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	{
2398	-	976	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\Distance.mp3");
		977	//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		978	//t.Start();
2291	-	979	_bVoiceDistanceActive = true;
		980	}
		981	_iDistanceJitter++;
		982	}
		983	}
2287	-	984	}
		985	}
		986
		987	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		988	{
		989	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		990	}
		991
		992	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		993	{
		994	if (MainMap.Zoom != sliderMapZoom.Value)
		995	MainMap.Zoom = (int)sliderMapZoom.Value;
		996	}
		997	#region Touch zooming hackattack ;)
		998	/// <summary>
		999	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		1000	/// </summary>
		1001	bool bFirstAccess = true;
		1002	double dDistance = 0;
		1003	int iZoom;
		1004	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1005	{
		1006	var id = e.StylusDevice.Id;
		1007	e.StylusDevice.Capture(MainMap);
		1008	if (iFirstStylusID == -1)
		1009	{
		1010	iFirstStylusID = id;
		1011	}
		1012	else
		1013	{
		1014
		1015	MainMap.CanDragMap = false;
		1016	}
		1017	}
		1018	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1019	{
		1020	MainMap.ReleaseStylusCapture();
		1021	iFirstStylusID = -1;
		1022	bFirstAccess = true;
		1023	MainMap.CanDragMap = true;
		1024	iZoom = 0;
		1025	}
		1026	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1027	{
		1028	var id = e.StylusDevice.Id;
		1029	var tp = e.GetPosition(MainMap);
		1030
		1031	// This is the first Stylus point; just record its position.
		1032	if (id == iFirstStylusID)
		1033	{
		1034	pTouch1.X = tp.X;
		1035	pTouch1.Y = tp.Y;
		1036	}
		1037	else
		1038	if (iFirstStylusID > -1)
		1039	{
		1040	pTouch2.X = tp.X;
		1041	pTouch2.Y = tp.Y;
		1042	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1043	if (!bFirstAccess)
		1044	{
		1045	if (distance > dDistance)
		1046	iZoom++;
		1047	else
		1048	if (distance < dDistance)
		1049	iZoom--;
		1050	}
		1051	if (iZoom > 30)
		1052	{
		1053	iZoom = 0;
		1054	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1055	}
		1056	if (iZoom < -30)
		1057	{
		1058	iZoom = 0;
		1059	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1060	}
		1061	dDistance = distance;
		1062	bFirstAccess = false;
		1063	}
		1064	}
		1065	#endregion Touch zooming hackattack ;)
		1066
		1067	#endregion GMap
		1068
		1069	#region settings
		1070	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1071	{
		1072	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		1073	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1074	}
		1075	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1076	{
		1077	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		1078	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1079	}
		1080	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1081	{
		1082	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1083	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1084	}
		1085	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1086	{
		1087	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1088	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1089	}
		1090	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1091	{
		1092	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1093	}
		1094	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1095	{
		1096	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1097	}
		1098	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1099	{
		1100	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1101	}
		1102	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1103	{
		1104	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1105	}
		1106
		1107	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1108	{
		1109	if (cBoxLiPoCells.SelectedIndex > -1)
		1110	{
		1111	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1112	_LipoMinMax();
		1113	}
		1114	}
		1115	void _LipoMinMax()
		1116	{
		1117	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1118	_dLipoVMin = (double)_LipoCells * 3;
		1119	pbTopVoltage.Maximum = _dLipoVMax;
		1120	pbTopVoltage.Minimum = _dLipoVMin;
		1121	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1122	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1123	}
		1124	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1125	{
		1126	if (cBoxMotors.SelectedIndex > -1)
		1127	{
		1128	_iMotors = cBoxMotors.SelectedIndex + 3;
		1129	Dispatcher.Invoke(() =>
		1130	{
		1131	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1132	GridMotors.Height = dgvMotors1.Height + 10;
		1133	});
		1134	}
		1135	}
		1136	void _setMotorGridSize()
		1137	{
		1138	if (dgvMotors1.Columns.Count > 2)
		1139	{
		1140	dgvMotors1.Columns[0].Width = 24;
		1141	dgvMotors1.Columns[1].Width = 50;
		1142	dgvMotors1.Columns[2].Width = 50;
		1143	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1144	GridMotors.Height = dgvMotors1.Height + 10;
		1145	}
		1146
		1147	}
		1148	#endregion settings
		1149
		1150	#region functions
		1151
		1152	#region logging
		1153	/// <summary> Log data to the terminal window. </summary>
		1154	/// <param name="msgtype"> The type of message to be written. </param>
		1155	/// <param name="msg"> The string containing the message to be shown. </param>
		1156	private void Log(LogMsgType msgtype, string msg)
		1157	{
		1158	Dispatcher.Invoke(() =>
		1159	{
		1160	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1161	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1162	// rtfTerminal.AppendText(msg + "\r");
		1163	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1164	tr.Text = msg;
		1165	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1166	rtfTerminal.AppendText("\r");
		1167	rtfTerminal.ScrollToEnd();
		1168	});
		1169	}
2381	-	1170	private void ErrorLog(LogMsgType msgtype, string msg , string linkURL, string linkName)
2287	-	1171	{
2381	-	1172
2287	-	1173	Dispatcher.Invoke(() =>
		1174	{
2381	-	1175	Paragraph para = new Paragraph();
		1176	para.Margin = new Thickness(0); // remove indent between paragraphs
		1177
		1178	Hyperlink link = new Hyperlink();
		1179	if (linkURL != "" && linkName != "")
		1180	{
		1181	link.IsEnabled = true;
		1182	link.Inlines.Add(linkName);
		1183	link.NavigateUri = new Uri(linkURL);
		1184	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1185	}
		1186	//msg = DateTime.Now.ToLongTimeString() + msg;
		1187	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1188	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1189	r.Foreground = new SolidColorBrush(Colors.Black);
		1190	para.Inlines.Add(r);
		1191	para.Inlines.Add(msg);
		1192	para.Inlines.Add(link);
		1193	rtfError.Document.Blocks.Add(para);
		1194	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1195	//tr.Text = msg + link;
		1196	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1197	//rtfError.AppendText("\r");
2287	-	1198	rtfError.ScrollToEnd();
		1199
2381	-	1200	//_bErrorLog = true;
2287	-	1201	});
		1202	}
		1203	/// <summary>
		1204	/// Clear the line in the errorlog window
		1205	/// containing the error string when error has ceased
		1206	/// </summary>
		1207	/// <param name="s">substring of errrormessage</param>
		1208	void _clearErrorLog(string s)
		1209	{
		1210	Dispatcher.Invoke((Action)(() =>
		1211	{
		1212	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1213	TextRange foundRange = FindTextInRange(searchRange, s);
		1214
		1215	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1216
		1217
		1218	if (iStart > -1)
		1219	{
		1220	int iLength = 0;
		1221	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1222	if (iEnd > 0)
		1223	{
		1224	iLength = iEnd + 1;
		1225	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1226	if (iHttp == iLength)
		1227	{
		1228	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1229	if (iEnd2 > iLength)
		1230	{
		1231	iLength = iEnd2 + 1;
		1232	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1233
		1234	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1235	rtfError.Selection.Text = string.Empty;
		1236	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1237	}
		1238
		1239	}
		1240	else
		1241	{
		1242	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1243	rtfError.Selection.Text = string.Empty;
		1244	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1245	}
		1246	}
		1247	}
		1248	}));
		1249
		1250	}
		1251	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1252	{
		1253	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1254	if (offset < 0)
		1255	return null; // Not found
		1256
		1257	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1258	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1259
		1260	return result;
		1261	}
		1262	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1263	{
		1264	while (position != null)
		1265	{
		1266	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1267	{
		1268	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1269	if (characterCount <= count)
		1270	{
		1271	return position.GetPositionAtOffset(characterCount);
		1272	}
		1273
		1274	characterCount -= count;
		1275	}
		1276
		1277	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1278	if (nextContextPosition == null)
		1279	return position;
		1280
		1281	position = nextContextPosition;
		1282	}
		1283
		1284	return position;
		1285	}
		1286	#endregion logging
		1287
		1288	#region processing received data
		1289
		1290	private void processMessage(byte[] message)
		1291	{
		1292	if (message.Length > 0)
		1293	{
		1294	_iLifeCounter++;
		1295	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1296	//Log(LogMsgType.Incoming, message.Length.ToString());
		1297	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1298	char cmdID;
		1299	byte adr;
		1300	byte[] data;
		1301	byte[] tmp = null;
		1302	if (message[0] != '#')
		1303	{
		1304	int iFound = -1;
		1305	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1306	{ //so this is a workaround to not spam the log box
		1307	if (message[i] == 35)
		1308	{
		1309	iFound = i;
		1310	break;
		1311	}
		1312	}
		1313	if (iFound > 0)
		1314	{
		1315	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1316	tmp = new byte[message.Length - iFound];
		1317	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1318	}
		1319	s = s.Trim('\0', '\n', '\r');
		1320	if (s.Length > 0)
		1321	Log(LogMsgType.Normal, s);
		1322	if (tmp != null)
		1323	{
		1324	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1325	processMessage(tmp);
		1326	}
		1327	}
		1328	//Debug.Print(s);
		1329	else
		1330	{
		1331	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1332
		1333	if (adr == 255) { crcError++; }
		1334	else crcError = 0;
		1335	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1336	//display the active controller (FC / NC)
		1337	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...???
