleSliders(false);
		367	cBoxTimingsDebug.ItemsSource =
		368	cBoxTimingsNav.ItemsSource =
		369	cBoxTimingsBl.ItemsSource =
		370	cBoxTimingsOSD.ItemsSource =
		371	iTimings;
		372	cBoxLiPoCells.ItemsSource = sLiPoCells;
		373	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		374	_LipoMinMax();
		375	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		376	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		377	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
2291	-	378	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		379	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		380	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		381	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		382	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
2287	-	383
2291	-	384	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		385
2287	-	386	cBoxMotors.ItemsSource = iMotors;
		387	cBoxMotors.SelectedItem = _iMotors;
		388
		389	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		390	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		391	serialPortCtrl.DataReceived += processMessage;
		392
		393	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		394	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		395	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		396	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		397
		398	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		399	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		400	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		401	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
2295	-	402	checkBoxAutoSetHP.IsChecked = _bAutoHome;
2287	-	403	checkBoxFollowCopter.IsChecked = _bFollowCopter;
2324	-	404	checkBoxGPXLog.IsChecked = _bGPXLog;
2328	-	405	checkBoxShowWPRoute.IsChecked = _bShowWPRoute;
2287	-	406
2349	-	407	_initSerialCtrl();
2287	-	408	}
		409	/// <summary>
		410	/// initialize the datatables
		411	/// with columnnames etc
		412	/// </summary>
		413	void _dataTablesInit()
		414	{
2315	-	415	dtMotors.Columns.Add("#");
2313	-	416	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
2315	-	417	dtMotors.Columns.Add("Strom");
2313	-	418	else
2315	-	419	dtMotors.Columns.Add("Current");
		420	dtMotors.Columns.Add("Temp");
		421	dgvMotors1.DataContext = dtMotors.DefaultView;
2287	-	422	_initDTMotors();
		423
		424	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0));
		425	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		426	style.Setters.Add(setter);
		427	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		428	style.Setters.Add(setter);
		429	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		430	style.Setters.Add(setter);
2313	-	431
		432	dtWaypoints.Columns.Add("Index",typeof(int));
2315	-	433	dtWaypoints.Columns.Add("Type", typeof(int));
2313	-	434	dtWaypoints.Columns.Add("Name",typeof(string));
2315	-	435	dtWaypoints.Columns.Add("Latitude",typeof(double));
		436	dtWaypoints.Columns.Add("Longitude",typeof(double));
2313	-	437	dtWaypoints.Columns.Add("Altitude",typeof(string));
		438	dtWaypoints.Columns.Add("Heading",typeof(string));
		439	dtWaypoints.Columns.Add("Speed",typeof(string));
		440	dtWaypoints.Columns.Add("ClimbRate",typeof(string));
		441	dtWaypoints.Columns.Add("Radius",typeof(string));
		442	dtWaypoints.Columns.Add("HoldTime",typeof(string));
		443	dtWaypoints.Columns.Add("AutoTrigger",typeof(string));
		444	dtWaypoints.Columns.Add("CamAngle",typeof(string));
		445	dtWaypoints.Columns.Add("Event",typeof(string));
		446	dtWaypoints.Columns.Add("Out1Timer",typeof(string));
		447	dtWaypoints.Columns.Add("Status",typeof(string));
		448	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		449	dgvWP.ItemsSource = dtWaypoints.DefaultView;
2287	-	450	dgvWP.ColumnHeaderStyle = new Style();
		451	dgvWP.ColumnHeaderStyle = style;
2313	-	452
2324	-	453	dtGPX.Columns.Add("Index",typeof(int));
		454	dtGPX.Columns.Add("Latitude",typeof(double));
		455	dtGPX.Columns.Add("Longitude",typeof(double));
		456	dtGPX.Columns.Add("Elevation",typeof(int));
		457	dtGPX.Columns.Add("Time",typeof(string));
		458	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		459	drGPX = dtGPX.NewRow();
2313	-	460
2287	-	461	}
		462	/// <summary>
2315	-	463	/// initialize the datatable dtMotors for motor values
2313	-	464	/// DataGridView dgvMotors1 is bound to dtMotors1
2287	-	465	/// </summary>
		466	void _initDTMotors()
		467	{
		468	for (int i = 0; i < 12; i++)
		469	{
2315	-	470	if (dtMotors.Rows.Count < 12)
		471	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
2287	-	472	else
		473	{
2315	-	474	dtMotors.Rows[i].SetField(1, "NA");
		475	dtMotors.Rows[i].SetField(2, "NA");
2287	-	476	}
		477	}
		478	}
		479
		480	#endregion init
		481
		482	#region events
		483	private void serialPortCtrl_PortOpened()
		484	{
		485	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		486	_getVersion();
		487	Thread.Sleep(100);
		488	//_OSDMenue(0);
		489	//Thread.Sleep(200);
		490	//_sendSerialData();
		491	_readCont(true);
		492	}
		493	private void serialPortCtrl_PortClosed()
		494	{
		495	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		496	_readCont(false);
		497	}
2324	-	498	bool _bToggle = false;
2287	-	499	void timerEvent(object sender, EventArgs e)
		500	{
		501	if (bReadContinously)
		502	{
		503	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		504
		505	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		506
		507	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		508	check_HWError = true;
		509	_getVersion();
		510	Thread.Sleep(10);
		511	if (_OSDAutorefresh)
		512	{
		513	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		514	_initOSDCB();
		515	_OSDMenueAutoRefresh();
		516	}
		517	if (_iLifeCounter > 0)
		518	{
		519	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		520	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		521	_iLifeCounter = 0;
		522	_bConnErr = false;
2327	-	523	if(_bAirborne && _bGPXLog)
2324	-	524	{
		525	drGPX[0] = dtGPX.Rows.Count;
		526	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		527	}
2327	-	528	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		529	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		530	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
2324	-	531	_bToggle = !_bToggle;
2287	-	532	}
		533	else
		534	{
		535	if (!_bConnErr)
		536	{
		537	Log(LogMsgType.Error, "No communication to NC/FC!");
		538	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		539	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		540	_bConnErr = true;
		541	}
		542	}
		543	}
		544	}
		545
		546	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		547	{
		548	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		549	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		550	}
		551	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		552	{
		553	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		554	if (GridMotors.IsVisible)
		555	_setMotorGridSize();
		556	}
		557	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		558	{
		559	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		560	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		561	}
		562	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		563	{
		564	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		565	}
		566	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		567	{
		568	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		569	}
		570	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		571	{
		572	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		573	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		574	}
		575
		576	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		577	{
		578	Thread t = new Thread(new ThreadStart(_getWP));
		579	t.Start();
		580	}
		581	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		582	{
2313	-	583	Thread t = new Thread(new ThreadStart(_sendWPList));
		584	t.Start();
2287	-	585	}
		586
		587	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		588	{
		589	if (!serialPortCtrl.Port.IsOpen)
		590	serialPortCtrl.Connect(true);
		591	else
		592	_readCont(!bReadContinously);
		593	}
		594	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		595	{
2347	-	596	_setHomePos();
2287	-	597	}
		598	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		599	{
2347	-	600	_clearHomePos();
2287	-	601	}
		602	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		603	{
		604	if (home != null && MainMap.Markers.Contains(home))
		605	MainMap.Position = home.Position;
		606	}
2295	-	607	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		608	{
		609	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		610	}
2287	-	611	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		612	{
		613	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		614	}
		615	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		616	{
		617	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		618	}
		619
2291	-	620	#region thresholds
2287	-	621	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		622	{
		623	if(!_init)
		624	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		625	}
		626	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		627	{
		628	if(!_init)
		629	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		630	}
		631	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		632	{
		633	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		634	}
2291	-	635
		636	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		637	{
		638	if(!_init)
		639	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		640	}
		641	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		642	{
		643	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		644	}
		645
		646	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		647	{
		648	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		649	}
		650	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		651	{
		652	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		653	}
		654	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		655	{
		656	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		657	}
		658	#endregion thresholds
		659
2287	-	660	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		661	{
		662	_switchToNC();
		663	}
		664
		665	private void Window_Loaded(object sender, RoutedEventArgs e)
		666	{
		667	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
2291	-	668	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		669	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		670	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		671	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
2287	-	672	_setMotorGridSize();
		673	}
2310	-	674	private void Window_Closing(object sender, CancelEventArgs e)
		675	{
		676	_writeIni();
2324	-	677	if(_bGPXLog && dtGPX.Rows.Count > 0)
		678	_saveGPXLog();
2310	-	679	}
2379	-	680	private void Window_Closed(object sender, EventArgs e)
		681	{
		682	Application.Current.Shutdown();
		683	}
		684
2287	-	685	#endregion events
		686
		687	#region GMap
		688
		689	void _setupMap()
		690	{
		691	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		692	MainMap.MapProvider = GMapProviders.BingHybridMap;
		693	MainMap.SetPositionByKeywords("Landshut");
		694	MainMap.MinZoom = 0;
		695	MainMap.MaxZoom = 24;
		696	MainMap.Zoom = 16;
		697	MainMap.ShowCenter = true;
		698	MainMap.ShowTileGridLines = false;
		699	sliderMapZoom.Value = 16;
		700	comboBoxMapType.ItemsSource = providerList;
		701	comboBoxMapType.DisplayMemberPath = "Name";
		702	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		703
		704	// acccess mode
		705	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		706	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		707
		708	}
		709
		710	/// <summary>
		711	/// selection of relevant map providers --> if You need more, You can change the line:
		712	/// comboBoxMapType.ItemsSource = providerList;
		713	/// to:
		714	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		715	/// in _setupMap()
		716	/// or add items here:
		717	/// </summary>
		718	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		719	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		720	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		721	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		722	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		723
		724	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		725	{
		726	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		727	copter = new GMapMarker(MainMap.Position);
2318	-	728
		729	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"),"red");
		730	if (comboBoxCopterColor.SelectionBoxItem != null)
		731	{
		732	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	733	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	734	}
2385	-	735	Dispatcher.Invoke(() => {
		736	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		737	{
		738	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		739	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		740	}
		741	});
		742	copter.Offset = new System.Windows.Point(-28, -28);
2287	-	743	copter.ZIndex = int.MaxValue;
		744	MainMap.Markers.Add(copter);
		745	copter.Position = MainMap.Position;
		746	}
2347	-	747	void _setHomePos()
2287	-	748	{
		749	pHome = MainMap.Position;
		750	if (!MainMap.Markers.Contains(home))
		751	{
		752	home = new GMapMarker(MainMap.Position);
		753	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		754	home.Offset = new System.Windows.Point(-18, -18);
		755	// home.ZIndex = int.MaxValue;
		756	MainMap.Markers.Add(home);
		757	}
		758	home.Position = MainMap.Position;
		759	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		760	}
2347	-	761	void _setActiveWP(int iIndex)
2287	-	762	{
2347	-	763	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
		764	{
		765	Dispatcher.Invoke(() =>
		766	{
		767	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		768	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		769	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		770	MainMap.Markers.Add(wpActiveMarker);
		771	});
		772	}
		773	else
		774	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
		775
		776	}
		777	void _clearHomePos()
		778	{
2287	-	779	MainMap.Markers.Remove(home);
		780	}
2335	-	781	void _clearMapMarkers(Type markerType)
		782	{
		783	for (int k = 0; k < MainMap.Markers.Count;)
		784	{
		785	GMapMarker p = MainMap.Markers[k];
2340	-	786	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	787	MainMap.Markers.Remove(p);
		788	else
		789	k++;
		790	}
2287	-	791
2335	-	792	}
2369	-	793
		794	GMapMarker _findWPMarker(string name)
2368	-	795	{
		796	for (int k = 0; k < MainMap.Markers.Count;)
		797	{
		798	GMapMarker p = MainMap.Markers[k];
		799	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
2369	-	800	if (((CustomMarkerWP)p.Shape).WPText == name)
		801	return p;
2368	-	802	else
		803	k++;
		804	else
		805	k++;
		806	}
2369	-	807	return null;
2368	-	808	}
2369	-	809	void _clearWPMarker(string name)
		810	{
		811	GMapMarker p = _findWPMarker(name);
		812	if(p != null)
		813	MainMap.Markers.Remove(p);
		814	}
2368	-	815	void _renameWPMarker(string s1, string s2)
		816	{
2369	-	817	GMapMarker p = _findWPMarker(s1);
		818	if (p != null)
		819	((CustomMarkerWP)p.Shape).WPText = s2;
2368	-	820	}
2372	-	821	void _WPMarkerSetType(string text, int type)
		822	{
		823	GMapMarker p = _findWPMarker(text);
		824	if (p != null)
		825	((CustomMarkerWP)p.Shape).WPType = type;
		826	}
2369	-	827	void _repositionWPMarker(PointLatLng point, string name)
		828	{
		829	GMapMarker p = _findWPMarker(name);
		830	if (p != null)
		831	p.Position = point;
		832	}
		833
2287	-	834	// access mode
		835	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		836	{
		837	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		838	MainMap.ReloadMap();
		839	}
		840	// zoom up
		841	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		842	{
		843	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		844	}
		845
		846	// zoom down
		847	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		848	{
		849	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		850	}
		851
		852	// prefetch
		853	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		854	{
		855	RectLatLng area = MainMap.SelectedArea;
		856	if (!area.IsEmpty)
		857	{
		858	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		859	{
		860	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		861
		862	if (res == MessageBoxResult.Yes)
		863	{
		864	TilePrefetcher obj = new TilePrefetcher();
		865	obj.Owner = this;
		866	obj.ShowCompleteMessage = true;
		867	obj.Start(area, i, MainMap.MapProvider, 100);
		868	}
		869	else if (res == MessageBoxResult.No)
		870	{
		871	continue;
		872	}
		873	else if (res == MessageBoxResult.Cancel)
		874	{
		875	break;
		876	}
		877	}
		878	}
		879	else
		880	{
		881	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		882	}
		883	}
		884
		885	// goto by geocoder
		886	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		887	{
		888	_goto_byGeoCoder();
		889	}
		890	// goto by geocoder
		891	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		892	{
		893	if (e.Key == System.Windows.Input.Key.Enter)
		894	_goto_byGeoCoder();
		895	}
		896	void _goto_byGeoCoder()
		897	{
		898	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		899	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		900	{
		901	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		902	}
		903	}
		904	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		905	{
		906	try
		907	{
		908	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		909	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		910
		911	MainMap.Position = new PointLatLng(lat, lng);
		912	}
		913	catch (Exception ex)
		914	{
		915	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		916	}
		917
		918	}
		919
		920	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		921	{
		922	MainMap.ReloadMap();
		923	}
		924
		925	private void MainMap_OnPositionChanged(PointLatLng point)
		926	{
		927	if (_bFollowCopter)
		928	_setCopterData(MainMap.Position);
		929	}
		930
		931	private void MainMap_OnMapZoomChanged()
		932	{
		933	if (_bFollowCopter)
		934	_setCopterData(MainMap.Position);
		935	if((int)sliderMapZoom.Value != MainMap.Zoom)
		936	sliderMapZoom.Value = MainMap.Zoom;
		937	}
		938
		939	void _setCopterData(PointLatLng p)
		940	{
		941	Dispatcher.Invoke(() =>
		942	{
		943	copter.Position = p;
		944	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		945	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		946	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		947	});
		948	if (home != null && MainMap.Markers.Contains(home))
		949	{
		950	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		951	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		952	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	953
		954	if(d*1000 < _dThresholdDistanceWarn)
		955	{
		956	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		957	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		958	{
		959	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		960	_bAnimDistanceActive = false;
		961	}
		962	}
		963	else
		964	{
		965	if (_iDistanceJitter < 20)
		966	{ _iDistanceJitter++; }
		967	if (_iDistanceJitter == 20)
		968	{
		969	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		970	{
		971	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		972	_bAnimDistanceActive = true;
		973	}
		974	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		975	{
2295	-	976	Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		977	t.Start();
2291	-	978	_bVoiceDistanceActive = true;
		979	}
		980	_iDistanceJitter++;
		981	}
		982	}
2287	-	983	}
		984	}
		985
		986	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		987	{
		988	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		989	}
		990
		991	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		992	{
		993	if (MainMap.Zoom != sliderMapZoom.Value)
		994	MainMap.Zoom = (int)sliderMapZoom.Value;
		995	}
		996	#region Touch zooming hackattack ;)
		997	/// <summary>
		998	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		999	/// </summary>
		1000	bool bFirstAccess = true;
		1001	double dDistance = 0;
		1002	int iZoom;
		1003	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1004	{
		1005	var id = e.StylusDevice.Id;
		1006	e.StylusDevice.Capture(MainMap);
		1007	if (iFirstStylusID == -1)
		1008	{
		1009	iFirstStylusID = id;
		1010	}
		1011	else
		1012	{
		1013
		1014	MainMap.CanDragMap = false;
		1015	}
		1016	}
		1017	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1018	{
		1019	MainMap.ReleaseStylusCapture();
		1020	iFirstStylusID = -1;
		1021	bFirstAccess = true;
		1022	MainMap.CanDragMap = true;
		1023	iZoom = 0;
		1024	}
		1025	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1026	{
		1027	var id = e.StylusDevice.Id;
		1028	var tp = e.GetPosition(MainMap);
		1029
		1030	// This is the first Stylus point; just record its position.