		1338	{
		1339	_iCtrlAct = adr;
		1340	switch (adr)
		1341	{
		1342	case 1:
		1343	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2381	-	1344	// Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1345	// Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
2287	-	1346	// _setFieldsNA(); //display fields NA for FC
		1347	break;
		1348	case 2:
		1349	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1350	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1351	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1352	break;
		1353	//case 3:
		1354	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1355	// break;
		1356	//case 4:
		1357	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1358	// break;
		1359	default:
		1360	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1361	break;
		1362	}
		1363	// _loadLabelNames();
		1364	}
		1365	// else
		1366	// Debug.Print("Address == 0?");
		1367
		1368	if (data != null && data.Length > 0)
		1369	{
		1370	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1371	s = s.Trim('\0', '\n');
		1372
		1373	switch (cmdID)
		1374	{
		1375	//case 'A': //Label names
		1376	// _processLabelNames(s);
		1377	// break;
		1378
		1379	case 'D': //Debug data
		1380	_processDebugVals(adr, data);
		1381	break;
		1382
		1383	case 'V': //Version
		1384	_processVersion(adr, data);
		1385	break;
		1386
		1387	case 'K'://BL-CTRL data
		1388	_processBLCtrl(data);
		1389	break;
		1390
		1391	case 'O': //NC Data
		1392	_processNCData(data);
		1393	break;
		1394
2381	-	1395	//case 'E': //NC error-string
		1396	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1397	// break;
2287	-	1398
		1399	case 'L': //OSD Menue (called by pagenumber)
		1400	_processOSDSingle(data);
		1401	break;
		1402
		1403	case 'H': //OSD Menue (with autoupdate - called by Key)
		1404	_processOSDAuto(data);
		1405	break;
		1406
		1407	case 'X': //Waypoint data
		1408	_processWPData(data);
		1409	break;
		1410
2313	-	1411	case 'W': //return new Waypoint items count after sending waypoint to copter
		1412	_iWPCount = data[0];
		1413	break;
2287	-	1414	//default:
		1415	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1416	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1417	// break;
		1418	}
		1419	}
		1420	//else
		1421	//{
		1422	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1423	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1424	//}
		1425	}
		1426	}
		1427	}
		1428	/// <summary>
		1429	/// Analog label names 'A'
		1430	/// each label name is returned as a single string
		1431	/// and added to string array sAnalogLabel[]
		1432	/// and the datatable dtAnalog
		1433	/// </summary>
		1434	/// <param name="s">the label name</param>
		1435	void _processLabelNames(string s)
		1436	{
		1437	//if (iLableIndex < 32)
		1438	//{
		1439	// sAnalogLabel[iLableIndex] = s;
		1440	// if (dtAnalog.Rows.Count < 32)
		1441	// dtAnalog.Rows.Add(s, "");
		1442	// else
		1443	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1444
		1445	// // _getAnalogLabels(iLableIndex + 1);
		1446	//}
		1447	//Debug.Print(s);
		1448	}
		1449	/// <summary>
		1450	/// Debug values 'D'
		1451	/// </summary>
		1452	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1453	/// <param name="data">the received byte array to process</param>
		1454	void _processDebugVals(byte adr, byte[] data)
		1455	{
		1456	if (data.Length == 66)
		1457	{
2324	-	1458
2287	-	1459	double v;
		1460	int index = 0;
		1461	Int16 i16 = 0;
		1462	double dTemp = 0;
		1463	for (int i = 2; i < 66; i += 2)
		1464	{
		1465	i16 = data[i + 1];
		1466	i16 = (Int16)(i16 << 8);
		1467	iAnalogData[index] = data[i] + i16;
		1468	sAnalogData[index] = (data[i] + i16).ToString();
		1469	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1470
		1471	if (adr == 2) //NC
		1472	{
		1473	switch (index)
		1474	{
		1475	case 0: //pitch (German: nick)
		1476	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1477	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1478	break;
		1479	case 1: //roll
		1480	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1481	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1482	break;
		1483	case 4: //altitude
		1484	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1485	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2324	-	1486	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1487	break;
		1488	case 7: //Voltage
		1489	v = (double)iAnalogData[index] / (double)10;
		1490	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1491	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1492	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1493	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1494	{
		1495	if (v == _dVoltLast)
		1496	if(_iVoltJitter < 20) _iVoltJitter++;
		1497	else
		1498	{
		1499	_iVoltJitter = 0;
		1500	_dVoltLast = v;
		1501	}
		1502	if (_iVoltJitter == 20)
		1503	{
		1504	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1505
		1506	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1507	{
		1508	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1509	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1510	{
		1511	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1512	_bCritAnimVoltActive = true;
		1513	}
		1514	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1515	{
2398	-	1516	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3");
		1517	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1518	//t.Start();
2287	-	1519	_bCritVoiceVoltActive = true;
		1520	}
		1521	}
		1522	else
		1523	{
		1524	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1525	{
		1526	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1527	_bCritAnimVoltActive = false;
		1528	}
		1529	_bCritVoiceVoltActive = false;
		1530
2291	-	1531	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1532	{
2398	-	1533	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3");
		1534	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1535	//t.Start();
2291	-	1536	_bWarnVoiceVoltActive = true;
2287	-	1537	}
		1538	}
		1539	}
		1540	}
		1541	else
		1542	{
		1543	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1544	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1545	{
		1546	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1547	_bCritAnimVoltActive = false;
		1548	}
		1549	_bCritVoiceVoltActive = false;
2291	-	1550	_bWarnVoiceVoltActive = false;
2287	-	1551	_iVoltJitter = 0;
		1552	}
		1553	break;
		1554	case 8: // Current
		1555	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1556	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1557	break;
		1558	case 10: //heading
2291	-	1559	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2399	-	1560	if (!_Simulate) //use NavData for simulation
		1561	{
		1562	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1563	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		1564	}
2287	-	1565	break;
		1566	case 12: // SPI error
2291	-	1567	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1568	break;
		1569	case 14: //i2c error
2291	-	1570	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1571	break;
		1572	case 20: //Earthmagnet field
2291	-	1573	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1574	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1575
		1576	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1577	{
		1578	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1579	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1580	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1581	{
		1582	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1583	_bAnimMagneticFieldActive = false;
		1584	}
		1585	}
		1586	else
		1587	{
		1588	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1589	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1590	{
		1591	if (_iMagneticFieldJitter < 20)
		1592	_iMagneticFieldJitter++;
		1593	}
		1594	else
		1595	{
		1596	_iMagneticFieldJitter = 0;
		1597	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1598	}
		1599	if(_iMagneticFieldJitter == 20)
		1600	{
		1601	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1602	{
		1603	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1604	_bAnimMagneticFieldActive = true;
		1605	}
		1606	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1607	{
2398	-	1608	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1609	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1610	//t.Start();
2291	-	1611	_bVoiceMagneticFieldActive = true;
		1612	}
		1613	}
		1614	}
2287	-	1615	break;
		1616	case 21: //GroundSpeed
		1617	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2399	-	1618	if (!_Simulate)
		1619	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2287	-	1620	break;
2291	-	1621
		1622	///******** needs testing --> not sure what position this is *************
2287	-	1623	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1624	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1625	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1626	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1627	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1628	dTemp = Math.Sqrt(dTemp) / (double)10;
		1629	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1630	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1631	break;
2291	-	1632
2287	-	1633	case 31: //Sats used
		1634	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1635	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1636	break;
		1637	}
		1638	}
		1639	index++;
		1640	}
		1641	}
		1642	else
		1643	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1644	}
		1645	/// <summary>
		1646	/// Version string 'V'
		1647	/// </summary>
		1648	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1649	/// <param name="data">the received byte array to process</param>
		1650	void _processVersion(byte adr, byte[] data)
		1651	{
		1652	if (data.Length == 12)
		1653	{
		1654	if (!check_HWError)
		1655	{
		1656	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1657	string sVersion = "";
		1658	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1659	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1660	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1661	Log(LogMsgType.Incoming, sVersion);
		1662	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1663	Log(LogMsgType.Incoming, sVersion);
		1664	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1665	}
		1666	if (data[5] > 0) //error0
		1667	{
		1668	if (adr == 1)
2381	-	1669	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(),"","");
2287	-	1670	if (adr == 2)
2381	-	1671	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(),"","");
2287	-	1672	}
		1673	if (data[6] > 0) //error1
		1674	{
		1675	if (adr == 1)
2381	-	1676	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(),"","");
2287	-	1677	if (adr == 2)
2381	-	1678	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(),"",""); //@moment NC has only one error field
2287	-	1679	}
2381	-	1680	//if ((data[5] + data[6] == 0) && _bErrorLog)
		1681	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
2287	-	1682
		1683	}
		1684	check_HWError = false;
		1685	}
		1686	/// <summary>
		1687	/// BL-Ctrl data 'K'
		1688	/// for FC you have to use a customized firmware
		1689	/// </summary>
		1690	/// <param name="data">the received byte array to process</param>
		1691	void _processBLCtrl(byte[] data)
		1692	{
		1693	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1694	{
		1695	bool bAvailable = false;
		1696	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1697	{
		1698
		1699	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1700	bAvailable = true;
		1701	else
		1702	bAvailable = false;
		1703
		1704	if (data[i] < _iMotors)
		1705	{
		1706	if (bAvailable)
		1707	{
2315	-	1708	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1709	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1710	}
		1711	else
		1712	{
2315	-	1713	dtMotors.Rows[data[i]].SetField(1, "NA");
		1714	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1715	}
		1716	}
		1717	//if (data[i] > 3 && data[i] < 8)
		1718	//{
		1719	// if (bAvailable)
		1720	// {
		1721	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1722	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1723	// }
		1724	// else
		1725	// {
		1726	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1727	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1728	// }
		1729	//}
		1730	}
		1731	}
		1732	}
		1733	/// <summary>
		1734	/// Navi-Ctrl data 'O'
		1735	/// GPS-Position, capacatiy, flying time...
		1736	/// </summary>
		1737	/// <param name="data">the received byte array to process</param>
		1738	void _processNCData(byte[] data)
		1739	{
		1740	int i_32, i_16, iVal;
		1741	double d;
		1742	i_32 = data[4];
		1743	iVal = i_32 << 24;
		1744	i_32 = data[3];
		1745	iVal += i_32 << 16;
		1746	i_32 = data[2];
		1747	iVal += i_32 << 8;
		1748	iVal += data[1];
		1749	d = (double)iVal / Math.Pow(10, 7);
2324	-	1750	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1751
2287	-	1752	PointLatLng p = new PointLatLng();
		1753
		1754	p.Lng = d;
		1755	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1756	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1757
		1758	i_32 = data[8];
		1759	iVal = i_32 << 24;
		1760	i_32 = data[7];
		1761	iVal += i_32 << 16;
		1762	i_32 = data[6];
		1763	iVal += i_32 << 8;
		1764	iVal += data[5];
		1765	d = (double)iVal / Math.Pow(10, 7);
2324	-	1766	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1767	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1768	p.Lat = d;
2399	-	1769
2291	-	1770	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1771	{
		1772	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1773	if(_bAutoHome && !_bFirstSatFix)
		1774	{
		1775	if (_iFirstSatFix < 3)
		1776	_iFirstSatFix++;
		1777	else
		1778	{
		1779	_bFirstSatFix = true;
2347	-	1780	Dispatcher.Invoke(() => _setHomePos());
2295	-	1781	}
		1782	}
2291	-	1783	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1784	{
		1785	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1786	_bAnimSatFixActive = false;
		1787	}
		1788	if (!_bFollowCopter)
		1789	{
		1790	_setCopterData(p);
		1791	if (!MainMap.ViewArea.Contains(p))
		1792	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1793
2291	-	1794	}
		1795	else
2287	-	1796	Dispatcher.Invoke(() => MainMap.Position = p);
		1797	}
		1798	else
2291	-	1799	{
		1800	if(_bSatFix)
		1801	{
		1802	if (data[50] == _iSatsLast)
		1803	{
		1804	if (_iSatsJitter < 20) _iSatsJitter++;
		1805	}
		1806	else
		1807	{
		1808	_iSatsJitter = 0;
		1809	_iSatsLast = data[50];
		1810	}
2287	-	1811
2291	-	1812	if (_iSatsJitter == 20)
		1813	{
		1814	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1815	{
		1816	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1817	_bAnimSatFixActive = true;
		1818	}
		1819	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1820	{
2398	-	1821	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		1822	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		1823	//th.Start();
2291	-	1824	_bVoiceSatFixActive = true;
		1825	}
		1826
		1827	_bSatFix = false;
		1828	}
		1829	}
		1830	}
		1831
2399	-	1832	//Distance to next WP
2287	-	1833	i_16 = data[28];
		1834	i_16 = (Int16)(i_16 << 8);
		1835	iVal = data[27] + i_16;
2399	-	1836	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		1837	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	1838
		1839	i_16 = data[45];
		1840	i_16 = (Int16)(i_16 << 8);
		1841	iVal = data[44] + i_16;
		1842	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1843	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1844
		1845	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2355	-	1846	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2399	-	1847	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
2342	-	1848	{
2347	-	1849	_setActiveWP(data[48]-1);
2355	-	1850	if((data[67] & 2) == 2)
		1851	Dispatcher.Invoke(() => {
		1852	DataGridRow row;
		1853	if (_wpIndex > -1)
		1854	{
		1855	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1856	row.Background = new SolidColorBrush(Colors.Transparent);
		1857	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1858	row.BorderThickness = new Thickness(0);
		1859	}
		1860	_wpIndex = data[48] - 1;
		1861	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
2366	-	1862	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		1863	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	1864	row.BorderThickness = new Thickness(2);
		1865	dgvWP.UpdateLayout();
		1866	});
2347	-	1867	_wpIndex = data[48]-1;
2342	-	1868	}
2347	-	1869	else
		1870	{
		1871	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	1872	{
2347	-	1873	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	1874	Dispatcher.Invoke(() =>
		1875	{
		1876	DataGridRow row;
2368	-	1877	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	1878	{
		1879	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1880	row.Background = new SolidColorBrush(Colors.Transparent);
		1881	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1882	row.BorderThickness = new Thickness(0);
		1883	_wpIndex = -1;
		1884	}
		1885	});
		1886
		1887	}
2347	-	1888	}
2342	-	1889
2287	-	1890	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	1891	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	1892	_wpCount = data[49];
2287	-	1893	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1894
		1895	//--------------- Capacity used ------------------------
		1896	i_16 = data[81];
		1897	i_16 = (Int16)(i_16 << 8);
		1898	iVal = data[80] + i_16;
		1899	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1900	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1901
2398	-	1902	//--------------- Ground speed ------------------------
		1903	i_16 = data[59];
		1904	i_16 = (Int16)(i_16 << 8);
		1905	iVal = data[58] + i_16;
2399	-	1906	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		1907	if(_Simulate)
		1908	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
2398	-	1909
		1910	//--------------- Heading north ------------------------
		1911	i_16 = data[61];
		1912	i_16 = (Int16)(i_16 << 8);
		1913	iVal = data[60] + i_16;
		1914	Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
		1915
		1916	//--------------- Heading compass ------------------------
		1917	i_16 = data[63];
		1918	i_16 = (Int16)(i_16 << 8);
		1919	iVal = data[62] + i_16;
		1920	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
2399	-	1921	if (_Simulate)
		1922	{
		1923	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		1924	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		1925	}
2287	-	1926	//--------------- Flying time ------------------------
		1927	i_16 = data[56];
		1928	i_16 = (Int16)(i_16 << 8);
		1929	iVal = data[55] + i_16;
		1930	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1931	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1932	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1933	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1934
		1935	//--------------- RC quality ------------------------
		1936	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1937	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1938
2291	-	1939	if(data[66] > _iThresholdRC)
		1940	{
		1941	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1942	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1943	{
		1944	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1945	_bAnimRCLevelActive = false;
		1946	}
		1947	}
		1948	else
		1949	{
		1950	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1951	if (_iRCLevelJitter == 20)
		1952	{
		1953	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1954	{
		1955	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1956	_bAnimRCLevelActive = true;
		1957	}
		1958	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1959	{
2398	-	1960	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1961	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1962	//th.Start();
2291	-	1963	_bVoiceRCLevelActive = true;
		1964	}
		1965	_iRCLevelJitter++;
		1966	}
		1967	}
		1968
2399	-	1969	//Target hold time
		1970	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
		1971
2287	-	1972	//--------------- NC Error ------------------------
		1973	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1974	if (data[69] > 0)
		1975	_readNCError();
		1976	if (data[69] > 0 & data[69] < 44)
2381	-	1977	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		1978	//else
		1979	// if (_bErrorLog) _clearErrorLog("NC Error");
2287	-	1980
2298	-	1981	//-------------FC / NC Status Flags
		1982	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1983	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1984	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1985	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1986	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1987	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1988
		1989	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1990	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1991	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1992	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1993	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1994	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
		1995	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		1996	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		1997
		1998	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1999	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2000	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2001	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2002	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2003	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2004	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	2005
		2006	//Sidebar StatusSymbols
		2007	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2008	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
		2009	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
		2010
		2011	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2012	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
		2013	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
		2014
		2015	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	2016	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
		2017	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	-	2018