		1031	if (id == iFirstStylusID)
		1032	{
		1033	pTouch1.X = tp.X;
		1034	pTouch1.Y = tp.Y;
		1035	}
		1036	else
		1037	if (iFirstStylusID > -1)
		1038	{
		1039	pTouch2.X = tp.X;
		1040	pTouch2.Y = tp.Y;
		1041	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1042	if (!bFirstAccess)
		1043	{
		1044	if (distance > dDistance)
		1045	iZoom++;
		1046	else
		1047	if (distance < dDistance)
		1048	iZoom--;
		1049	}
		1050	if (iZoom > 30)
		1051	{
		1052	iZoom = 0;
		1053	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1054	}
		1055	if (iZoom < -30)
		1056	{
		1057	iZoom = 0;
		1058	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1059	}
		1060	dDistance = distance;
		1061	bFirstAccess = false;
		1062	}
		1063	}
		1064	#endregion Touch zooming hackattack ;)
		1065
		1066	#endregion GMap
		1067
		1068	#region settings
		1069	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1070	{
		1071	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		1072	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1073	}
		1074	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1075	{
		1076	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		1077	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1078	}
		1079	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1080	{
		1081	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1082	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1083	}
		1084	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1085	{
		1086	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1087	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1088	}
		1089	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1090	{
		1091	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1092	}
		1093	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1094	{
		1095	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1096	}
		1097	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1098	{
		1099	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1100	}
		1101	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1102	{
		1103	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1104	}
		1105
		1106	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1107	{
		1108	if (cBoxLiPoCells.SelectedIndex > -1)
		1109	{
		1110	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1111	_LipoMinMax();
		1112	}
		1113	}
		1114	void _LipoMinMax()
		1115	{
		1116	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1117	_dLipoVMin = (double)_LipoCells * 3;
		1118	pbTopVoltage.Maximum = _dLipoVMax;
		1119	pbTopVoltage.Minimum = _dLipoVMin;
		1120	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1121	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1122	}
		1123	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1124	{
		1125	if (cBoxMotors.SelectedIndex > -1)
		1126	{
		1127	_iMotors = cBoxMotors.SelectedIndex + 3;
		1128	Dispatcher.Invoke(() =>
		1129	{
		1130	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1131	GridMotors.Height = dgvMotors1.Height + 10;
		1132	});
		1133	}
		1134	}
		1135	void _setMotorGridSize()
		1136	{
		1137	if (dgvMotors1.Columns.Count > 2)
		1138	{
		1139	dgvMotors1.Columns[0].Width = 24;
		1140	dgvMotors1.Columns[1].Width = 50;
		1141	dgvMotors1.Columns[2].Width = 50;
		1142	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1143	GridMotors.Height = dgvMotors1.Height + 10;
		1144	}
		1145
		1146	}
		1147	#endregion settings
		1148
		1149	#region functions
		1150
		1151	#region logging
		1152	/// <summary> Log data to the terminal window. </summary>
		1153	/// <param name="msgtype"> The type of message to be written. </param>
		1154	/// <param name="msg"> The string containing the message to be shown. </param>
		1155	private void Log(LogMsgType msgtype, string msg)
		1156	{
		1157	Dispatcher.Invoke(() =>
		1158	{
		1159	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1160	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1161	// rtfTerminal.AppendText(msg + "\r");
		1162	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1163	tr.Text = msg;
		1164	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1165	rtfTerminal.AppendText("\r");
		1166	rtfTerminal.ScrollToEnd();
		1167	});
		1168	}
2381	-	1169	private void ErrorLog(LogMsgType msgtype, string msg , string linkURL, string linkName)
2287	-	1170	{
2381	-	1171
2287	-	1172	Dispatcher.Invoke(() =>
		1173	{
2381	-	1174	Paragraph para = new Paragraph();
		1175	para.Margin = new Thickness(0); // remove indent between paragraphs
		1176
		1177	Hyperlink link = new Hyperlink();
		1178	if (linkURL != "" && linkName != "")
		1179	{
		1180	link.IsEnabled = true;
		1181	link.Inlines.Add(linkName);
		1182	link.NavigateUri = new Uri(linkURL);
		1183	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1184	}
		1185	//msg = DateTime.Now.ToLongTimeString() + msg;
		1186	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1187	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1188	r.Foreground = new SolidColorBrush(Colors.Black);
		1189	para.Inlines.Add(r);
		1190	para.Inlines.Add(msg);
		1191	para.Inlines.Add(link);
		1192	rtfError.Document.Blocks.Add(para);
		1193	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1194	//tr.Text = msg + link;
		1195	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1196	//rtfError.AppendText("\r");
2287	-	1197	rtfError.ScrollToEnd();
		1198
2381	-	1199	//_bErrorLog = true;
2287	-	1200	});
		1201	}
		1202	/// <summary>
		1203	/// Clear the line in the errorlog window
		1204	/// containing the error string when error has ceased
		1205	/// </summary>
		1206	/// <param name="s">substring of errrormessage</param>
		1207	void _clearErrorLog(string s)
		1208	{
		1209	Dispatcher.Invoke((Action)(() =>
		1210	{
		1211	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1212	TextRange foundRange = FindTextInRange(searchRange, s);
		1213
		1214	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1215
		1216
		1217	if (iStart > -1)
		1218	{
		1219	int iLength = 0;
		1220	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1221	if (iEnd > 0)
		1222	{
		1223	iLength = iEnd + 1;
		1224	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1225	if (iHttp == iLength)
		1226	{
		1227	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1228	if (iEnd2 > iLength)
		1229	{
		1230	iLength = iEnd2 + 1;
		1231	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1232
		1233	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1234	rtfError.Selection.Text = string.Empty;
		1235	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1236	}
		1237
		1238	}
		1239	else
		1240	{
		1241	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1242	rtfError.Selection.Text = string.Empty;
		1243	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1244	}
		1245	}
		1246	}
		1247	}));
		1248
		1249	}
		1250	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1251	{
		1252	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1253	if (offset < 0)
		1254	return null; // Not found
		1255
		1256	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1257	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1258
		1259	return result;
		1260	}
		1261	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1262	{
		1263	while (position != null)
		1264	{
		1265	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1266	{
		1267	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1268	if (characterCount <= count)
		1269	{
		1270	return position.GetPositionAtOffset(characterCount);
		1271	}
		1272
		1273	characterCount -= count;
		1274	}
		1275
		1276	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1277	if (nextContextPosition == null)
		1278	return position;
		1279
		1280	position = nextContextPosition;
		1281	}
		1282
		1283	return position;
		1284	}
		1285	#endregion logging
		1286
		1287	#region processing received data
		1288
		1289	private void processMessage(byte[] message)
		1290	{
		1291	if (message.Length > 0)
		1292	{
		1293	_iLifeCounter++;
		1294	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1295	//Log(LogMsgType.Incoming, message.Length.ToString());
		1296	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1297	char cmdID;
		1298	byte adr;
		1299	byte[] data;
		1300	byte[] tmp = null;
		1301	if (message[0] != '#')
		1302	{
		1303	int iFound = -1;
		1304	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1305	{ //so this is a workaround to not spam the log box
		1306	if (message[i] == 35)
		1307	{
		1308	iFound = i;
		1309	break;
		1310	}
		1311	}
		1312	if (iFound > 0)
		1313	{
		1314	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1315	tmp = new byte[message.Length - iFound];
		1316	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1317	}
		1318	s = s.Trim('\0', '\n', '\r');
		1319	if (s.Length > 0)
		1320	Log(LogMsgType.Normal, s);
		1321	if (tmp != null)
		1322	{
		1323	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1324	processMessage(tmp);
		1325	}
		1326	}
		1327	//Debug.Print(s);
		1328	else
		1329	{
		1330	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1331
		1332	if (adr == 255) { crcError++; }
		1333	else crcError = 0;
		1334	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1335	//display the active controller (FC / NC)
		1336	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...???