		2019	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2020	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
		2021	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
		2022
		2023	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	2024	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
		2025	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
		2026	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	-	2027
2324	-	2028	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	2029	}
		2030	/// <summary>
		2031	/// Navi-Ctrl WP data struct 'X'
		2032	/// called by index
		2033	/// </summary>
		2034	/// <param name="data">the received byte array to process</param>
		2035	void _processWPData(byte[] data)
		2036	{
2313	-	2037	_iWPCount = data[0];
2287	-	2038	_bGetWPCount = false;
		2039	if (data.Length >= 28)
		2040	{
		2041	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		2042	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		2043	if (_bGetWP)
		2044	{
		2045	if (data[1] == 1)
2315	-	2046	{
2333	-	2047	Dispatcher.Invoke(() =>
		2048	{
2356	-	2049	wpList.Clear();
		2050	_clearMapMarkers(typeof(CustomMarkerWP));
		2051	if (mRouteWP != null)
		2052	MainMap.Markers.Remove(mRouteWP);
		2053	if (wpActiveMarker != null)
		2054	MainMap.Markers.Remove(wpActiveMarker);
		2055	lblWPRouteDistance.Content = "0 m";
		2056	dtWaypoints.Rows.Clear();
2368	-	2057	_wpEdit = -1;_wpIndex = -1;
2318	-	2058	});
2315	-	2059	}
2287	-	2060	DataRow dr = dtWaypoints.NewRow();
		2061	dr = Waypoints.toDataRow(data, dr);
2313	-	2062	dtWaypoints.Rows.Add(dr);
2363	-	2063	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1]);
2313	-	2064	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2065	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	2066	if (data[1] == data[0])
		2067	{
		2068	_bGetWP = false;
2368	-	2069	_routeUpdate();
2287	-	2070	}
		2071
		2072	}
		2073	}
		2074	else
		2075	{
		2076	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		2077	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		2078	}
		2079	}
		2080	/// <summary>
		2081	/// OSD Menue 'L'
		2082	/// single page called by pagenumber
		2083	/// no autoupdate
		2084	/// </summary>
		2085	/// <param name="data">the received byte array to process</param>
		2086	void _processOSDSingle(byte[] data)
		2087	{
		2088	if (data.Length == 84)
		2089	{
		2090	string sMessage = "";
		2091	iOSDPage = data[0];
		2092	iOSDMax = data[1];
		2093	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		2094	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		2095	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2096	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2097	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2098	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2099	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2100	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2101
		2102	}
		2103	//else
		2104	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2105
		2106	}
		2107	/// <summary>
		2108	/// OSD Menue 'H'
		2109	/// called by keys (0x01,0x02,0x03,0x04)
		2110	/// autoupdate
		2111	/// </summary>
		2112	/// <param name="data">the received byte array to process</param>
		2113	void _processOSDAuto(byte[] data)
		2114	{
		2115	if (data.Length == 81)
		2116	{
		2117	string sMessage = "";
		2118	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2119	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2120	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2121	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2122	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2123
		2124	}
		2125	//else
		2126	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2127	}
		2128
		2129	#endregion processing received data
		2130
		2131	#region controller messages
		2132	/// <summary> send message to controller to request data
		2133	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2134	/// </summary>
		2135	/// <param name="CMDID"> the command ID </param>
		2136	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2137	private void _sendControllerMessage(char CMDID, byte address)
		2138	{
		2139	if (serialPortCtrl.Port.IsOpen)
		2140	{
		2141	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2142	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2143	serialStream.Write(bytes, 0, bytes.Length);
		2144
		2145	}
		2146	else
		2147	Log(LogMsgType.Error, "NOT CONNECTED!");
		2148	}
		2149	/// <summary> send message to controller to request data
		2150	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2151	/// </summary>
		2152	/// <param name="CMDID"> the command ID </param>
		2153	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2154	/// <param name="data"> additional data for the request</param>
		2155	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2156	{
		2157	if (serialPortCtrl.Port.IsOpen)
		2158	{
		2159	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2160	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2161	serialStream.Write(bytes, 0, bytes.Length);
		2162
		2163	}
		2164	else
		2165	Log(LogMsgType.Error, "NOT CONNECTED!");
		2166	}
		2167
		2168	/// <summary>
		2169	/// start/stop continous polling of controller values
		2170	/// </summary>
		2171	/// <param name="b">start/stop switch</param>
		2172	void _readCont(bool b)
		2173	{
		2174	bReadContinously = b;
		2175	if (bReadContinously)
		2176	{
		2177	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2178	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2179	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2180	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2181	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2182	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2183	}
		2184	else
		2185	{
		2186	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2187	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2188	_bConnErr = false;
		2189	}
		2190	_iLifeCounter = 0;
		2191	}
		2192
		2193	private void _getVersion()
		2194	{
		2195	_sendControllerMessage('v', 0);
		2196	}
		2197	/// <summary>
		2198	/// get FC version struct via NC
		2199	/// by sending '1' as data (not documented in wiki...)
		2200	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2201	/// </summary>
		2202	/// <param name="ctrl">controller number 1=FC</param>
		2203	private void _getVersion(byte ctrl)
		2204	{
		2205	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2206	}
		2207	/// <summary>
		2208	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2209	/// </summary>
		2210	private void _switchToNC()
		2211	{
		2212	if (serialPortCtrl.Port.IsOpen)
		2213	{
		2214	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2215	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2216	serialStream.Write(bytes, 0, bytes.Length);
		2217
		2218	Thread.Sleep(100);
		2219	_getVersion();
		2220	Thread.Sleep(100);
		2221	// _OSDMenue(0);
		2222	}
		2223	else
		2224	Log(LogMsgType.Error, "NOT CONNECTED!");
		2225	}
		2226	/// <summary>
		2227	/// switch to FC
		2228	/// </summary>
		2229	private void _switchToFC()
		2230	{
		2231	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2232	Thread.Sleep(100);
		2233	_getVersion();
		2234	Thread.Sleep(100);
		2235	// _OSDMenue(0);
		2236	}
		2237	/// <summary>
		2238	/// send RESET signal to FC
		2239	/// </summary>
		2240	private void _resetCtrl()
		2241	{
		2242	_sendControllerMessage('R', 1);
		2243	}
		2244	/// <summary>
		2245	/// poll the debug data (4sec subscription)
		2246	/// </summary>
		2247	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2248	private void _readDebugData(bool auto)
		2249	{
		2250	byte interval = auto ? debugInterval : (byte)0;
		2251	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2252	}
		2253	/// <summary>
		2254	/// poll the BL-CTRL status via NC (4sec subscription)
		2255	/// </summary>
		2256	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2257	private void _readBLCtrl(bool auto)
		2258	{
		2259	byte interval = auto ? blctrlInterval : (byte)0;
		2260	_sendControllerMessage('k', 0, new byte[1] { interval });
		2261	}
		2262	/// <summary>
		2263	/// poll the NC data struct (4sec subscription)
		2264	/// </summary>
		2265	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2266	private void _readNavData(bool auto)
		2267	{
		2268	byte interval = auto ? navctrlInterval : (byte)0;
		2269	_sendControllerMessage('o', 2, new byte[1] { interval });
		2270	}
		2271	/// <summary>
		2272	/// get the errortext for pending NC error
		2273	/// </summary>
		2274	private void _readNCError()
		2275	{
		2276	_sendControllerMessage('e', 2);
		2277	}
		2278	/// <summary>
		2279	/// request the Waypoint at index
		2280	/// </summary>
		2281	/// <param name="index"></param>
		2282	void _getpWP(int index)
		2283	{
		2284	if (serialPortCtrl.Port.IsOpen)
		2285	{
		2286	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2287	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2288	serialStream.Write(bytes, 0, bytes.Length);
		2289	}
		2290	else
		2291	Log(LogMsgType.Error, "NOT CONNECTED!");
		2292
		2293	}
		2294	void _getWP()
		2295	{
2335	-	2296	int iTimeout = 0;
2287	-	2297	_bGetWPCount = true;
2315	-	2298	_getpWP(1); //get the itemscount of wp
2335	-	2299	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2300	{
		2301	Thread.Sleep(10);
		2302	iTimeout++;
		2303	}
		2304	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2305	_getWPList();
		2306	}
		2307	void _getWPList()
		2308	{
		2309	_bGetWP = true;
2313	-	2310	int iTimeout=0;
		2311	for (int j = 0; j < _iWPCount; j++)
2287	-	2312	{
		2313	_getpWP(j + 1);
2313	-	2314	iTimeout = 0;
		2315	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2316	{
		2317	Thread.Sleep(1);
		2318	iTimeout++;
		2319	}
2287	-	2320	}
		2321	}
2363	-	2322	/// <summary>
		2323	/// Wrapper for _clearCopterWPList()
		2324	/// necessary, cause it is called by threadnew which does not like return values...