		1337	{
		1338	_iCtrlAct = adr;
		1339	switch (adr)
		1340	{
		1341	case 1:
		1342	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2381	-	1343	// Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1344	// Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
2287	-	1345	// _setFieldsNA(); //display fields NA for FC
		1346	break;
		1347	case 2:
		1348	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1349	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1350	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1351	break;
		1352	//case 3:
		1353	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1354	// break;
		1355	//case 4:
		1356	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1357	// break;
		1358	default:
		1359	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1360	break;
		1361	}
		1362	// _loadLabelNames();
		1363	}
		1364	// else
		1365	// Debug.Print("Address == 0?");
		1366
		1367	if (data != null && data.Length > 0)
		1368	{
		1369	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1370	s = s.Trim('\0', '\n');
		1371
		1372	switch (cmdID)
		1373	{
		1374	//case 'A': //Label names
		1375	// _processLabelNames(s);
		1376	// break;
		1377
		1378	case 'D': //Debug data
		1379	_processDebugVals(adr, data);
		1380	break;
		1381
		1382	case 'V': //Version
		1383	_processVersion(adr, data);
		1384	break;
		1385
		1386	case 'K'://BL-CTRL data
		1387	_processBLCtrl(data);
		1388	break;
		1389
		1390	case 'O': //NC Data
		1391	_processNCData(data);
		1392	break;
		1393
2381	-	1394	//case 'E': //NC error-string
		1395	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1396	// break;
2287	-	1397
		1398	case 'L': //OSD Menue (called by pagenumber)
		1399	_processOSDSingle(data);
		1400	break;
		1401
		1402	case 'H': //OSD Menue (with autoupdate - called by Key)
		1403	_processOSDAuto(data);
		1404	break;
		1405
		1406	case 'X': //Waypoint data
		1407	_processWPData(data);
		1408	break;
		1409
2313	-	1410	case 'W': //return new Waypoint items count after sending waypoint to copter
		1411	_iWPCount = data[0];
		1412	break;
2287	-	1413	//default:
		1414	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1415	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1416	// break;
		1417	}
		1418	}
		1419	//else
		1420	//{
		1421	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1422	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1423	//}
		1424	}
		1425	}
		1426	}
		1427	/// <summary>
		1428	/// Analog label names 'A'
		1429	/// each label name is returned as a single string
		1430	/// and added to string array sAnalogLabel[]
		1431	/// and the datatable dtAnalog
		1432	/// </summary>
		1433	/// <param name="s">the label name</param>
		1434	void _processLabelNames(string s)
		1435	{
		1436	//if (iLableIndex < 32)
		1437	//{
		1438	// sAnalogLabel[iLableIndex] = s;
		1439	// if (dtAnalog.Rows.Count < 32)
		1440	// dtAnalog.Rows.Add(s, "");
		1441	// else
		1442	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1443
		1444	// // _getAnalogLabels(iLableIndex + 1);
		1445	//}
		1446	//Debug.Print(s);
		1447	}
		1448	/// <summary>
		1449	/// Debug values 'D'
		1450	/// </summary>
		1451	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1452	/// <param name="data">the received byte array to process</param>
		1453	void _processDebugVals(byte adr, byte[] data)
		1454	{
		1455	if (data.Length == 66)
		1456	{
2324	-	1457
2287	-	1458	double v;
		1459	int index = 0;
		1460	Int16 i16 = 0;
		1461	double dTemp = 0;
		1462	for (int i = 2; i < 66; i += 2)
		1463	{
		1464	i16 = data[i + 1];
		1465	i16 = (Int16)(i16 << 8);
		1466	iAnalogData[index] = data[i] + i16;
		1467	sAnalogData[index] = (data[i] + i16).ToString();
		1468	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1469
		1470	if (adr == 2) //NC
		1471	{
		1472	switch (index)
		1473	{
		1474	case 0: //pitch (German: nick)
		1475	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1476	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1477	break;
		1478	case 1: //roll
		1479	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1480	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1481	break;
		1482	case 4: //altitude
		1483	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1484	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2324	-	1485	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1486	break;
		1487	case 7: //Voltage
		1488	v = (double)iAnalogData[index] / (double)10;
		1489	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1490	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1491	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1492	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1493	{
		1494	if (v == _dVoltLast)
		1495	if(_iVoltJitter < 20) _iVoltJitter++;
		1496	else
		1497	{
		1498	_iVoltJitter = 0;
		1499	_dVoltLast = v;
		1500	}
		1501	if (_iVoltJitter == 20)
		1502	{
		1503	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1504
		1505	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1506	{
		1507	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1508	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1509	{
		1510	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1511	_bCritAnimVoltActive = true;
		1512	}
		1513	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1514	{
2295	-	1515	Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1516	t.Start();
2287	-	1517	_bCritVoiceVoltActive = true;
		1518	}
		1519	}
		1520	else
		1521	{
		1522	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1523	{
		1524	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1525	_bCritAnimVoltActive = false;
		1526	}
		1527	_bCritVoiceVoltActive = false;
		1528
2291	-	1529	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1530	{
2295	-	1531	Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1532	t.Start();
2291	-	1533	_bWarnVoiceVoltActive = true;
2287	-	1534	}
		1535	}
		1536	}
		1537	}
		1538	else
		1539	{
		1540	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1541	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1542	{
		1543	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1544	_bCritAnimVoltActive = false;
		1545	}
		1546	_bCritVoiceVoltActive = false;
2291	-	1547	_bWarnVoiceVoltActive = false;
2287	-	1548	_iVoltJitter = 0;
		1549	}
		1550	break;
		1551	case 8: // Current
		1552	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1553	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1554	break;
		1555	case 10: //heading
2291	-	1556	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2287	-	1557	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
2385	-	1558	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
2287	-	1559	break;
		1560	case 12: // SPI error
2291	-	1561	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1562	break;
		1563	case 14: //i2c error
2291	-	1564	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1565	break;
		1566	case 20: //Earthmagnet field
2291	-	1567	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1568	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1569
		1570	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1571	{
		1572	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1573	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1574	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1575	{
		1576	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1577	_bAnimMagneticFieldActive = false;
		1578	}
		1579	}
		1580	else
		1581	{
		1582	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1583	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1584	{
		1585	if (_iMagneticFieldJitter < 20)
		1586	_iMagneticFieldJitter++;
		1587	}
		1588	else
		1589	{
		1590	_iMagneticFieldJitter = 0;
		1591	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1592	}
		1593	if(_iMagneticFieldJitter == 20)
		1594	{
		1595	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1596	{
		1597	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1598	_bAnimMagneticFieldActive = true;
		1599	}
		1600	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1601	{
2295	-	1602	Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1603	t.Start();
2291	-	1604	_bVoiceMagneticFieldActive = true;
		1605	}
		1606	}
		1607	}
2287	-	1608	break;
		1609	case 21: //GroundSpeed
		1610	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1611	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1612	break;
2291	-	1613
		1614	///******** needs testing --> not sure what position this is *************
2287	-	1615	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1616	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1617	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1618	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1619	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1620	dTemp = Math.Sqrt(dTemp) / (double)10;
		1621	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1622	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1623	break;
2291	-	1624
2287	-	1625	case 31: //Sats used
		1626	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1627	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1628	break;
		1629	}
		1630	}
		1631	index++;
		1632	}
		1633	}
		1634	else
		1635	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1636	}
		1637	/// <summary>
		1638	/// Version string 'V'
		1639	/// </summary>
		1640	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1641	/// <param name="data">the received byte array to process</param>
		1642	void _processVersion(byte adr, byte[] data)
		1643	{
		1644	if (data.Length == 12)
		1645	{
		1646	if (!check_HWError)
		1647	{
		1648	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1649	string sVersion = "";
		1650	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1651	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1652	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1653	Log(LogMsgType.Incoming, sVersion);
		1654	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1655	Log(LogMsgType.Incoming, sVersion);
		1656	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1657	}
		1658	if (data[5] > 0) //error0
		1659	{
		1660	if (adr == 1)
2381	-	1661	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(),"","");
2287	-	1662	if (adr == 2)
2381	-	1663	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(),"","");
2287	-	1664	}
		1665	if (data[6] > 0) //error1
		1666	{
		1667	if (adr == 1)
2381	-	1668	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(),"","");
2287	-	1669	if (adr == 2)
2381	-	1670	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(),"",""); //@moment NC has only one error field
2287	-	1671	}
2381	-	1672	//if ((data[5] + data[6] == 0) && _bErrorLog)
		1673	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
2287	-	1674
		1675	}
		1676	check_HWError = false;
		1677	}
		1678	/// <summary>
		1679	/// BL-Ctrl data 'K'
		1680	/// for FC you have to use a customized firmware
		1681	/// </summary>
		1682	/// <param name="data">the received byte array to process</param>
		1683	void _processBLCtrl(byte[] data)
		1684	{
		1685	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1686	{
		1687	bool bAvailable = false;
		1688	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1689	{
		1690
		1691	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1692	bAvailable = true;
		1693	else
		1694	bAvailable = false;
		1695
		1696	if (data[i] < _iMotors)
		1697	{
		1698	if (bAvailable)
		1699	{
2315	-	1700	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1701	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1702	}
		1703	else
		1704	{
2315	-	1705	dtMotors.Rows[data[i]].SetField(1, "NA");
		1706	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1707	}
		1708	}
		1709	//if (data[i] > 3 && data[i] < 8)
		1710	//{
		1711	// if (bAvailable)
		1712	// {
		1713	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1714	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1715	// }
		1716	// else
		1717	// {
		1718	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1719	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1720	// }
		1721	//}
		1722	}
		1723	}
		1724	}
		1725	/// <summary>
		1726	/// Navi-Ctrl data 'O'
		1727	/// GPS-Position, capacatiy, flying time...
		1728	/// </summary>
		1729	/// <param name="data">the received byte array to process</param>
		1730	void _processNCData(byte[] data)
		1731	{
		1732	int i_32, i_16, iVal;
		1733	double d;
		1734	i_32 = data[4];
		1735	iVal = i_32 << 24;
		1736	i_32 = data[3];
		1737	iVal += i_32 << 16;
		1738	i_32 = data[2];
		1739	iVal += i_32 << 8;
		1740	iVal += data[1];
		1741	d = (double)iVal / Math.Pow(10, 7);
2324	-	1742	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1743
2287	-	1744	PointLatLng p = new PointLatLng();
		1745
		1746	p.Lng = d;
		1747	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1748	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1749
		1750	i_32 = data[8];
		1751	iVal = i_32 << 24;
		1752	i_32 = data[7];
		1753	iVal += i_32 << 16;
		1754	i_32 = data[6];
		1755	iVal += i_32 << 8;
		1756	iVal += data[5];
		1757	d = (double)iVal / Math.Pow(10, 7);
2324	-	1758	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1759	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1760	p.Lat = d;
2291	-	1761	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1762	{
		1763	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1764	if(_bAutoHome && !_bFirstSatFix)
		1765	{
		1766	if (_iFirstSatFix < 3)
		1767	_iFirstSatFix++;
		1768	else
		1769	{
		1770	_bFirstSatFix = true;
2347	-	1771	Dispatcher.Invoke(() => _setHomePos());
2295	-	1772	}
		1773	}
2291	-	1774	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1775	{
		1776	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1777	_bAnimSatFixActive = false;
		1778	}
		1779	if (!_bFollowCopter)
		1780	{
		1781	_setCopterData(p);
		1782	if (!MainMap.ViewArea.Contains(p))
		1783	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1784
2291	-	1785	}
		1786	else
2287	-	1787	Dispatcher.Invoke(() => MainMap.Position = p);
		1788	}
		1789	else
2291	-	1790	{
		1791	if(_bSatFix)
		1792	{
		1793	if (data[50] == _iSatsLast)
		1794	{
		1795	if (_iSatsJitter < 20) _iSatsJitter++;
		1796	}
		1797	else
		1798	{
		1799	_iSatsJitter = 0;
		1800	_iSatsLast = data[50];
		1801	}
2287	-	1802
2291	-	1803	if (_iSatsJitter == 20)
		1804	{
		1805	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1806	{
		1807	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1808	_bAnimSatFixActive = true;
		1809	}
		1810	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1811	{
2335	-	1812	Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
2295	-	1813	th.Start();
2291	-	1814	_bVoiceSatFixActive = true;
		1815	}
		1816
		1817	_bSatFix = false;
		1818	}
		1819	}
		1820	}
		1821
2287	-	1822	i_16 = data[28];
		1823	i_16 = (Int16)(i_16 << 8);
		1824	iVal = data[27] + i_16;
		1825	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1826
		1827	i_16 = data[45];
		1828	i_16 = (Int16)(i_16 << 8);
		1829	iVal = data[44] + i_16;
		1830	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1831	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1832
		1833	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2355	-	1834	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2347	-	1835	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count > 0)
2342	-	1836	{
2347	-	1837	_setActiveWP(data[48]-1);
2355	-	1838	if((data[67] & 2) == 2)
		1839	Dispatcher.Invoke(() => {
		1840	DataGridRow row;
		1841	if (_wpIndex > -1)
		1842	{
		1843	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1844	row.Background = new SolidColorBrush(Colors.Transparent);
		1845	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1846	row.BorderThickness = new Thickness(0);
		1847	}
		1848	_wpIndex = data[48] - 1;
		1849	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
2366	-	1850	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		1851	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	1852	row.BorderThickness = new Thickness(2);
		1853	dgvWP.UpdateLayout();
		1854	});
2347	-	1855	_wpIndex = data[48]-1;
2342	-	1856	}
2347	-	1857	else
		1858	{
		1859	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	1860	{
2347	-	1861	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	1862	Dispatcher.Invoke(() =>
		1863	{
		1864	DataGridRow row;
2368	-	1865	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	1866	{
		1867	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1868	row.Background = new SolidColorBrush(Colors.Transparent);
		1869	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1870	row.BorderThickness = new Thickness(0);
		1871	_wpIndex = -1;
		1872	}
		1873	});
		1874
		1875	}
2347	-	1876	}
2342	-	1877
2287	-	1878	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	1879	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	1880	_wpCount = data[49];
2287	-	1881	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1882
		1883	//--------------- Capacity used ------------------------
		1884	i_16 = data[81];
		1885	i_16 = (Int16)(i_16 << 8);
		1886	iVal = data[80] + i_16;
		1887	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1888	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1889
		1890	//--------------- Flying time ------------------------
		1891	i_16 = data[56];
		1892	i_16 = (Int16)(i_16 << 8);
		1893	iVal = data[55] + i_16;
		1894	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1895	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1896	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1897	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1898
		1899	//--------------- RC quality ------------------------
		1900	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1901	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1902
2291	-	1903	if(data[66] > _iThresholdRC)
		1904	{
		1905	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1906	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1907	{
		1908	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1909	_bAnimRCLevelActive = false;
		1910	}
		1911	}
		1912	else
		1913	{
		1914	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1915	if (_iRCLevelJitter == 20)
		1916	{
		1917	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1918	{
		1919	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1920	_bAnimRCLevelActive = true;
		1921	}
		1922	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1923	{
2295	-	1924	Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1925	th.Start();
2291	-	1926	_bVoiceRCLevelActive = true;
		1927	}
		1928	_iRCLevelJitter++;
		1929	}
		1930	}
		1931
2287	-	1932	//--------------- NC Error ------------------------
		1933	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1934	if (data[69] > 0)
		1935	_readNCError();
		1936	if (data[69] > 0 & data[69] < 44)
2381	-	1937	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		1938	//else
		1939	// if (_bErrorLog) _clearErrorLog("NC Error");
2287	-	1940
2298	-	1941	//-------------FC / NC Status Flags
		1942	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1943	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1944	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1945	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1946	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1947	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1948
		1949	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1950	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1951	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1952	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1953	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1954	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
		1955	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		1956	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		1957
		1958	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1959	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1960	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1961	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1962	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1963	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1964	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	1965
		1966	//Sidebar StatusSymbols
		1967	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1968	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
		1969	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
		1970
		1971	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1972	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
		1973	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
		1974
		1975	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	1976	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
		1977	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	-	1978
		1979	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1980	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
		1981	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
		1982
		1983	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	1984	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
		1985	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
		1986	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	-	1987
2324	-	1988	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	1989	}
		1990	/// <summary>
		1991	/// Navi-Ctrl WP data struct 'X'
		1992	/// called by index
		1993	/// </summary>
		1994	/// <param name="data">the received byte array to process</param>
		1995	void _processWPData(byte[] data)
		1996	{
2313	-	1997	_iWPCount = data[0];
2287	-	1998	_bGetWPCount = false;
		1999	if (data.Length >= 28)
		2000	{
		2001	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		2002	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		2003	if (_bGetWP)
		2004	{
		2005	if (data[1] == 1)
2315	-	2006	{
2333	-	2007	Dispatcher.Invoke(() =>
		2008	{
2356	-	2009	wpList.Clear();
		2010	_clearMapMarkers(typeof(CustomMarkerWP));
		2011	if (mRouteWP != null)
		2012	MainMap.Markers.Remove(mRouteWP);
		2013	if (wpActiveMarker != null)
		2014	MainMap.Markers.Remove(wpActiveMarker);
		2015	lblWPRouteDistance.Content = "0 m";
		2016	dtWaypoints.Rows.Clear();
2368	-	2017	_wpEdit = -1;_wpIndex = -1;
2318	-	2018	});
2315	-	2019	}
2287	-	2020	DataRow dr = dtWaypoints.NewRow();
		2021	dr = Waypoints.toDataRow(data, dr);
2313	-	2022	dtWaypoints.Rows.Add(dr);
2363	-	2023	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1]);
2313	-	2024	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2025	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	2026	if (data[1] == data[0])
		2027	{
		2028	_bGetWP = false;
2368	-	2029	_routeUpdate();
2287	-	2030	}
		2031
		2032	}
		2033	}
		2034	else
		2035	{
		2036	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		2037	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		2038	}
		2039	}
		2040	/// <summary>
		2041	/// OSD Menue 'L'
		2042	/// single page called by pagenumber
		2043	/// no autoupdate
		2044	/// </summary>
		2045	/// <param name="data">the received byte array to process</param>
		2046	void _processOSDSingle(byte[] data)
		2047	{
		2048	if (data.Length == 84)
		2049	{
		2050	string sMessage = "";
		2051	iOSDPage = data[0];
		2052	iOSDMax = data[1];
		2053	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		2054	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		2055	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2056	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2057	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2058	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2059	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2060	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2061
		2062	}
		2063	//else
		2064	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2065
		2066	}
		2067	/// <summary>
		2068	/// OSD Menue 'H'
		2069	/// called by keys (0x01,0x02,0x03,0x04)
		2070	/// autoupdate
		2071	/// </summary>
		2072	/// <param name="data">the received byte array to process</param>
		2073	void _processOSDAuto(byte[] data)
		2074	{
		2075	if (data.Length == 81)
		2076	{
		2077	string sMessage = "";
		2078	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2079	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2080	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2081	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2082	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2083
		2084	}
		2085	//else
		2086	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2087	}
		2088
		2089	#endregion processing received data
		2090
		2091	#region controller messages
		2092	/// <summary> send message to controller to request data
		2093	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2094	/// </summary>
		2095	/// <param name="CMDID"> the command ID </param>
		2096	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2097	private void _sendControllerMessage(char CMDID, byte address)
		2098	{
		2099	if (serialPortCtrl.Port.IsOpen)
		2100	{
		2101	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2102	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2103	serialStream.Write(bytes, 0, bytes.Length);
		2104
		2105	}
		2106	else
		2107	Log(LogMsgType.Error, "NOT CONNECTED!");
		2108	}
		2109	/// <summary> send message to controller to request data
		2110	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2111	/// </summary>
		2112	/// <param name="CMDID"> the command ID </param>
		2113	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2114	/// <param name="data"> additional data for the request</param>
		2115	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2116	{
		2117	if (serialPortCtrl.Port.IsOpen)
		2118	{
		2119	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2120	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2121	serialStream.Write(bytes, 0, bytes.Length);
		2122
		2123	}
		2124	else
		2125	Log(LogMsgType.Error, "NOT CONNECTED!");
		2126	}
		2127
		2128	/// <summary>
		2129	/// start/stop continous polling of controller values
		2130	/// </summary>
		2131	/// <param name="b">start/stop switch</param>
		2132	void _readCont(bool b)
		2133	{
		2134	bReadContinously = b;
		2135	if (bReadContinously)
		2136	{
		2137	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2138	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2139	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2140	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2141	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2142	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2143	}
		2144	else
		2145	{
		2146	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2147	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2148	_bConnErr = false;
		2149	}
		2150	_iLifeCounter = 0;
		2151	}
		2152
		2153	private void _getVersion()
		2154	{
		2155	_sendControllerMessage('v', 0);
		2156	}
		2157	/// <summary>
		2158	/// get FC version struct via NC
		2159	/// by sending '1' as data (not documented in wiki...)
		2160	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2161	/// </summary>
		2162	/// <param name="ctrl">controller number 1=FC</param>
		2163	private void _getVersion(byte ctrl)
		2164	{
		2165	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2166	}
		2167	/// <summary>
		2168	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2169	/// </summary>
		2170	private void _switchToNC()
		2171	{
		2172	if (serialPortCtrl.Port.IsOpen)
		2173	{
		2174	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2175	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2176	serialStream.Write(bytes, 0, bytes.Length);
		2177
		2178	Thread.Sleep(100);
		2179	_getVersion();
		2180	Thread.Sleep(100);
		2181	// _OSDMenue(0);
		2182	}
		2183	else
		2184	Log(LogMsgType.Error, "NOT CONNECTED!");
		2185	}
		2186	/// <summary>
		2187	/// switch to FC
		2188	/// </summary>
		2189	private void _switchToFC()
		2190	{
		2191	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2192	Thread.Sleep(100);
		2193	_getVersion();
		2194	Thread.Sleep(100);
		2195	// _OSDMenue(0);
		2196	}
		2197	/// <summary>
		2198	/// send RESET signal to FC
		2199	/// </summary>
		2200	private void _resetCtrl()
		2201	{
		2202	_sendControllerMessage('R', 1);
		2203	}
		2204	/// <summary>
		2205	/// poll the debug data (4sec subscription)
		2206	/// </summary>
		2207	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2208	private void _readDebugData(bool auto)
		2209	{
		2210	byte interval = auto ? debugInterval : (byte)0;
		2211	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2212	}
		2213	/// <summary>
		2214	/// poll the BL-CTRL status via NC (4sec subscription)
		2215	/// </summary>
		2216	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2217	private void _readBLCtrl(bool auto)
		2218	{
		2219	byte interval = auto ? blctrlInterval : (byte)0;
		2220	_sendControllerMessage('k', 0, new byte[1] { interval });
		2221	}
		2222	/// <summary>
		2223	/// poll the NC data struct (4sec subscription)
		2224	/// </summary>
		2225	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2226	private void _readNavData(bool auto)
		2227	{
		2228	byte interval = auto ? navctrlInterval : (byte)0;
		2229	_sendControllerMessage('o', 2, new byte[1] { interval });
		2230	}
		2231	/// <summary>
		2232	/// get the errortext for pending NC error
		2233	/// </summary>
		2234	private void _readNCError()
		2235	{
		2236	_sendControllerMessage('e', 2);
		2237	}
		2238	/// <summary>
		2239	/// request the Waypoint at index
		2240	/// </summary>
		2241	/// <param name="index"></param>
		2242	void _getpWP(int index)
		2243	{
		2244	if (serialPortCtrl.Port.IsOpen)
		2245	{
		2246	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2247	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2248	serialStream.Write(bytes, 0, bytes.Length);
		2249	}
		2250	else
		2251	Log(LogMsgType.Error, "NOT CONNECTED!");
		2252
		2253	}
		2254	void _getWP()
		2255	{
2335	-	2256	int iTimeout = 0;
2287	-	2257	_bGetWPCount = true;
2315	-	2258	_getpWP(1); //get the itemscount of wp
2335	-	2259	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2260	{
		2261	Thread.Sleep(10);
		2262	iTimeout++;
		2263	}
		2264	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2265	_getWPList();
		2266	}
		2267	void _getWPList()
		2268	{
		2269	_bGetWP = true;
2313	-	2270	int iTimeout=0;
		2271	for (int j = 0; j < _iWPCount; j++)
2287	-	2272	{
		2273	_getpWP(j + 1);
2313	-	2274	iTimeout = 0;
		2275	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2276	{
		2277	Thread.Sleep(1);
		2278	iTimeout++;
		2279	}
2287	-	2280	}
		2281	}
2363	-	2282	/// <summary>
		2283	/// Wrapper for _clearCopterWPList()
		2284	/// necessary, cause it is called by threadnew which does not like return values...
		2285	/// </summary>
2340	-	2286	void clearCopterWPList()
2313	-	2287	{
2340	-	2288	_clearCopterWPList();
		2289	}
2363	-	2290	/// <summary>
		2291	/// clear the WP list of the copter
		2292	/// by sending 'invalid' and index '0'
		2293	/// </summary>
		2294	/// <returns></returns>
2340	-	2295	bool _clearCopterWPList()
		2296	{
2335	-	2297	int iTimeout = 0;
2313	-	2298	if (serialPortCtrl.Port.IsOpen)
		2299	{
		2300	byte[] bData = new byte[30];
		2301	for (int i = 0; i < 30; i++)
		2302	bData[i] = 0;
		2303	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2304	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2305	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2306
2313	-	2307	_iWPCount = -1;
2340	-	2308	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2309	{
2313	-	2310	Thread.Sleep(10);
2335	-	2311	iTimeout++;
		2312	}
2313	-	2313	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2314	if (_iWPCount > -1)
2340	-	2315	return true;
		2316	else
		2317	Log(LogMsgType.Error, "Timeout while sending list!");
		2318	}
		2319	else
		2320	Log(LogMsgType.Error, "NOT CONNECTED!");
		2321
		2322	return false;
		2323	}
		2324	void _sendWPList()
		2325	{
2362	-	2326	_sendWPList(0);
		2327	}
		2328	void _sendWPList(int iStart)
		2329	{
2340	-	2330	int iTimeout = 0;
		2331	if (serialPortCtrl.Port.IsOpen)
		2332	{
		2333	if (_clearCopterWPList())
2313	-	2334	{
2362	-	2335	int k = 1;
		2336	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	2337	{
2362	-	2338	k = iStart > 0 ? k : -1;
2376	-	2339	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	2340
2335	-	2341	_iWPCount = -1;
		2342	iTimeout = 0;
		2343	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2344	{
		2345	Thread.Sleep(10);
		2346	iTimeout++;
		2347	}
		2348	if (_iWPCount == -1)
		2349	{
		2350	Log(LogMsgType.Error, "Timeout while sending list!");
		2351	break;
		2352	}
		2353	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	2354	k++;
2335	-	2355	}
2313	-	2356	}
		2357	}
		2358	else
		2359	Log(LogMsgType.Error, "NOT CONNECTED!");
		2360
		2361	}
2376	-	2362	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	2363	{
2313	-	2364
2340	-	2365	if (serialPortCtrl.Port.IsOpen)
		2366	{
		2367	byte[] bData = new byte[30];
		2368	for (int i = 0; i < 30; i++)
		2369	bData[i] = 0;
		2370	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2371	byte[] bytes;
		2372	int iVal;
		2373	double dVal;
		2374	NumberFormatInfo nfi = new NumberFormatInfo();
		2375	nfi.NumberDecimalSeparator = ",";
		2376
		2377	//longitude
		2378	dVal = Convert.ToDouble(dr[4], nfi);
		2379	iVal = (int)(dVal * Math.Pow(10, 7));
		2380	bData[0] = (byte)(iVal & 0xff);
		2381	bData[1] = (byte)((iVal >> 8) & 0xff);
		2382	bData[2] = (byte)((iVal >> 16) & 0xff);
		2383	bData[3] = (byte)(iVal >> 24);
		2384	//latitude
		2385	dVal = Convert.ToDouble(dr[3], nfi);
		2386	iVal = (int)(dVal * Math.Pow(10, 7));
		2387	bData[4] = (byte)(iVal & 0xff);
		2388	bData[5] = (byte)((iVal >> 8) & 0xff);
		2389	bData[6] = (byte)((iVal >> 16) & 0xff);
		2390	bData[7] = (byte)(iVal >> 24);
		2391	//altitude
		2392	dVal = Convert.ToDouble(dr[5], nfi);
		2393	iVal = (int)(dVal * 10);
		2394	bData[8] = (byte)(iVal & 0xff);
		2395	bData[9] = (byte)((iVal >> 8) & 0xff);
		2396	bData[10] = (byte)((iVal >> 16) & 0xff);
		2397	bData[11] = (byte)(iVal >> 24);
2376	-	2398	if(bSim)
		2399	bData[12] = 3; //Status 'SIMULATE'
2340	-	2400	//Status 'NEWDATA'
2376	-	2401	else
		2402	bData[12] = 1;
2340	-	2403	//heading
		2404	iVal = Convert.ToInt16(dr[6]);
		2405	bData[13] = (byte)(iVal & 0xff);
		2406	bData[14] = (byte)((iVal >> 8) & 0xff);
		2407	//ToleranceRadius
		2408	bData[15] = Convert.ToByte(dr[9]);
		2409	//HoldTime
		2410	bData[16] = Convert.ToByte(dr[10]);
		2411	//Event_Flag
		2412	bData[17] = Convert.ToByte(dr[13]);
		2413	//Index
2379	-	2414	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
2340	-	2415	//Type
		2416	bData[19] = Convert.ToByte(dr[1]);
		2417	//WP_EventChannelValue
		2418	bData[20] = Convert.ToByte(dr[14]);
		2419	//AltitudeRate
		2420	bData[21] = Convert.ToByte(dr[8]);
		2421	//Speed
		2422	bData[22] = Convert.ToByte(dr[7]);
		2423	//CamAngle
		2424	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2425	//Name
2362	-	2426	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		2427	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	2428	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2429	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2430	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2431	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2432	//Autotrigger
		2433	bData[28] = Convert.ToByte(dr[11]);
		2434
2356	-	2435	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	2436	serialStream.Write(bytes, 0, bytes.Length);
		2437
		2438	return true;
		2439	}
		2440
		2441	return false;
		2442	}
2287	-	2443	#region OSD-Menue
		2444
		2445	/// <summary>
		2446	/// one time query of the OSD Menue with pagenumber
		2447	/// </summary>
		2448	/// <param name="iMenue">Menue page</param>
		2449	void _OSDMenue(int iMenue)
		2450	{
		2451	if (serialPortCtrl.Port.IsOpen)
		2452	{
		2453	if (iMenue > iOSDMax)
		2454	iMenue = 0;
		2455	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2456	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2457	serialStream.Write(bytes, 0, bytes.Length);
		2458	}
		2459	else
		2460	Log(LogMsgType.Error, "NOT CONNECTED!");
		2461
		2462	}
		2463	/// <summary>
		2464	/// call the OSDMenue and start autorefresh
		2465	/// usually by sending a menuekey
		2466	/// 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)
		2467	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2468	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2469	/// </summary>
		2470	void _OSDMenueAutoRefresh()
		2471	{
		2472	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2473	}
		2474	void _OSDMenueAutoRefresh(byte key)
		2475	{
		2476	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2477	}
		2478	/// <summary>
		2479	/// initialize the OSD menue combobox
		2480	/// combox is filled by numbers from 0 to max pagenumber
		2481	/// </summary>
		2482	void _initOSDCB()
		2483	{
		2484	_bCBInit = true;
		2485	if (iOSDMax == 0)
		2486	{
		2487	_OSDMenue(0);
		2488	Thread.Sleep(10);
		2489	}
		2490	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2491	for (int i = 0; i <= iOSDMax; i++)
		2492	{
		2493	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2494	}
		2495	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2496	_bCBInit = false;
		2497	}
		2498	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2499	{
		2500	iOSDPage++;
		2501	if (iOSDPage > iOSDMax)
		2502	iOSDPage = 0;
		2503
		2504	_OSDMenue(iOSDPage);
		2505	}
		2506	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2507	{
		2508	iOSDPage--;
		2509	if (iOSDPage < 0)
		2510	iOSDPage = iOSDMax;
		2511
		2512	_OSDMenue(iOSDPage);
		2513	}
		2514	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2515	{
		2516	_OSDMenueAutoRefresh(8);
		2517	}
		2518	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2519	{
		2520	_OSDMenueAutoRefresh(4);
		2521	}
		2522	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2523	{
		2524	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2525	_OSDMenue(cbOSD.SelectedIndex);
		2526	}
		2527	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2528	{
		2529	Dispatcher.Invoke(() =>
		2530	{
		2531	TextRange tr;
		2532	if (bNew)
		2533	{
		2534	rtfOSD.SelectAll();
		2535	rtfOSD.Selection.Text = string.Empty;
		2536	}
		2537	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2538	tr.Text = msg;
		2539	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2540	// rtfOSD.AppendText("\r");
		2541	rtfOSD.ScrollToEnd();
		2542
		2543	});
		2544	}
		2545
		2546	#endregion OSD-Menue
		2547
		2548	#endregion controller messages
		2549
2295	-	2550	void _mediaPlayer(string file)
		2551	{
		2552	if (File.Exists(file))
		2553	{
		2554	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		2555	mp.Open(file);
		2556	mp.Play();
		2557	}
		2558	}
2310	-	2559
2362	-	2560	#region ui
2310	-	2561	/// <summary>
		2562	/// Switch between fullscreen and normal window mode
		2563	/// save & restore scaling settings
		2564	/// </summary>
		2565	/// <param name="sender"></param>
		2566	/// <param name="e"></param>
2287	-	2567	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2568	{
		2569	if (winState.isMaximized)
		2570	{
		2571	winState.Restore(this);
		2572	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2573	if(_bSaveWinStateFull)
		2574	_saveScaleSliders(true);
		2575	if(_bSaveWinStateNormal)
		2576	_setScaleSliders(false);
		2577	}
		2578	else
		2579	{
		2580	winState.Maximize(this);
		2581	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2582	if(_bSaveWinStateNormal)
		2583	_saveScaleSliders(false);
		2584	if(_bSaveWinStateFull)
		2585	_setScaleSliders(true);
		2586	}
		2587	}
		2588
		2589	/// <summary>
		2590	/// reset the scaling of all UI elements to default
		2591	/// </summary>
		2592	/// <param name="sender"></param>
		2593	/// <param name="e"></param>
		2594	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2595	{
		2596	UIScaleHorizonSlider.Value =
		2597	UIScaleLOGSlider.Value =
		2598	UIScaleMotorsSlider.Value =
		2599	UIScaleOSDSlider.Value =
		2600	UIScaleSlider.Value =
		2601	UIScaleTopSlider.Value = 1;
		2602	}
		2603	/// <summary>
		2604	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2605	/// </summary>
		2606	/// <param name="sender"></param>
		2607	/// <param name="e"></param>
		2608	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2609	{
		2610	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2611	if (GridMotors != null)
		2612	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2613	if (GridSideBar != null)
		2614	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2615	if (GridOSD != null)
		2616	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2617	if (GridData != null)
		2618	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2619	if (GridWP != null)
		2620	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2621	}
2310	-	2622	/// <summary>
		2623	/// restore the saved scalings for the fullscreen/normal window mode
		2624	/// </summary>
		2625	/// <param name="bFull">the mode the window is set to</param>
2287	-	2626	void _setScaleSliders(bool bFull)
		2627	{
		2628	if(bFull)
		2629	{
		2630	UIScaleSlider.Value = scaleFullAll;
		2631	UIScaleTopSlider.Value = scaleFullTopBar;
		2632	UIScaleMotorsSlider.Value = scaleFullMotors;
		2633	UIScaleOSDSlider.Value = scaleFullOSD;
		2634	UIScaleLOGSlider.Value = scaleFullLOG;
		2635	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2636	}
		2637	else
		2638	{
		2639	UIScaleSlider.Value = scaleNormalAll;
		2640	UIScaleTopSlider.Value = scaleNormalTopBar;
		2641	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2642	UIScaleOSDSlider.Value = scaleNormalOSD;
		2643	UIScaleLOGSlider.Value = scaleNormalLOG;
		2644	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2645	}
		2646	}
		2647
2310	-	2648	/// <summary>
		2649	/// save the scalings for the actual window mode
		2650	/// </summary>
		2651	/// <param name="bFull">the actual window mode</param>
2287	-	2652	void _saveScaleSliders(bool bFull)
		2653	{
		2654
		2655	if (bFull)
		2656	{
		2657	scaleFullAll = UIScaleSlider.Value;
		2658	scaleFullTopBar = UIScaleTopSlider.Value;
		2659	scaleFullMotors = UIScaleMotorsSlider.Value;
		2660	scaleFullOSD = UIScaleOSDSlider.Value;
		2661	scaleFullLOG = UIScaleLOGSlider.Value;