		2325	/// </summary>
2340	-	2326	void clearCopterWPList()
2313	-	2327	{
2340	-	2328	_clearCopterWPList();
		2329	}
2363	-	2330	/// <summary>
		2331	/// clear the WP list of the copter
		2332	/// by sending 'invalid' and index '0'
		2333	/// </summary>
		2334	/// <returns></returns>
2340	-	2335	bool _clearCopterWPList()
		2336	{
2335	-	2337	int iTimeout = 0;
2313	-	2338	if (serialPortCtrl.Port.IsOpen)
		2339	{
		2340	byte[] bData = new byte[30];
		2341	for (int i = 0; i < 30; i++)
		2342	bData[i] = 0;
		2343	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2344	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2345	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2346
2313	-	2347	_iWPCount = -1;
2340	-	2348	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2349	{
2313	-	2350	Thread.Sleep(10);
2335	-	2351	iTimeout++;
		2352	}
2313	-	2353	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2354	if (_iWPCount > -1)
2340	-	2355	return true;
		2356	else
		2357	Log(LogMsgType.Error, "Timeout while sending list!");
		2358	}
		2359	else
		2360	Log(LogMsgType.Error, "NOT CONNECTED!");
		2361
		2362	return false;
		2363	}
		2364	void _sendWPList()
		2365	{
2362	-	2366	_sendWPList(0);
		2367	}
		2368	void _sendWPList(int iStart)
		2369	{
2340	-	2370	int iTimeout = 0;
		2371	if (serialPortCtrl.Port.IsOpen)
		2372	{
		2373	if (_clearCopterWPList())
2313	-	2374	{
2362	-	2375	int k = 1;
		2376	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	2377	{
2362	-	2378	k = iStart > 0 ? k : -1;
2376	-	2379	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	2380
2335	-	2381	_iWPCount = -1;
		2382	iTimeout = 0;
		2383	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2384	{
		2385	Thread.Sleep(10);
		2386	iTimeout++;
		2387	}
		2388	if (_iWPCount == -1)
		2389	{
		2390	Log(LogMsgType.Error, "Timeout while sending list!");
		2391	break;
		2392	}
		2393	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	2394	k++;
2335	-	2395	}
2313	-	2396	}
		2397	}
		2398	else
		2399	Log(LogMsgType.Error, "NOT CONNECTED!");
		2400
		2401	}
2376	-	2402	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	2403	{
2313	-	2404
2340	-	2405	if (serialPortCtrl.Port.IsOpen)
		2406	{
		2407	byte[] bData = new byte[30];
		2408	for (int i = 0; i < 30; i++)
		2409	bData[i] = 0;
		2410	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2411	byte[] bytes;
		2412	int iVal;
		2413	double dVal;
		2414	NumberFormatInfo nfi = new NumberFormatInfo();
		2415	nfi.NumberDecimalSeparator = ",";
		2416
		2417	//longitude
		2418	dVal = Convert.ToDouble(dr[4], nfi);
		2419	iVal = (int)(dVal * Math.Pow(10, 7));
		2420	bData[0] = (byte)(iVal & 0xff);
		2421	bData[1] = (byte)((iVal >> 8) & 0xff);
		2422	bData[2] = (byte)((iVal >> 16) & 0xff);
		2423	bData[3] = (byte)(iVal >> 24);
		2424	//latitude
		2425	dVal = Convert.ToDouble(dr[3], nfi);
		2426	iVal = (int)(dVal * Math.Pow(10, 7));
		2427	bData[4] = (byte)(iVal & 0xff);
		2428	bData[5] = (byte)((iVal >> 8) & 0xff);
		2429	bData[6] = (byte)((iVal >> 16) & 0xff);
		2430	bData[7] = (byte)(iVal >> 24);
		2431	//altitude
		2432	dVal = Convert.ToDouble(dr[5], nfi);
		2433	iVal = (int)(dVal * 10);
		2434	bData[8] = (byte)(iVal & 0xff);
		2435	bData[9] = (byte)((iVal >> 8) & 0xff);
		2436	bData[10] = (byte)((iVal >> 16) & 0xff);
		2437	bData[11] = (byte)(iVal >> 24);
2376	-	2438	if(bSim)
		2439	bData[12] = 3; //Status 'SIMULATE'
2340	-	2440	//Status 'NEWDATA'
2376	-	2441	else
		2442	bData[12] = 1;
2340	-	2443	//heading
		2444	iVal = Convert.ToInt16(dr[6]);
		2445	bData[13] = (byte)(iVal & 0xff);
		2446	bData[14] = (byte)((iVal >> 8) & 0xff);
		2447	//ToleranceRadius
		2448	bData[15] = Convert.ToByte(dr[9]);
		2449	//HoldTime
		2450	bData[16] = Convert.ToByte(dr[10]);
		2451	//Event_Flag
		2452	bData[17] = Convert.ToByte(dr[13]);
		2453	//Index
2379	-	2454	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
2340	-	2455	//Type
		2456	bData[19] = Convert.ToByte(dr[1]);
		2457	//WP_EventChannelValue
		2458	bData[20] = Convert.ToByte(dr[14]);
		2459	//AltitudeRate
		2460	bData[21] = Convert.ToByte(dr[8]);
		2461	//Speed
		2462	bData[22] = Convert.ToByte(dr[7]);
		2463	//CamAngle
		2464	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2465	//Name
2362	-	2466	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		2467	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	2468	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2469	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2470	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2471	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2472	//Autotrigger
		2473	bData[28] = Convert.ToByte(dr[11]);
		2474
2356	-	2475	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	2476	serialStream.Write(bytes, 0, bytes.Length);
		2477
		2478	return true;
		2479	}
		2480
		2481	return false;
		2482	}
2287	-	2483	#region OSD-Menue
		2484
		2485	/// <summary>
		2486	/// one time query of the OSD Menue with pagenumber
		2487	/// </summary>
		2488	/// <param name="iMenue">Menue page</param>
		2489	void _OSDMenue(int iMenue)
		2490	{
		2491	if (serialPortCtrl.Port.IsOpen)
		2492	{
		2493	if (iMenue > iOSDMax)
		2494	iMenue = 0;
		2495	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2496	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2497	serialStream.Write(bytes, 0, bytes.Length);
		2498	}
		2499	else
		2500	Log(LogMsgType.Error, "NOT CONNECTED!");
		2501
		2502	}
		2503	/// <summary>
		2504	/// call the OSDMenue and start autorefresh
		2505	/// usually by sending a menuekey
		2506	/// 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)
		2507	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2508	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2509	/// </summary>
		2510	void _OSDMenueAutoRefresh()
		2511	{
		2512	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2513	}
		2514	void _OSDMenueAutoRefresh(byte key)
		2515	{
		2516	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2517	}
		2518	/// <summary>
		2519	/// initialize the OSD menue combobox
		2520	/// combox is filled by numbers from 0 to max pagenumber
		2521	/// </summary>
		2522	void _initOSDCB()
		2523	{
		2524	_bCBInit = true;
		2525	if (iOSDMax == 0)
		2526	{
		2527	_OSDMenue(0);
		2528	Thread.Sleep(10);
		2529	}
		2530	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2531	for (int i = 0; i <= iOSDMax; i++)
		2532	{
		2533	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2534	}
		2535	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2536	_bCBInit = false;
		2537	}
		2538	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2539	{
		2540	iOSDPage++;
		2541	if (iOSDPage > iOSDMax)
		2542	iOSDPage = 0;
		2543
		2544	_OSDMenue(iOSDPage);
		2545	}
		2546	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2547	{
		2548	iOSDPage--;
		2549	if (iOSDPage < 0)
		2550	iOSDPage = iOSDMax;
		2551
		2552	_OSDMenue(iOSDPage);
		2553	}
		2554	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2555	{
		2556	_OSDMenueAutoRefresh(8);
		2557	}
		2558	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2559	{
		2560	_OSDMenueAutoRefresh(4);
		2561	}
		2562	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2563	{
		2564	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2565	_OSDMenue(cbOSD.SelectedIndex);
		2566	}
		2567	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2568	{
		2569	Dispatcher.Invoke(() =>
		2570	{
		2571	TextRange tr;
		2572	if (bNew)
		2573	{
		2574	rtfOSD.SelectAll();
		2575	rtfOSD.Selection.Text = string.Empty;
		2576	}
		2577	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2578	tr.Text = msg;
		2579	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2580	// rtfOSD.AppendText("\r");
		2581	rtfOSD.ScrollToEnd();
		2582
		2583	});
		2584	}
		2585
		2586	#endregion OSD-Menue
		2587
		2588	#endregion controller messages
		2589
2398	-	2590	void _mediaPlayer(object file)
2295	-	2591	{
2398	-	2592	if (File.Exists((string)file))
2295	-	2593	{
		2594	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
2398	-	2595	mp.Open((string)file);
2295	-	2596	mp.Play();
		2597	}
		2598	}
2310	-	2599
2362	-	2600	#region ui
2310	-	2601	/// <summary>
		2602	/// Switch between fullscreen and normal window mode
		2603	/// save & restore scaling settings
		2604	/// </summary>
		2605	/// <param name="sender"></param>
		2606	/// <param name="e"></param>
2287	-	2607	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2608	{
		2609	if (winState.isMaximized)
		2610	{
		2611	winState.Restore(this);
		2612	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2613	if(_bSaveWinStateFull)
		2614	_saveScaleSliders(true);
		2615	if(_bSaveWinStateNormal)
		2616	_setScaleSliders(false);
		2617	}
		2618	else
		2619	{
		2620	winState.Maximize(this);
		2621	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2622	if(_bSaveWinStateNormal)
		2623	_saveScaleSliders(false);
		2624	if(_bSaveWinStateFull)
		2625	_setScaleSliders(true);
		2626	}
		2627	}
		2628
		2629	/// <summary>
		2630	/// reset the scaling of all UI elements to default
		2631	/// </summary>
		2632	/// <param name="sender"></param>
		2633	/// <param name="e"></param>
		2634	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2635	{
		2636	UIScaleHorizonSlider.Value =
		2637	UIScaleLOGSlider.Value =
		2638	UIScaleMotorsSlider.Value =
		2639	UIScaleOSDSlider.Value =
		2640	UIScaleSlider.Value =
		2641	UIScaleTopSlider.Value = 1;
		2642	}
		2643	/// <summary>
		2644	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2645	/// </summary>
		2646	/// <param name="sender"></param>
		2647	/// <param name="e"></param>
		2648	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2649	{
		2650	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2651	if (GridMotors != null)
		2652	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2653	if (GridSideBar != null)
		2654	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2655	if (GridOSD != null)
		2656	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2657	if (GridData != null)
		2658	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2659	if (GridWP != null)
		2660	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2661	}
2310	-	2662	/// <summary>
		2663	/// restore the saved scalings for the fullscreen/normal window mode
		2664	/// </summary>
		2665	/// <param name="bFull">the mode the window is set to</param>
2287	-	2666	void _setScaleSliders(bool bFull)
		2667	{
		2668	if(bFull)
		2669	{
		2670	UIScaleSlider.Value = scaleFullAll;