		2662	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2663	}
		2664	else
		2665	{
		2666	scaleNormalAll = UIScaleSlider.Value;
		2667	scaleNormalTopBar = UIScaleTopSlider.Value;
		2668	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2669	scaleNormalOSD = UIScaleOSDSlider.Value;
		2670	scaleNormalLOG = UIScaleLOGSlider.Value;
		2671	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2672	}
		2673	}
2362	-	2674	#endregion ui
2287	-	2675
		2676	/// <summary>
		2677	/// read settings from ini-file
		2678	/// </summary>
		2679	void _readIni()
		2680	{
		2681	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2682	_writeIni();
		2683	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2684	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2685	try
		2686	{
2287	-	2687
2312	-	2688	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2689	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2690	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2691	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2692	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2693	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2694	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2695	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2696
2312	-	2697	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2698	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2699	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2700	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2701	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2702	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2703	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2704	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2705
2312	-	2706	sVal = ini.IniReadValue("topBar", "voltage");
		2707	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2708	sVal = ini.IniReadValue("topBar", "capacity");
		2709	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2710	sVal = ini.IniReadValue("topBar", "current");
		2711	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2712	sVal = ini.IniReadValue("topBar", "flightTime");
		2713	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2714	sVal = ini.IniReadValue("topBar", "distanceHP");
		2715	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2716	sVal = ini.IniReadValue("topBar", "height");
		2717	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2718	sVal = ini.IniReadValue("topBar", "speed");
		2719	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2720	sVal = ini.IniReadValue("topBar", "magneticField");
		2721	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2722	sVal = ini.IniReadValue("topBar", "satellites");
		2723	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2724	sVal = ini.IniReadValue("topBar", "rc");
		2725	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2726
2312	-	2727	sVal = ini.IniReadValue("style", "saveFullScreen");
		2728	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2729	sVal = ini.IniReadValue("style", "saveNormalState");
		2730	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2731
2312	-	2732	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2733	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2734	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2735	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2736	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2737	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2738	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2739	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2740	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2741	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2742	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2743	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2744
2312	-	2745	sVal = ini.IniReadValue("style", "scaleFullAll");
		2746	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2747	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2748	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2749	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2750	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2751	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2752	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2753	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2754	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2755	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2756	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2757
2312	-	2758	sVal = ini.IniReadValue("general", "LiPoCells");
		2759	_LipoCells = Convert.ToInt16(sVal);
		2760	sVal = ini.IniReadValue("general", "Motors");
		2761	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2762
2312	-	2763	sVal = ini.IniReadValue("map", "followMe");
		2764	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2765	sVal = ini.IniReadValue("map", "AutoSetHome");
		2766	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2767	sVal = ini.IniReadValue("map", "GPXLog");
		2768	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2769
2312	-	2770	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2771	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2772	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2773	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2774	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2775	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2776	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2777	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2778	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2779	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2780	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2781	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2782	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2783	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2784	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2785	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2786	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2787	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2788	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2789	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2790	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2791	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2792
		2793	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2794	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2795	sVal = ini.IniReadValue("waypoints", "poicolor");
		2796	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2797	sVal = ini.IniReadValue("waypoints", "fscolor");
		2798	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2799	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2800	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2385	-	2801	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		2802	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
2379	-	2803	sVal = ini.IniReadValue("waypoints", "landingcolor");
		2804	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	2805	sVal = ini.IniReadValue("waypoints", "routecolor");
		2806	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		2807	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		2808	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2349	-	2809
		2810	for (int i = 0; i < 12; i++)
		2811	{
		2812	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		2813	if (sVal != "")
		2814	serChan[i] = Convert.ToInt16(sVal);
		2815	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		2816	if (sVal != "")
		2817	serChanTitle[i] = sVal;
		2818	for (int y = 0; i < 4 && y < 3; y++)
		2819	{
		2820	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		2821	if (sVal != "")
		2822	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		2823	}
		2824	}
		2825
2312	-	2826	}
		2827	catch (Exception e)
		2828	{
2287	-	2829
2312	-	2830	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2831	}
		2832
2287	-	2833	}
		2834
		2835	/// <summary>
		2836	/// save settings to ini-file
		2837	/// </summary>
		2838	void _writeIni()
		2839	{
		2840
		2841	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2842	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2843
2312	-	2844	try
		2845	{
2287	-	2846
2312	-	2847	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2848	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2849	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2850	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2851
2312	-	2852	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2853	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2854	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2855	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2856
2312	-	2857	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2858	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2859
2312	-	2860	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2861	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	2862	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	2863
2312	-	2864	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2865	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2866	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2867	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2868	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2869	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2870	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2871	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2872	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2873	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2874
2312	-	2875	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2876	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2877
2312	-	2878	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2879	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2880	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2881	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2882	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2883	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	2884
2312	-	2885	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2886	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2887	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2888	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2889	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2890	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	2891
2312	-	2892	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2893
		2894	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2895	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2896	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2897	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2898	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2899	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2900	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2901	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2902	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2903	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2904	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	2905
		2906	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		2907	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		2908	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		2909	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2385	-	2910	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
2379	-	2911	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
2328	-	2912	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		2913	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2349	-	2914
		2915	for (int i = 0; i < 12; i++)
		2916	{
		2917	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		2918	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		2919	for (int y = 0; i < 4 && y < 3; y++)
		2920	{
		2921	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		2922	}
		2923	}
		2924
2312	-	2925	}
		2926	catch (Exception e)
		2927	{
		2928
		2929	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);
		2930	}
2287	-	2931	}
2350	-	2932
2349	-	2933	#region serial channels
		2934	/// <summary>
		2935	/// Sending the serial channel values
		2936	/// </summary>
		2937	void _sendSerialData()
		2938	{
		2939	byte[] serData = new byte[12];
		2940	for (int i = 0; i < 12; i++)
		2941	{
		2942	serData[i] = unchecked((byte)(serChan[i] - 127));
		2943	}
		2944	_sendControllerMessage('y', 1, serData);
		2945	}
		2946	/// <summary>
		2947	/// init the controls for displaying
		2948	/// and setting serial control channels
		2949	/// </summary>
		2950	void _initSerialCtrl()
		2951	{
		2952	SerChan1ScaleSlider.Value = serChan[0];
		2953	textBoxSerial1.Text = serChanTitle[0];
		2954	SerChan2ScaleSlider.Value = serChan[1];
		2955	textBoxSerial2.Text = serChanTitle[1];
2350	-	2956	SerChan3ScaleSlider.Value = serChan[2];
		2957	textBoxSerial3.Text = serChanTitle[2];
2349	-	2958	//SerChan4ScaleSlider.Value = serChan[3];
		2959	//textBoxSerial4.Text = serChanTitle[3];
		2960	//trckbarSerial5.Value = serChan[4];
		2961	//textBoxSerial5.Text = serChanTitle[4];
		2962	//trckbarSerial6.Value = serChan[5];
		2963	//textBoxSerial6.Text = serChanTitle[5];
		2964	//trckbarSerial7.Value = serChan[6];
		2965	//textBoxSerial7.Text = serChanTitle[6];
		2966	//trckbarSerial8.Value = serChan[7];
		2967	//textBoxSerial8.Text = serChanTitle[7];
2312	-	2968
2349	-	2969	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		2970	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		2971	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		2972	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		2973	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		2974	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	2975	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		2976	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		2977	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	2978	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		2979	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		2980	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		2981	}
		2982	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2983	{
		2984	if (!_init)
		2985	{
		2986	serChan[0] = (int)SerChan1ScaleSlider.Value;
		2987	_sendSerialData();
		2988	}
		2989	}
		2990	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		2991	{
		2992	if (!_init)
		2993	{
		2994	serChanTitle[0] = textBoxSerial1.Text;
		2995	}
		2996	}
		2997	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		2998	{
		2999	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		3000	{
		3001	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		3002	}
		3003	}
		3004	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		3005	{
		3006	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		3007	{
		3008	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		3009	}
		3010	}
		3011	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		3012	{
		3013	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		3014	{
		3015	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		3016	}
		3017	}
		3018	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		3019	{