		2671	UIScaleTopSlider.Value = scaleFullTopBar;
		2672	UIScaleMotorsSlider.Value = scaleFullMotors;
		2673	UIScaleOSDSlider.Value = scaleFullOSD;
		2674	UIScaleLOGSlider.Value = scaleFullLOG;
		2675	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2676	}
		2677	else
		2678	{
		2679	UIScaleSlider.Value = scaleNormalAll;
		2680	UIScaleTopSlider.Value = scaleNormalTopBar;
		2681	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2682	UIScaleOSDSlider.Value = scaleNormalOSD;
		2683	UIScaleLOGSlider.Value = scaleNormalLOG;
		2684	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2685	}
		2686	}
		2687
2310	-	2688	/// <summary>
		2689	/// save the scalings for the actual window mode
		2690	/// </summary>
		2691	/// <param name="bFull">the actual window mode</param>
2287	-	2692	void _saveScaleSliders(bool bFull)
		2693	{
		2694
		2695	if (bFull)
		2696	{
		2697	scaleFullAll = UIScaleSlider.Value;
		2698	scaleFullTopBar = UIScaleTopSlider.Value;
		2699	scaleFullMotors = UIScaleMotorsSlider.Value;
		2700	scaleFullOSD = UIScaleOSDSlider.Value;
		2701	scaleFullLOG = UIScaleLOGSlider.Value;
		2702	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2703	}
		2704	else
		2705	{
		2706	scaleNormalAll = UIScaleSlider.Value;
		2707	scaleNormalTopBar = UIScaleTopSlider.Value;
		2708	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2709	scaleNormalOSD = UIScaleOSDSlider.Value;
		2710	scaleNormalLOG = UIScaleLOGSlider.Value;
		2711	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2712	}
		2713	}
2362	-	2714	#endregion ui
2287	-	2715
		2716	/// <summary>
		2717	/// read settings from ini-file
		2718	/// </summary>
		2719	void _readIni()
		2720	{
		2721	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2722	_writeIni();
		2723	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2724	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2725	try
		2726	{
2287	-	2727
2312	-	2728	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2729	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2730	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2731	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2732	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2733	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2734	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2735	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2736
2312	-	2737	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2738	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2739	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2740	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2741	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2742	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2743	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2744	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2745
2312	-	2746	sVal = ini.IniReadValue("topBar", "voltage");
		2747	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2748	sVal = ini.IniReadValue("topBar", "capacity");
		2749	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2750	sVal = ini.IniReadValue("topBar", "current");
		2751	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2752	sVal = ini.IniReadValue("topBar", "flightTime");
		2753	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2754	sVal = ini.IniReadValue("topBar", "distanceHP");
		2755	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2756	sVal = ini.IniReadValue("topBar", "height");
		2757	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2758	sVal = ini.IniReadValue("topBar", "speed");
		2759	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2760	sVal = ini.IniReadValue("topBar", "magneticField");
		2761	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2762	sVal = ini.IniReadValue("topBar", "satellites");
		2763	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2764	sVal = ini.IniReadValue("topBar", "rc");
		2765	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2766
2312	-	2767	sVal = ini.IniReadValue("style", "saveFullScreen");
		2768	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2769	sVal = ini.IniReadValue("style", "saveNormalState");
		2770	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2771
2312	-	2772	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2773	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2774	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2775	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2776	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2777	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2778	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2779	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2780	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2781	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2782	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2783	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2784
2312	-	2785	sVal = ini.IniReadValue("style", "scaleFullAll");
		2786	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2787	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2788	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2789	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2790	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2791	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2792	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2793	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2794	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2795	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2796	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2797
2312	-	2798	sVal = ini.IniReadValue("general", "LiPoCells");
		2799	_LipoCells = Convert.ToInt16(sVal);
		2800	sVal = ini.IniReadValue("general", "Motors");
		2801	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2802
2312	-	2803	sVal = ini.IniReadValue("map", "followMe");
		2804	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2805	sVal = ini.IniReadValue("map", "AutoSetHome");
		2806	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2807	sVal = ini.IniReadValue("map", "GPXLog");
		2808	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2809
2312	-	2810	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2811	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2812	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2813	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2814	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2815	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2816	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2817	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2818	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2819	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2820	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2821	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2822	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2823	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2824	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2825	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2826	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2827	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2828	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2829	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2830	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2831	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2832
		2833	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2834	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2835	sVal = ini.IniReadValue("waypoints", "poicolor");
		2836	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2837	sVal = ini.IniReadValue("waypoints", "fscolor");
		2838	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2839	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2840	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2385	-	2841	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		2842	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
2379	-	2843	sVal = ini.IniReadValue("waypoints", "landingcolor");
		2844	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	2845	sVal = ini.IniReadValue("waypoints", "routecolor");
		2846	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		2847	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		2848	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2349	-	2849
		2850	for (int i = 0; i < 12; i++)
		2851	{
		2852	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		2853	if (sVal != "")
		2854	serChan[i] = Convert.ToInt16(sVal);
		2855	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		2856	if (sVal != "")
		2857	serChanTitle[i] = sVal;
		2858	for (int y = 0; i < 4 && y < 3; y++)
		2859	{
		2860	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		2861	if (sVal != "")
		2862	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		2863	}
		2864	}
		2865
2312	-	2866	}
		2867	catch (Exception e)
		2868	{
2287	-	2869
2312	-	2870	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2871	}
		2872
2287	-	2873	}
		2874
		2875	/// <summary>
		2876	/// save settings to ini-file
		2877	/// </summary>
		2878	void _writeIni()
		2879	{
		2880
		2881	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2882	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2883
2312	-	2884	try
		2885	{
2287	-	2886
2312	-	2887	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2888	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2889	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2890	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2891
2312	-	2892	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2893	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2894	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2895	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2896
2312	-	2897	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2898	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2899
2312	-	2900	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2901	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	2902	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	2903
2312	-	2904	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2905	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2906	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2907	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2908	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2909	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2910	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2911	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2912	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2913	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2914
2312	-	2915	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2916	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2917
2312	-	2918	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2919	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2920	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2921	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2922	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2923	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	2924
2312	-	2925	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2926	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2927	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2928	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2929	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2930	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	2931
2312	-	2932	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2933
		2934	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2935	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2936	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2937	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2938	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2939	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2940	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2941	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2942	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2943	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2944	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	2945
		2946	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		2947	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		2948	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		2949	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2385	-	2950	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
2379	-	2951	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
2328	-	2952	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		2953	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2349	-	2954
		2955	for (int i = 0; i < 12; i++)
		2956	{
		2957	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		2958	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		2959	for (int y = 0; i < 4 && y < 3; y++)
		2960	{
		2961	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		2962	}
		2963	}
		2964
2312	-	2965	}
		2966	catch (Exception e)
		2967	{
		2968
		2969	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);
		2970	}
2287	-	2971	}
2350	-	2972
2349	-	2973	#region serial channels
		2974	/// <summary>
		2975	/// Sending the serial channel values
		2976	/// </summary>
		2977	void _sendSerialData()
		2978	{
		2979	byte[] serData = new byte[12];
		2980	for (int i = 0; i < 12; i++)
		2981	{
		2982	serData[i] = unchecked((byte)(serChan[i] - 127));
		2983	}
		2984	_sendControllerMessage('y', 1, serData);
		2985	}
		2986	/// <summary>
		2987	/// init the controls for displaying
		2988	/// and setting serial control channels
		2989	/// </summary>
		2990	void _initSerialCtrl()
		2991	{
		2992	SerChan1ScaleSlider.Value = serChan[0];
		2993	textBoxSerial1.Text = serChanTitle[0];
		2994	SerChan2ScaleSlider.Value = serChan[1];
		2995	textBoxSerial2.Text = serChanTitle[1];
2350	-	2996	SerChan3ScaleSlider.Value = serChan[2];
		2997	textBoxSerial3.Text = serChanTitle[2];
2349	-	2998	//SerChan4ScaleSlider.Value = serChan[3];
		2999	//textBoxSerial4.Text = serChanTitle[3];
		3000	//trckbarSerial5.Value = serChan[4];
		3001	//textBoxSerial5.Text = serChanTitle[4];
		3002	//trckbarSerial6.Value = serChan[5];
		3003	//textBoxSerial6.Text = serChanTitle[5];
		3004	//trckbarSerial7.Value = serChan[6];
		3005	//textBoxSerial7.Text = serChanTitle[6];
		3006	//trckbarSerial8.Value = serChan[7];
		3007	//textBoxSerial8.Text = serChanTitle[7];
2312	-	3008
2349	-	3009	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		3010	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		3011	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		3012	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		3013	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		3014	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	3015	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		3016	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		3017	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	3018	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		3019	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		3020	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		3021	}
		3022	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3023	{
		3024	if (!_init)
		3025	{
		3026	serChan[0] = (int)SerChan1ScaleSlider.Value;
		3027	_sendSerialData();
		3028	}
		3029	}
		3030	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		3031	{
		3032	if (!_init)
		3033	{
		3034	serChanTitle[0] = textBoxSerial1.Text;
		3035	}
		3036	}
		3037	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		3038	{
		3039	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		3040	{
		3041	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		3042	}
		3043	}
		3044	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		3045	{
		3046	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		3047	{
		3048	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		3049	}
		3050	}
		3051	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		3052	{
		3053	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		3054	{
		3055	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		3056	}
		3057	}
		3058	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		3059	{
		3060	if (textBoxSerial1_val1.Text.Length > 0)
		3061	{
		3062	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		3063	}
		3064	}
		3065	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		3066	{
		3067	SerChan1ScaleSlider.Value = 0;
		3068	}
		3069	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		3070	{
		3071	SerChan1ScaleSlider.Value = 127;
		3072	}
		3073	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		3074	{
		3075	SerChan1ScaleSlider.Value = 254;
		3076	}
		3077	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		3078	{
		3079	if (textBoxSerial1_val2.Text.Length > 0)
		3080	{
		3081	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		3082	}
		3083	}
		3084	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		3085	{
		3086	if (textBoxSerial1_val3.Text.Length > 0)
		3087	{
		3088	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		3089	}
		3090	}
		3091
		3092	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3093	{
		3094	if (!_init)
		3095	{
		3096	serChan[1] = (int)SerChan2ScaleSlider.Value;
		3097	_sendSerialData();
		3098	}
		3099	}
		3100	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		3101	{
		3102	if (!_init)
		3103	{
		3104	serChanTitle[1] = textBoxSerial2.Text;
		3105	}
		3106	}
		3107	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		3108	{
		3109	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		3110	{
		3111	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		3112	}
		3113	}
		3114	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		3115	{
		3116	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		3117	{
		3118	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		3119	}
		3120	}
		3121	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		3122	{
		3123	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		3124	{
		3125	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3126	}
		3127	}
		3128	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3129	{
		3130	SerChan2ScaleSlider.Value = 0;
		3131	}
		3132	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3133	{
		3134	SerChan2ScaleSlider.Value = 127;
		3135	}
		3136	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3137	{
		3138	SerChan2ScaleSlider.Value = 254;
		3139	}
		3140	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3141	{
		3142	if (textBoxSerial2_val1.Text.Length > 0)
		3143	{
		3144	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3145	}
		3146	}
		3147	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3148	{
		3149	if (textBoxSerial2_val2.Text.Length > 0)
		3150	{
		3151	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3152	}
		3153	}
		3154	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3155	{
		3156	if (textBoxSerial2_val3.Text.Length > 0)
		3157	{
		3158	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3159	}
		3160	}
2350	-	3161
		3162	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3163	{
		3164	if (!_init)
		3165	{
		3166	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3167	_sendSerialData();
		3168	}
		3169	}
		3170	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3171	{
		3172	if (!_init)
		3173	{
		3174	serChanTitle[2] = textBoxSerial3.Text;
		3175	}
		3176	}
		3177	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3178	{
		3179	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3180	{
		3181	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3182	}
		3183	}
		3184	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3185	{
		3186	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3187	{
		3188	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3189	}
		3190	}
		3191	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3192	{
		3193	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3194	{
		3195	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3196	}
		3197	}
		3198	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3199	{
		3200	SerChan3ScaleSlider.Value = 0;
		3201	}
		3202	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3203	{
		3204	SerChan3ScaleSlider.Value = 127;
		3205	}
		3206	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3207	{
		3208	SerChan3ScaleSlider.Value = 254;
		3209	}
		3210	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3211	{
		3212	if (textBoxSerial3_val1.Text.Length > 0)
		3213	{
		3214	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3215	}
		3216	}
		3217	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3218	{
		3219	if (textBoxSerial3_val2.Text.Length > 0)
		3220	{