		3020	if (textBoxSerial1_val1.Text.Length > 0)
		3021	{
		3022	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		3023	}
		3024	}
		3025	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		3026	{
		3027	SerChan1ScaleSlider.Value = 0;
		3028	}
		3029	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		3030	{
		3031	SerChan1ScaleSlider.Value = 127;
		3032	}
		3033	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		3034	{
		3035	SerChan1ScaleSlider.Value = 254;
		3036	}
		3037	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		3038	{
		3039	if (textBoxSerial1_val2.Text.Length > 0)
		3040	{
		3041	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		3042	}
		3043	}
		3044	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		3045	{
		3046	if (textBoxSerial1_val3.Text.Length > 0)
		3047	{
		3048	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		3049	}
		3050	}
		3051
		3052	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3053	{
		3054	if (!_init)
		3055	{
		3056	serChan[1] = (int)SerChan2ScaleSlider.Value;
		3057	_sendSerialData();
		3058	}
		3059	}
		3060	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		3061	{
		3062	if (!_init)
		3063	{
		3064	serChanTitle[1] = textBoxSerial2.Text;
		3065	}
		3066	}
		3067	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		3068	{
		3069	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		3070	{
		3071	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		3072	}
		3073	}
		3074	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		3075	{
		3076	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		3077	{
		3078	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		3079	}
		3080	}
		3081	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		3082	{
		3083	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		3084	{
		3085	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3086	}
		3087	}
		3088	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3089	{
		3090	SerChan2ScaleSlider.Value = 0;
		3091	}
		3092	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3093	{
		3094	SerChan2ScaleSlider.Value = 127;
		3095	}
		3096	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3097	{
		3098	SerChan2ScaleSlider.Value = 254;
		3099	}
		3100	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3101	{
		3102	if (textBoxSerial2_val1.Text.Length > 0)
		3103	{
		3104	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3105	}
		3106	}
		3107	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3108	{
		3109	if (textBoxSerial2_val2.Text.Length > 0)
		3110	{
		3111	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3112	}
		3113	}
		3114	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3115	{
		3116	if (textBoxSerial2_val3.Text.Length > 0)
		3117	{
		3118	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3119	}
		3120	}
2350	-	3121
		3122	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3123	{
		3124	if (!_init)
		3125	{
		3126	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3127	_sendSerialData();
		3128	}
		3129	}
		3130	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3131	{
		3132	if (!_init)
		3133	{
		3134	serChanTitle[2] = textBoxSerial3.Text;
		3135	}
		3136	}
		3137	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3138	{
		3139	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3140	{
		3141	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3142	}
		3143	}
		3144	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3145	{
		3146	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3147	{
		3148	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3149	}
		3150	}
		3151	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3152	{
		3153	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3154	{
		3155	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3156	}
		3157	}
		3158	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3159	{
		3160	SerChan3ScaleSlider.Value = 0;
		3161	}
		3162	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3163	{
		3164	SerChan3ScaleSlider.Value = 127;
		3165	}
		3166	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3167	{
		3168	SerChan3ScaleSlider.Value = 254;
		3169	}
		3170	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3171	{
		3172	if (textBoxSerial3_val1.Text.Length > 0)
		3173	{
		3174	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3175	}
		3176	}
		3177	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3178	{
		3179	if (textBoxSerial3_val2.Text.Length > 0)
		3180	{
		3181	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3182	}
		3183	}
		3184	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3185	{
		3186	if (textBoxSerial3_val3.Text.Length > 0)
		3187	{
		3188	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3189	}
		3190	}
2349	-	3191	/// <summary>
		3192	/// checks the input of a textbox
		3193	/// for valid data
		3194	/// in this case values 0-254
		3195	/// </summary>
		3196	/// <param name="sender"></param>
		3197	/// <param name="e"></param>
		3198	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3199	{
		3200	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3201	e.Handled = true;
		3202	else
		3203	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3204	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3205	e.Handled = true;
		3206	else
		3207	{
		3208	int i = -1;
		3209	switch (((TextBox)sender).Name)
		3210	{
		3211	case "textBoxSerial1_val1":
		3212	i = 0;
		3213	break;
		3214	case "textBoxSerial1_val2":
		3215	i = 1;
		3216	break;
		3217	case "textBoxSerial1_val3":
		3218	i = 2;
		3219	break;
		3220	case "textBoxSerial2_val1":
		3221	i = 3;
		3222	break;
		3223	case "textBoxSerial2_val2":
		3224	i = 4;
		3225	break;
		3226	case "textBoxSerial2_val3":
		3227	i = 5;
		3228	break;
		3229	case "textBoxSerial3_val1":
		3230	i = 6;
		3231	break;
		3232	case "textBoxSerial3_val2":
		3233	i = 7;
		3234	break;
		3235	case "textBoxSerial3_val3":
		3236	i = 8;
		3237	break;
		3238	case "textBoxSerial4_val1":
		3239	i = 9;
		3240	break;
		3241	case "textBoxSerial4_val2":
		3242	i = 10;
		3243	break;
		3244	case "textBoxSerial4_val3":
		3245	i = 11;
		3246	break;
		3247	}
		3248	if (i > -1)
		3249	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3250	}
		3251	}
		3252
		3253	#endregion serial channels
2315	-	3254	#region WP
2312	-	3255	void _readWPLFile()
		3256	{
		3257	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3258	fd.Filter = "Waypointlists \| *.wpl";
		3259	fd.Multiselect = false;
		3260	if (fd.ShowDialog().Value)
		3261	{
		3262	string file = fd.SafeFileName;
		3263	IniFile ini = new IniFile(fd.SafeFileName);
		3264	ini.path = fd.FileName;
		3265
		3266	try
		3267	{
		3268	string sVal = ini.IniReadValue("General", "FileVersion");
		3269	if (sVal == "")
		3270	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3271	else
		3272	{
		3273	if (Convert.ToInt16(sVal) < 3)
		3274	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3275	else
		3276	{
		3277	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3278	if (sVal == "")
		3279	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3280	else
		3281	{
		3282	int wpnum = Convert.ToInt16(sVal);
		3283	string wp;
		3284	int i;
2313	-	3285	NumberFormatInfo nfi = new NumberFormatInfo();
		3286	nfi.NumberDecimalSeparator = ".";
2312	-	3287	dtWaypoints.Rows.Clear();
2368	-	3288	_wpEdit = -1;_wpIndex = -1;
2327	-	3289	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	3290	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	3291	wpList.Clear();
		3292	if (mRouteWP != null)
		3293	MainMap.Markers.Remove(mRouteWP);
2363	-	3294	//if (wpActiveMarker != null)
		3295	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	3296	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3297
2312	-	3298	for (int k = 1; k <= wpnum; k++)
		3299	{
		3300	DataRow dr = dtWaypoints.NewRow();
		3301	dr.ItemArray = new object[16];
		3302	object[] o = new object[16];
		3303	i = 0;
		3304	wp = "Point" + k.ToString();
		3305	o[i] = k;
		3306	i++;
		3307	sVal = ini.IniReadValue(wp, "Type");
		3308	if (sVal != "")
2315	-	3309	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3310	i++;
		3311	sVal = ini.IniReadValue(wp, "Prefix");
		3312	if (sVal != "")
2350	-	3313	o[i] = sVal + k.ToString();
		3314	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3315	i++;
2313	-	3316	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3317	if (sVal != "")
2313	-	3318	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3319	i++;
2313	-	3320	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3321	if (sVal != "")
2313	-	3322	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3323	i++;
		3324	sVal = ini.IniReadValue(wp, "Altitude");
		3325	if (sVal != "")
2313	-	3326	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3327	i++;
		3328	sVal = ini.IniReadValue(wp, "Heading");
		3329	if (sVal != "")
		3330	o[i] = Convert.ToInt16(sVal);
		3331	i++;
		3332	sVal = ini.IniReadValue(wp, "Speed");
		3333	if (sVal != "")
2315	-	3334	o[i] = Convert.ToInt16(sVal);
2312	-	3335	i++;
		3336	sVal = ini.IniReadValue(wp, "ClimbRate");
		3337	if (sVal != "")
		3338	o[i] = Convert.ToInt16(sVal);
		3339	i++;
		3340	sVal = ini.IniReadValue(wp, "Radius");
		3341	if (sVal != "")
		3342	o[i] = Convert.ToInt16(sVal);
		3343	i++;
		3344	sVal = ini.IniReadValue(wp, "DelayTime");
		3345	if (sVal != "")
		3346	o[i] = Convert.ToInt16(sVal);
		3347	i++;
		3348	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3349	if (sVal != "")
		3350	o[i] = Convert.ToInt16(sVal); ;
		3351	i++;
		3352	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3353	if (sVal != "")
2313	-	3354	o[i] = Convert.ToInt16(sVal);
2312	-	3355	i++;
		3356	o[i] = 0;
		3357	i++;
		3358	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3359	if (sVal != "")
		3360	o[i] = Convert.ToInt16(sVal);
		3361	i++;
		3362	o[i] = "New";
		3363
		3364	dr.ItemArray = o;
		3365	dtWaypoints.Rows.Add(dr);
2363	-	3366	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1]);
2315	-	3367
2312	-	3368	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3369	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3370	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3371	Thread.Sleep(10);
		3372	}
2359	-	3373	_routeUpdate();
2312	-	3374	}
		3375	}
		3376	}
		3377
		3378	}
		3379	catch (Exception e)
		3380	{
		3381
		3382	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		3383	}
		3384
		3385	}
		3386	}
2350	-	3387	void _saveWPLFile()
		3388	{
		3389	if (dtWaypoints.Rows.Count > 0)
		3390	{
		3391	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		3392	fd.Filter = "Waypointlists \| *.wpl";
		3393	fd.AddExtension = true;
		3394	if (fd.ShowDialog().Value)
		3395	{
		3396	string file = fd.SafeFileName;
		3397	IniFile ini = new IniFile(fd.SafeFileName);
		3398	ini.path = fd.FileName;
		3399	NumberFormatInfo nfi = new NumberFormatInfo();
		3400	nfi.NumberDecimalSeparator = ".";
		3401
		3402	try
		3403	{
		3404	ini.IniWriteValue("General", "FileVersion", "3");
		3405	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		3406	ini.IniWriteValue("General", "Mapfile", "");
		3407	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		3408	{
		3409	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		3410	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		3411	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		3412	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		3413	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		3414	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		3415	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		3416	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		3417	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		3418	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		3419	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		3420	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));
		3421	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		3422	}
		3423	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		3424	}
		3425	catch { }
		3426	}
		3427	}
		3428	else
		3429	MessageBox.Show("Nothing to save...");
		3430	}
		3431	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		3432	{
		3433	_saveWPLFile();
		3434	}
		3435	/// <summary>
		3436	/// set the selected color for the route
		3437	/// </summary>
		3438	/// <param name="color"></param>
		3439	/// <returns></returns>
2328	-	3440	Brush _getBrush(string color)
		3441	{
		3442	switch (color)
		3443	{
		3444	case "red":
		3445	return Brushes.Red;
		3446	case "green":
		3447	return Brushes.Lime;
		3448	case "blue":
		3449	return Brushes.Aqua;
		3450	case "pink":
		3451	return Brushes.Magenta;
		3452	case "yellow":
		3453	return Brushes.Yellow;
		3454	default:
		3455	return Brushes.Magenta;
		3456	}
		3457	}
2359	-	3458	void _routeUpdate()
		3459	{
		3460	Dispatcher.Invoke(() =>
		3461	{
		3462	if (comboBoxRouteColor.SelectionBoxItem != null)
		3463	{
		3464	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3465	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3466	}
		3467	else
		3468	mRouteWP = new GMapRoute(wpList, null);
		3469
		3470	if (_bShowWPRoute)
2368	-	3471	MainMap.Markers.Add(mRouteWP);
2359	-	3472	});
		3473
		3474	MapRoute mr = new MapRoute(wpList, "WPList");
		3475	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		3476	}
2363	-	3477	GMapMarker _createWP(PointLatLng p, string name, int type)
		3478	{
		3479	GMapMarker wpMarker = new GMapMarker(p);
2385	-	3480	Dispatcher.Invoke(()=>
		3481	{
		3482	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
		3483	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		3484	wpMarker.ZIndex = 100;
		3485	_setMarkerColor(wpMarker, type);
		3486	MainMap.Markers.Add(wpMarker);
		3487	if (type == 0 \|\| type == 3)
		3488	wpList.Add(p);
		3489	});
2363	-	3490	return wpMarker;
		3491	}
2315	-	3492	void _setMarkerColor(GMapMarker wpMarker,int iType)
		3493	{
2369	-	3494	if(wpMarker != null)
2315	-	3495	Dispatcher.Invoke(() =>
		3496	{
		3497	switch (iType)
		3498	{
		3499	case 0:
		3500	if (comboBoxWPColor.SelectionBoxItem != null)
		3501	{
		3502	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3503	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3504	}
		3505	else
2372	-	3506	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	3507	break;
		3508	case 1:
		3509	if (comboBoxPOIColor.SelectionBoxItem != null)
		3510	{
		3511	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3512	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3513	}
		3514	else
2372	-	3515	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	3516	break;
		3517	case 2:
		3518	if (comboBoxFSColor.SelectionBoxItem != null)
		3519	{
		3520	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3521	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3522	}
		3523	else
		3524	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3525	break;
2372	-	3526	case 3:
		3527	if (comboBoxLandingColor.SelectionBoxItem != null)
		3528	{
		3529	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		3530	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3531	}
		3532	else
		3533	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		3534	break;
2315	-	3535	default:
		3536	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3537	break;
		3538	}
		3539	});
2312	-	3540
2315	-	3541	}
2372	-	3542	void _MarkerColorSelection(object sender,int type)
		3543	{
2315	-	3544	Dispatcher.Invoke(() =>
		3545	{
2372	-	3546	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	3547	{
		3548	for (int k = 0; k < MainMap.Markers.Count; k++)
		3549	{
		3550	GMapMarker p = MainMap.Markers[k];
2372	-	3551	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	3552	{
2372	-	3553	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	3554	{
2372	-	3555	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	3556	((CustomMarkerWP)(p.Shape)).setColor(s);
		3557	}
		3558	}
		3559	}
		3560	}
		3561	});
2287	-	3562	}
2379	-	3563	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	3564	{
2376	-	3565	_MarkerColorSelection(sender, 0);
		3566	}
		3567	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		3568	{
		3569	_MarkerColorSelection(sender, 1);
		3570	}
		3571	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		3572	{
		3573	_MarkerColorSelection(sender, 2);
		3574	}
		3575	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		3576	{
		3577	_MarkerColorSelection(sender,3);
		3578	}
2385	-	3579	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
2376	-	3580	{
2318	-	3581	Dispatcher.Invoke(() => {
		3582	if (comboBoxCopterColor.SelectionBoxItem != null)
		3583	{
		3584	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	3585	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	3586	}
		3587	else
2385	-	3588	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
2318	-	3589	});
		3590	}
2385	-	3591	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		3592	{
		3593	Dispatcher.Invoke(() => {
		3594	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		3595	{
		3596	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		3597	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		3598	}
		3599	else
		3600	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		3601	});
		3602	}
2328	-	3603	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3604	{
		3605	Dispatcher.Invoke(() =>
		3606	{
		3607	if (comboBoxRouteColor.SelectionBoxItem != null)
		3608	{
		3609	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3610	MainMap.Markers.Remove(mRouteWP);
		3611	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3612	if (_bShowWPRoute)
		3613	MainMap.Markers.Add(mRouteWP);
		3614	}
		3615	});
		3616	}
		3617	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3618	{
		3619	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3620	if (_bShowWPRoute)
		3621	{
		3622	if (mRouteWP != null)
		3623	MainMap.Markers.Add(mRouteWP);
		3624	}
		3625	else
		3626	{
		3627	if (mRouteWP != null)
		3628	MainMap.Markers.Remove(mRouteWP);
		3629	}
		3630	}
2315	-	3631	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3632	{
2315	-	3633	_readWPLFile();
2287	-	3634	}
2335	-	3635	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3636	{
		3637	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	3638	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	3639	wpList.Clear();
		3640	if (mRouteWP != null)
		3641	MainMap.Markers.Remove(mRouteWP);
2347	-	3642	//if (wpActiveMarker != null)
		3643	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	3644	dtWaypoints.Rows.Clear();
2356	-	3645	_wpEdit = -1;
2368	-	3646	_wpIndex = -1;
2335	-	3647	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3648	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3649	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3650	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3651	}
2340	-	3652	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3653	{
		3654	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3655	t.Start();
		3656	}
2355	-	3657	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	3658	{
		3659	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3660	{
2372	-	3661	if (_wpCount > 0)
2376	-	3662	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	3663	else
2376	-	3664	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	3665
2372	-	3666	//int index = dgvWP.SelectedIndex;
		3667	//Thread t = new Thread(() => _sendWPList(index));
		3668	//t.Start();
2354	-	3669
		3670	Dispatcher.Invoke(() => {
		3671	DataGridRow row;
2368	-	3672	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	3673	{
2368	-	3674	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	3675	row.Background = new SolidColorBrush(Colors.Transparent);
		3676	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3677	row.BorderThickness = new Thickness(0);
2376	-	3678	dgvWP.UpdateLayout();
2354	-	3679	}
2376	-	3680	//_wpEdit = dgvWP.SelectedIndex;
		3681	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3682	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		3683	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		3684	//row.BorderThickness = new Thickness(2);
2354	-	3685	});
2340	-	3686	}
		3687	}
2385	-	3688	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		3689	{
		3690	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3691	{
		3692
		3693	object[] o = new object[16];
		3694	o[0] = dgvWP.SelectedIndex + 1;
		3695	o[1] = cbWPEditType.SelectedIndex;
		3696	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3697	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3698	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		3699	o[5] = tbWPEditAlt.Text;
		3700	switch (cbWPEditHeading.SelectedIndex)
		3701	{
		3702	case 0:
		3703	o[6] = "0";
		3704	break;
		3705	case 1:
		3706	o[6] = "-" + tbWPEditHeading.Text;
		3707	break;
		3708	case 2:
		3709	o[6] = tbWPEditHeading.Text;
		3710	break;
		3711	}
		3712	switch (cbWPEditSpeed.SelectedIndex)
		3713	{
		3714	case 0:
		3715	o[7] = "0";
		3716	break;
		3717	case 1:
		3718	o[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3719	break;
		3720	case 2:
		3721	o[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3722	break;
		3723	}
		3724	switch (cbWPEditClimbrate.SelectedIndex)
		3725	{
		3726	case 0:
		3727	o[8] = "255";
		3728	break;
		3729	case 1:
		3730	o[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		3731	break;
		3732	}
		3733	o[9] = tbWPEditRadius.Text;
		3734	o[10] = tbWPEditHoldtime.Text;
		3735	o[11] = tbWPEditAutoTrigger.Text;
		3736	switch (cbWPEditCamAngle.SelectedIndex)
		3737	{
		3738	case 0:
		3739	o[12] = "0";
		3740	break;
		3741	case 1:
		3742	o[12] = "255";
		3743	break;
		3744	case 2:
		3745	o[12] = tbWPEditCamAngle.Text;
		3746	break;
		3747	}
		3748	o[13] = 0;
		3749	o[14] = tbWPEditOut1.Text;
		3750	DataRow dr = dtWaypoints.NewRow();
		3751	dr.ItemArray = o;
		3752
		3753	if (_wpCount > 0)
		3754	_sendWayPoint(dr, -1, 'w', false);
		3755	else
		3756	_sendWayPoint(dr, 1, 'w', false);
		3757	}
		3758	}
2376	-	3759	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		3760	{
		3761	_Simulate = !_Simulate;
		3762	if (dtWaypoints.Rows.Count > 0)
		3763	{
		3764	DataRow dr = dtWaypoints.Rows[0];
		3765	dr[13] = _Simulate ? 3 : 0;
2379	-	3766	_sendWayPoint(dr, 0, 's', true);
2381	-	3767	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
2376	-	3768	}
		3769	}
2355	-	3770	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		3771	{
2359	-	3772	_dgvWPselectEditRow();
		3773	}
		3774	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		3775	{
		3776	}
		3777	void _dgvWPselectEditRow()
		3778	{
2355	-	3779	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3780	{
2368	-	3781	Dispatcher.Invoke(() => {
2355	-	3782	DataGridRow row;
2368	-	3783	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	3784	{
		3785	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3786	row.Background = new SolidColorBrush(Colors.Transparent);
		3787	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3788	row.BorderThickness = new Thickness(0);
		3789	}
		3790	_wpEdit = dgvWP.SelectedIndex;
		3791	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3792	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		3793	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		3794	row.BorderThickness = new Thickness(2);
		3795	dgvWP.UpdateLayout();
2340	-	3796
2355	-	3797	_setWPEditFields(_wpEdit);
		3798	});
		3799	}
		3800	}
		3801	void _setWPEditFields(int index)
		3802	{
		3803	int iVal;
		3804	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		3805	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		3806	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		3807	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		3808	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		3809	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		3810	if (iVal == 0)
		3811	{
		3812	cbWPEditHeading.SelectedIndex = 0;
		3813	tbWPEditHeading.Text = " - - -";
		3814	tbWPEditHeading.IsReadOnly = true;
		3815	}
		3816	if (iVal > 0 && iVal < 360)
		3817	{
		3818	cbWPEditHeading.SelectedIndex = 2;
		3819	tbWPEditHeading.Text = iVal.ToString();
		3820	tbWPEditHeading.IsReadOnly = false;
		3821	}
		3822	if (iVal < 0)
		3823	{
		3824	cbWPEditHeading.SelectedIndex = 1;
		3825	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		3826	tbWPEditHeading.IsReadOnly = false;
		3827	}
		3828	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		3829	if (iVal == 0)
		3830	{
		3831	cbWPEditSpeed.SelectedIndex = 0;
		3832	tbWPEditSpeed.Text = "MAX";
		3833	tbWPEditSpeed.IsReadOnly = true;
		3834	}
		3835	if (iVal > 0 && iVal < 248)
		3836	{
		3837	cbWPEditSpeed.SelectedIndex = 1;
		3838	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		3839	tbWPEditSpeed.IsReadOnly = false;
		3840	}
		3841	if (iVal > 247)
		3842	{
		3843	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		3844	tbWPEditSpeed.Text = "";
		3845	tbWPEditSpeed.IsReadOnly = true;
		3846	}
		3847	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		3848	if (iVal == 255)
		3849	{
		3850	cbWPEditClimbrate.SelectedIndex = 0;
		3851	tbWPEditClimbrate.Text = "AUTO";
		3852	tbWPEditClimbrate.IsReadOnly = true;
		3853	}
		3854	else
		3855	{
		3856	cbWPEditClimbrate.SelectedIndex = 1;
		3857	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		3858	tbWPEditClimbrate.IsReadOnly = false;
		3859	}
		3860	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		3861	tbWPEditRadius.Text = iVal.ToString();
		3862	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		3863	tbWPEditHoldtime.Text = iVal.ToString();
		3864	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		3865	tbWPEditAutoTrigger.Text = iVal.ToString();
		3866	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		3867	if (iVal == 0)
		3868	{
		3869	cbWPEditCamAngle.SelectedIndex = 0;
		3870	tbWPEditCamAngle.Text = " - - - ";
		3871	tbWPEditCamAngle.IsReadOnly = true;
		3872	}
		3873	if (iVal < 0 \| iVal == 255)
		3874	{
		3875	cbWPEditCamAngle.SelectedIndex = 1;
		3876	tbWPEditCamAngle.Text = "AUTO";
		3877	tbWPEditCamAngle.IsReadOnly = true;
		3878	}
		3879	if (iVal > 0 & iVal < 255)
		3880	{
		3881	cbWPEditCamAngle.SelectedIndex = 2;
		3882	tbWPEditCamAngle.Text = iVal.ToString();
		3883	tbWPEditCamAngle.IsReadOnly = false;
		3884	}
		3885	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		3886	tbWPEditOut1.Text = iVal.ToString();
		3887
		3888	}
		3889
2361	-	3890	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		3891	{
2363	-	3892	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3893	{
2369	-	3894	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	3895	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		3896	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		3897	int i = wpList.IndexOf(pOld);
2363	-	3898	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		3899	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3900	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3901	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	3902	if (i > -1)
		3903	{
		3904	if((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		3905	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		3906	else
		3907	wpList.Remove(pOld);
		3908	}
		3909	else
		3910	{
		3911	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		3912	{
		3913	int found = 0;
		3914	for (int k = 0; k < dgvWP.SelectedIndex; k++)
		3915	if ((int)dtWaypoints.Rows[k][1] == 0)
		3916	found++;
		3917	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		3918	}
		3919	}
2363	-	3920	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		3921	switch (cbWPEditHeading.SelectedIndex)
		3922	{
		3923	case 0:
		3924	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		3925	break;
		3926	case 1:
		3927	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		3928	break;
		3929	case 2:
		3930	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		3931	break;
		3932	}
		3933	switch (cbWPEditSpeed.SelectedIndex)
		3934	{
		3935	case 0:
		3936	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		3937	break;
		3938	case 1:
		3939	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3940	break;
		3941	case 2:
		3942	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3943	break;
		3944	}
		3945	switch (cbWPEditClimbrate.SelectedIndex)
		3946	{
		3947	case 0:
		3948	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		3949	break;
		3950	case 1:
		3951	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		3952	break;
		3953	}
		3954	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		3955	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		3956	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		3957	switch (cbWPEditCamAngle.SelectedIndex)
		3958	{
		3959	case 0:
		3960	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		3961	break;
		3962	case 1:
		3963	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		3964	break;
		3965	case 2:
		3966	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		3967	break;
		3968	}
		3969	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	3970
2369	-	3971	// _clearMapMarkers(typeof(CustomMarkerWP));
		3972	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		3973	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	3974	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	3975	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	3976	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	3977	// wpList.Clear();
2363	-	3978	if (mRouteWP != null)
		3979	MainMap.Markers.Remove(mRouteWP);
		3980
2369	-	3981	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		3982	//{
		3983	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		3984	//}
2363	-	3985	_routeUpdate();
		3986	dgvWP.Items.Refresh();
		3987
		3988	}
		3989
2361	-	3990	}
		3991	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		3992	{
2368	-	3993	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3994	{
		3995	int index = dgvWP.SelectedIndex;
		3996	Dispatcher.Invoke(() => {
		3997	DataGridRow row;
		3998	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		3999	{
		4000	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4001	row.Background = new SolidColorBrush(Colors.Transparent);
		4002	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4003	row.BorderThickness = new Thickness(0);
		4004	}
2372	-	4005	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	4006	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
		4007	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	4008	if (wpActiveMarker != null)
		4009	MainMap.Markers.Remove(wpActiveMarker);
2368	-	4010	dtWaypoints.Rows[index].Delete();
		4011	_wpIndex = -1;
		4012	_wpEdit = -1;
		4013	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		4014	{
		4015	dtWaypoints.Rows[i][0] = i + 1;
		4016	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		4017	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		4018	_renameWPMarker(s1, s2);
		4019	dtWaypoints.Rows[i][2] = s2;
		4020	}
		4021	lblWPCount.Content = dtWaypoints.Rows.Count;
		4022	if (mRouteWP != null)
		4023	MainMap.Markers.Remove(mRouteWP);
		4024	_routeUpdate();
2361	-	4025
2368	-	4026	dgvWP.UpdateLayout();
		4027	});
		4028	}
2361	-	4029	}
2366	-	4030	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		4031	{
		4032	_wpWEdit(sender);
		4033	}
2361	-	4034	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		4035	{
2366	-	4036	_wpWEdit(sender);
		4037	}
2369	-	4038	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		4039	{
		4040	_wpWEdit(sender);
		4041	}
2366	-	4042	void _wpWEdit(object sender)
		4043	{
2369	-	4044	// if (!((TextBox)sender).IsReadOnly)
2361	-	4045	{
		4046	KeyPad.Keypad k = new KeyPad.Keypad(this);
		4047
2363	-	4048	switch (((TextBox)sender).Name)
		4049	{
		4050	case "tbWPEditLat":
		4051	k.Title = "Latitude";
		4052	k.LENGTH = 17;
		4053	k.MAX = 359.9;
		4054	break;
		4055	case "tbWPEditLon":
		4056	k.Title = "Longitude";
		4057	k.LENGTH = 17;
		4058	k.MAX = 359.9;
		4059	break;
		4060	case "tbWPEditAlt":
		4061	k.Title = "Altitude";
		4062	k.LENGTH = 3;
		4063	k.MAX = 254;
		4064	k.disableDecimal();
		4065	break;
		4066	case "tbWPEditHeading":
		4067	k.Title = "Heading";
		4068	k.LENGTH = 3;
		4069	k.MAX = 359;
		4070	k.MIN = 1;
		4071	k.disableDecimal();
		4072	break;
		4073	case "tbWPEditSpeed":
		4074	k.Title = "Speed";
		4075	k.LENGTH = 4;
		4076	k.MAX = 24.7;
		4077	k.MIN = 0.1;
		4078	break;
		4079	case "tbWPEditClimbrate":
		4080	k.Title = "Climbrate";
		4081	k.LENGTH = 4;
		4082	k.MAX = 25.4;
		4083	k.MIN = 0.1;
		4084	break;
		4085	case "tbWPEditRadius":
		4086	k.Title = "Radius";
		4087	k.LENGTH = 3;
		4088	k.MAX = 254;
		4089	k.disableDecimal();
		4090	break;
		4091	case "tbWPEditHoldtime":
		4092	k.Title = "Holdtime";
		4093	k.LENGTH = 3;
		4094	k.MAX = 254;
		4095	break;
		4096	case "tbWPEditAutoTrigger":
		4097	k.Title = "Autotrigger";
		4098	k.LENGTH = 3;
		4099	k.MAX = 254;
		4100	k.disableDecimal();
		4101	break;
		4102	case "tbWPEditCamAngle":
		4103	k.Title = "Camera angle";
		4104	k.LENGTH = 3;
		4105	k.MAX = 254;
		4106	k.MIN = 1;
		4107	k.disableDecimal();
		4108	break;
		4109	case "tbWPEditOut1":
		4110	k.Title = "OUT1 timer interval";
		4111	k.LENGTH = 3;
		4112	k.MAX = 254;
		4113	k.disableDecimal();
		4114	break;
		4115	}
		4116	k.Result = ((TextBox)sender).Text;
2366	-	4117	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	4118	((TextBox)sender).Text = k.Result;
2361	-	4119	}
2366	-	4120
2361	-	4121	}
		4122	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	4123	{
2359	-	4124	object[] o = new object[16];
2356	-	4125
2359	-	4126	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		4127	o[1] = 0;
		4128	// cbWPEditType.SelectedIndex = 0;
		4129	// tbWPEditPrefix.Text = "P";
		4130	o[2] = "P" + o[0].ToString();
		4131	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4132	o[3] = copter.Position.Lat;
		4133	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4134	o[4] = copter.Position.Lng;
		4135	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		4136	o[5] = iAnalogData[4].ToString();
2356	-	4137
2359	-	4138	// cbWPEditHeading.SelectedIndex = 2;
		4139	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		4140	// tbWPEditHeading.IsReadOnly = false;
2356	-	4141
2359	-	4142	// cbWPEditSpeed.SelectedIndex = 1;
		4143	// tbWPEditSpeed.Text = "5.0";
		4144	// tbWPEditSpeed.IsReadOnly = false;
2372	-	4145	o[7] = "10";
2356	-	4146
2359	-	4147	// cbWPEditClimbrate.SelectedIndex = 1;
		4148	// tbWPEditClimbrate.Text = "5.0";
		4149	// tbWPEditClimbrate.IsReadOnly = false;
2372	-	4150	o[8] = "10";
2356	-	4151
2359	-	4152	// tbWPEditRadius.Text = "10";
2372	-	4153	o[9] = "5";
2359	-	4154	// tbWPEditHoldtime.Text = "5";
		4155	o[10] = "5";
		4156	// tbWPEditAutoTrigger.Text = "0";
		4157	o[11] = "0";
		4158	// cbWPEditCamAngle.SelectedIndex = 1;
		4159	// tbWPEditCamAngle.Text = "AUTO";
		4160	// tbWPEditCamAngle.IsReadOnly = true;
		4161	o[12] = "255";
2356	-	4162
2359	-	4163	o[13] = "0";
		4164	// tbWPEditOut1.Text = "0";
		4165	o[14] = "0";
		4166	o[15] = "0";
		4167
		4168	dtWaypoints.Rows.Add(o);
2368	-	4169	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1]);
2359	-	4170	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4171	if (mRouteWP != null)
		4172	MainMap.Markers.Remove(mRouteWP);
		4173	_routeUpdate();
		4174	Dispatcher.Invoke(() => {
		4175	dgvWP.Items.Refresh();
		4176	dgvWP.SelectedIndex = (int)o[0] -1;
		4177	dgvWP.UpdateLayout();
		4178	_dgvWPselectEditRow();
		4179	});
2356	-	4180	}
		4181
2315	-	4182	#endregion WP
2324	-	4183	#region GPX
		4184	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		4185	{
		4186	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		4187	}
		4188	void _gpxAdd(double lat,double lon, int elevation)
		4189	{
		4190	DataRow dr = dtGPX.NewRow();
		4191	dr[0] = dtGPX.Rows.Count - 1;
		4192	dr[1] = lat;
		4193	dr[2] = lon;
		4194	dr[3] = elevation;
		4195	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		4196	dtGPX.Rows.Add(dr);
		4197	}
		4198	void _saveGPXLog()
		4199	{
		4200	if (!Directory.Exists("GPXLog"))
		4201	Directory.CreateDirectory("GPXLog");
		4202	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		4203	XmlTextWriter myXmlTextWriter = null;
		4204	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		4205	NumberFormatInfo nfi = new NumberFormatInfo();
		4206	nfi.NumberDecimalSeparator = ".";
2315	-	4207
2324	-	4208	try
		4209	{
		4210	myXmlTextWriter.Formatting = Formatting.Indented;
		4211
		4212	myXmlTextWriter.WriteStartDocument();
		4213
		4214	myXmlTextWriter.WriteStartElement("gpx");
		4215
		4216	myXmlTextWriter.WriteAttributeString("version", "1.0");
		4217	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		4218	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		4219	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		4220	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		4221
		4222	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		4223
		4224	myXmlTextWriter.WriteStartElement("trk");
		4225	myXmlTextWriter.WriteStartElement("trkseg");
		4226	for(int i = 0; i< dtGPX.Rows.Count;i++)
		4227	{
		4228	myXmlTextWriter.WriteStartElement("trkpt");
		4229	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		4230	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		4231	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		4232	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		4233	myXmlTextWriter.WriteEndElement();
		4234	}
		4235	myXmlTextWriter.WriteEndElement();
		4236	myXmlTextWriter.WriteEndElement();
		4237	myXmlTextWriter.WriteEndElement();
		4238	}
		4239	catch (Exception e)
		4240	{
		4241	Console.WriteLine("Exception: {0}", e.ToString());
		4242	}
		4243	finally
		4244	{
		4245	if (myXmlTextWriter != null)
		4246	{
		4247	myXmlTextWriter.Close();
		4248	}
		4249	}
		4250	}
2356	-	4251
2385	-	4252
2324	-	4253	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		4254	{
		4255	_loadGPXLog();
		4256	}
2327	-	4257	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		4258	{
		4259	_clearMapMarkers(typeof(GMapRoute));
		4260	}
2324	-	4261	void _loadGPXLog()
		4262	{
		4263
		4264	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4265	fd.Filter = "GPX-Logfile \| *.gpx";
		4266	fd.Multiselect = false;
		4267	if (fd.ShowDialog().Value)
		4268	{
		4269	string file = fd.FileName;
		4270	try
		4271	{
		4272	XDocument gpxDoc = XDocument.Load(file);
		4273	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		4274
		4275	NumberFormatInfo nfi = new NumberFormatInfo();
		4276	nfi.NumberDecimalSeparator = ".";
		4277
		4278	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		4279	select new
		4280	{
		4281	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		4282	Segs = (
		4283	from trackpoint in track.Descendants(gpx + "trkpt")
		4284	select new
		4285	{
		4286	Latitude = trackpoint.Attribute("lat").Value,
		4287	Longitude = trackpoint.Attribute("lon").Value,
		4288	Elevation = trackpoint.Element(gpx + "ele") != null ?
		4289	trackpoint.Element(gpx + "ele").Value : null,
		4290	Time = trackpoint.Element(gpx + "time") != null ?
		4291	trackpoint.Element(gpx + "time").Value : null
		4292	}
		4293	)
		4294	};
		4295
		4296	List<PointLatLng> wpl = new List<PointLatLng>();
		4297	foreach(var trk in tracks)
		4298	{
		4299	foreach(var trkseg in trk.Segs)
		4300	{
		4301	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		4302	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		4303	}
		4304
		4305	}
		4306	if(wpl.Count() > 0)
		4307	{
2327	-	4308	_clearMapMarkers(typeof(GMapRoute));
2324	-	4309	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	4310	Dispatcher.Invoke(() =>
		4311	{
		4312	GMapRoute mRoute;
		4313	if (comboBoxRouteColor.SelectionBoxItem != null)
		4314	{
		4315	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	4316	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	4317	}
		4318	else
2366	-	4319	mRoute = new GMapRoute(wpl, null);
2324	-	4320
2328	-	4321	MainMap.Markers.Add(mRoute);
		4322	});
2324	-	4323	}
		4324
		4325	}
		4326	catch (Exception e)
		4327	{
		4328	Console.WriteLine("Exception: {0}", e.ToString());
		4329	}
		4330	}
		4331	}
		4332	#endregion GPX
2315	-	4333	#endregion functions
2287	-	4334	}
2315	-	4335	/// <summary>
		4336	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		4337	/// </summary>
2313	-	4338	public class waypointsConverter : IValueConverter
		4339	{
		4340	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		4341	{
		4342	if (value != null)
		4343	{
		4344	switch ((string)parameter)
		4345	{
		4346	case "Latitude":
		4347	return value.ToString() + " °";
		4348	case "Longitude":
		4349	return value.ToString() + " °";
		4350	case "Radius":
		4351	return value.ToString() + " m";
		4352	case "Altitude":
		4353	return value.ToString() + " m";
		4354	case "ClimbRate":
		4355	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		4356	case "DelayTime":
		4357	return value.ToString() + " s";
		4358	case "Heading":
		4359	return Waypoints.Heading(System.Convert.ToInt32(value));
		4360	case "Speed":
		4361	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		4362	case "CamAngle":
		4363	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		4364	case "Type":
		4365	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		4366	case "AutoTrigger":
		4367	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		4368	case "Status":
2355	-	4369	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	4370	}
		4371
		4372	return value.ToString();
		4373	}
		4374	else return value;
		4375	}
		4376
		4377	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		4378	{
		4379	throw new NotImplementedException();
		4380	}
		4381	}
		4382
2287	-	4383	public class IniFile
		4384	{
		4385	public string path;
		4386
		4387	[DllImport("kernel32")]
		4388	private static extern long WritePrivateProfileString(string section,
		4389	string key, string val, string filePath);
		4390
		4391	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		4392	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		4393	uint nSize, string lpFileName);
		4394
		4395	[DllImport("kernel32")]
		4396	private static extern int GetPrivateProfileString(string section,
		4397	string key, string def, StringBuilder retVal,
		4398	int size, string filePath);
		4399
		4400	public IniFile(string INIPath)
		4401	{
		4402	path = INIPath;
		4403	}
		4404
		4405	public void IniWriteValue(string Section, string Key, string Value)
		4406	{
		4407	WritePrivateProfileString(Section, Key, Value, this.path);
		4408	}
		4409
		4410	public string IniReadValue(string Section, string Key)
		4411	{
		4412	StringBuilder temp = new StringBuilder(255);
		4413	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		4414	return temp.ToString();
		4415	}
		4416	//Ini_sections auslesen in String-Array
		4417	public string[] IniSectionNames()
		4418	{
		4419
		4420	// uint MAX_BUFFER = 32767;
		4421	uint MAX_BUFFER = 8388608;
		4422	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		4423	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		4424	if (bytesReturned == 0)
		4425	{
		4426	Marshal.FreeCoTaskMem(pReturnedString);
		4427	return null;
		4428	}
		4429	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		4430	Marshal.FreeCoTaskMem(pReturnedString);
		4431	//use of Substring below removes terminating null for split
		4432	return local.Substring(0, local.Length - 1).Split('\0');
		4433
		4434
		4435	}
		4436	}
		4437
		4438	/// <summary>
		4439	/// Selected Win AI Function Calls
		4440	/// </summary>
		4441	public class WinApi
		4442	{
		4443	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		4444	public static extern int GetSystemMetrics(int which);
		4445	[DllImport("user32.dll")]
		4446	public static extern void
		4447	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		4448	int X, int Y, int width, int height, uint flags);
		4449
		4450	private const int SM_CXSCREEN = 0;
		4451	private const int SM_CYSCREEN = 1;
		4452	private static IntPtr HWND_TOP = IntPtr.Zero;
		4453	private const int SWP_SHOWWINDOW = 64; // 0x0040
		4454
		4455	public static int ScreenX
		4456	{
		4457	get { return GetSystemMetrics(SM_CXSCREEN); }
		4458	}
		4459
		4460	public static int ScreenY
		4461	{
		4462	get { return GetSystemMetrics(SM_CYSCREEN); }
		4463	}
		4464
		4465	public static void SetWinFullScreen(IntPtr hwnd)
		4466	{
		4467	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		4468	}
		4469	}
		4470	/// <summary>
		4471	/// Class used to preserve / restore state of the window
		4472	/// </summary>
		4473	public class WinState
		4474	{
		4475	private WindowState winState;
		4476	private WindowStyle brdStyle;
		4477	private bool topMost;
		4478	private Rect restore;
		4479	private bool IsMaximized = false;
		4480
		4481	public bool isMaximized
		4482	{
		4483	get { return IsMaximized; }
		4484	}
		4485	public void Maximize(Window targetForm)
		4486	{
		4487	if (!IsMaximized)
		4488	{
		4489	IsMaximized = true;
		4490	Save(targetForm);
		4491	targetForm.WindowState = WindowState.Maximized;
		4492	targetForm.WindowStyle = WindowStyle.None;
		4493	targetForm.Topmost = true;
		4494	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		4495	}
		4496	}
		4497
		4498	public void Save(Window targetForm)
		4499	{
		4500	winState = targetForm.WindowState;
		4501	brdStyle = targetForm.WindowStyle;
		4502	topMost = targetForm.Topmost;
		4503	restore = targetForm.RestoreBounds;
		4504	}
		4505	public void Restore(Window targetForm)
		4506	{
		4507	targetForm.WindowState = winState;
		4508	targetForm.WindowStyle = brdStyle;
		4509	targetForm.Topmost = topMost;
		4510
		4511	targetForm.Left = restore.Left;
		4512	targetForm.Top = restore.Top;
		4513	targetForm.Height = restore.Height;
		4514	targetForm.Width = restore.Width;
		4515	IsMaximized = false;
		4516	}
		4517	}
		4518
		4519	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2388 - Rev