		3221	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3222	}
		3223	}
		3224	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3225	{
		3226	if (textBoxSerial3_val3.Text.Length > 0)
		3227	{
		3228	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3229	}
		3230	}
2349	-	3231	/// <summary>
		3232	/// checks the input of a textbox
		3233	/// for valid data
		3234	/// in this case values 0-254
		3235	/// </summary>
		3236	/// <param name="sender"></param>
		3237	/// <param name="e"></param>
		3238	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3239	{
		3240	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3241	e.Handled = true;
		3242	else
		3243	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3244	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3245	e.Handled = true;
		3246	else
		3247	{
		3248	int i = -1;
		3249	switch (((TextBox)sender).Name)
		3250	{
		3251	case "textBoxSerial1_val1":
		3252	i = 0;
		3253	break;
		3254	case "textBoxSerial1_val2":
		3255	i = 1;
		3256	break;
		3257	case "textBoxSerial1_val3":
		3258	i = 2;
		3259	break;
		3260	case "textBoxSerial2_val1":
		3261	i = 3;
		3262	break;
		3263	case "textBoxSerial2_val2":
		3264	i = 4;
		3265	break;
		3266	case "textBoxSerial2_val3":
		3267	i = 5;
		3268	break;
		3269	case "textBoxSerial3_val1":
		3270	i = 6;
		3271	break;
		3272	case "textBoxSerial3_val2":
		3273	i = 7;
		3274	break;
		3275	case "textBoxSerial3_val3":
		3276	i = 8;
		3277	break;
		3278	case "textBoxSerial4_val1":
		3279	i = 9;
		3280	break;
		3281	case "textBoxSerial4_val2":
		3282	i = 10;
		3283	break;
		3284	case "textBoxSerial4_val3":
		3285	i = 11;
		3286	break;
		3287	}
		3288	if (i > -1)
		3289	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3290	}
		3291	}
		3292
		3293	#endregion serial channels
2315	-	3294	#region WP
2312	-	3295	void _readWPLFile()
		3296	{
		3297	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3298	fd.Filter = "Waypointlists \| *.wpl";
		3299	fd.Multiselect = false;
		3300	if (fd.ShowDialog().Value)
		3301	{
		3302	string file = fd.SafeFileName;
		3303	IniFile ini = new IniFile(fd.SafeFileName);
		3304	ini.path = fd.FileName;
		3305
		3306	try
		3307	{
		3308	string sVal = ini.IniReadValue("General", "FileVersion");
		3309	if (sVal == "")
		3310	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3311	else
		3312	{
		3313	if (Convert.ToInt16(sVal) < 3)
		3314	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3315	else
		3316	{
		3317	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3318	if (sVal == "")
		3319	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3320	else
		3321	{
		3322	int wpnum = Convert.ToInt16(sVal);
		3323	string wp;
		3324	int i;
2313	-	3325	NumberFormatInfo nfi = new NumberFormatInfo();
		3326	nfi.NumberDecimalSeparator = ".";
2312	-	3327	dtWaypoints.Rows.Clear();
2368	-	3328	_wpEdit = -1;_wpIndex = -1;
2327	-	3329	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	3330	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	3331	wpList.Clear();
		3332	if (mRouteWP != null)
		3333	MainMap.Markers.Remove(mRouteWP);
2363	-	3334	//if (wpActiveMarker != null)
		3335	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	3336	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3337
2312	-	3338	for (int k = 1; k <= wpnum; k++)
		3339	{
		3340	DataRow dr = dtWaypoints.NewRow();
		3341	dr.ItemArray = new object[16];
		3342	object[] o = new object[16];
		3343	i = 0;
		3344	wp = "Point" + k.ToString();
		3345	o[i] = k;
		3346	i++;
		3347	sVal = ini.IniReadValue(wp, "Type");
		3348	if (sVal != "")
2315	-	3349	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3350	i++;
		3351	sVal = ini.IniReadValue(wp, "Prefix");
		3352	if (sVal != "")
2350	-	3353	o[i] = sVal + k.ToString();
		3354	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3355	i++;
2313	-	3356	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3357	if (sVal != "")
2313	-	3358	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3359	i++;
2313	-	3360	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3361	if (sVal != "")
2313	-	3362	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3363	i++;
		3364	sVal = ini.IniReadValue(wp, "Altitude");
		3365	if (sVal != "")
2313	-	3366	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3367	i++;
		3368	sVal = ini.IniReadValue(wp, "Heading");
		3369	if (sVal != "")
		3370	o[i] = Convert.ToInt16(sVal);
		3371	i++;
		3372	sVal = ini.IniReadValue(wp, "Speed");
		3373	if (sVal != "")
2315	-	3374	o[i] = Convert.ToInt16(sVal);
2312	-	3375	i++;
		3376	sVal = ini.IniReadValue(wp, "ClimbRate");
		3377	if (sVal != "")
		3378	o[i] = Convert.ToInt16(sVal);
		3379	i++;
		3380	sVal = ini.IniReadValue(wp, "Radius");
		3381	if (sVal != "")
		3382	o[i] = Convert.ToInt16(sVal);
		3383	i++;
		3384	sVal = ini.IniReadValue(wp, "DelayTime");
		3385	if (sVal != "")
		3386	o[i] = Convert.ToInt16(sVal);
		3387	i++;
		3388	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3389	if (sVal != "")
		3390	o[i] = Convert.ToInt16(sVal); ;
		3391	i++;
		3392	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3393	if (sVal != "")
2313	-	3394	o[i] = Convert.ToInt16(sVal);
2312	-	3395	i++;
		3396	o[i] = 0;
		3397	i++;
		3398	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3399	if (sVal != "")
		3400	o[i] = Convert.ToInt16(sVal);
		3401	i++;
		3402	o[i] = "New";
		3403
		3404	dr.ItemArray = o;
		3405	dtWaypoints.Rows.Add(dr);
2363	-	3406	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1]);
2315	-	3407
2312	-	3408	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3409	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3410	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3411	Thread.Sleep(10);
		3412	}
2359	-	3413	_routeUpdate();
2312	-	3414	}
		3415	}
		3416	}
		3417
		3418	}
		3419	catch (Exception e)
		3420	{
		3421
		3422	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		3423	}
		3424
		3425	}
		3426	}
2350	-	3427	void _saveWPLFile()
		3428	{
		3429	if (dtWaypoints.Rows.Count > 0)
		3430	{
		3431	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		3432	fd.Filter = "Waypointlists \| *.wpl";
		3433	fd.AddExtension = true;
		3434	if (fd.ShowDialog().Value)
		3435	{
		3436	string file = fd.SafeFileName;
		3437	IniFile ini = new IniFile(fd.SafeFileName);
		3438	ini.path = fd.FileName;
		3439	NumberFormatInfo nfi = new NumberFormatInfo();
		3440	nfi.NumberDecimalSeparator = ".";
		3441
		3442	try
		3443	{
		3444	ini.IniWriteValue("General", "FileVersion", "3");
		3445	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		3446	ini.IniWriteValue("General", "Mapfile", "");
		3447	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		3448	{
		3449	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		3450	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		3451	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		3452	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		3453	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		3454	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		3455	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		3456	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		3457	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		3458	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		3459	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		3460	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));
		3461	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		3462	}
		3463	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		3464	}
		3465	catch { }
		3466	}
		3467	}
		3468	else
		3469	MessageBox.Show("Nothing to save...");
		3470	}
		3471	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		3472	{
		3473	_saveWPLFile();
		3474	}
		3475	/// <summary>
		3476	/// set the selected color for the route
		3477	/// </summary>
		3478	/// <param name="color"></param>
		3479	/// <returns></returns>
2328	-	3480	Brush _getBrush(string color)
		3481	{
		3482	switch (color)
		3483	{
		3484	case "red":
		3485	return Brushes.Red;
		3486	case "green":
		3487	return Brushes.Lime;
		3488	case "blue":
		3489	return Brushes.Aqua;
		3490	case "pink":
		3491	return Brushes.Magenta;
		3492	case "yellow":
		3493	return Brushes.Yellow;
		3494	default:
		3495	return Brushes.Magenta;
		3496	}
		3497	}
2359	-	3498	void _routeUpdate()
		3499	{
		3500	Dispatcher.Invoke(() =>
		3501	{
		3502	if (comboBoxRouteColor.SelectionBoxItem != null)
		3503	{
		3504	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3505	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3506	}
		3507	else
		3508	mRouteWP = new GMapRoute(wpList, null);
		3509
		3510	if (_bShowWPRoute)
2368	-	3511	MainMap.Markers.Add(mRouteWP);
2359	-	3512	});
		3513
		3514	MapRoute mr = new MapRoute(wpList, "WPList");
		3515	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		3516	}
2363	-	3517	GMapMarker _createWP(PointLatLng p, string name, int type)
		3518	{
		3519	GMapMarker wpMarker = new GMapMarker(p);
2385	-	3520	Dispatcher.Invoke(()=>
		3521	{
		3522	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
		3523	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		3524	wpMarker.ZIndex = 100;
		3525	_setMarkerColor(wpMarker, type);
		3526	MainMap.Markers.Add(wpMarker);
		3527	if (type == 0 \|\| type == 3)
		3528	wpList.Add(p);
		3529	});
2363	-	3530	return wpMarker;
		3531	}
2315	-	3532	void _setMarkerColor(GMapMarker wpMarker,int iType)
		3533	{
2369	-	3534	if(wpMarker != null)
2315	-	3535	Dispatcher.Invoke(() =>
		3536	{
		3537	switch (iType)
		3538	{
		3539	case 0:
		3540	if (comboBoxWPColor.SelectionBoxItem != null)
		3541	{
		3542	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3543	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3544	}
		3545	else
2372	-	3546	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	3547	break;
		3548	case 1:
		3549	if (comboBoxPOIColor.SelectionBoxItem != null)
		3550	{
		3551	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3552	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3553	}
		3554	else
2372	-	3555	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	3556	break;
		3557	case 2:
		3558	if (comboBoxFSColor.SelectionBoxItem != null)
		3559	{
		3560	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3561	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3562	}
		3563	else
		3564	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3565	break;
2372	-	3566	case 3:
		3567	if (comboBoxLandingColor.SelectionBoxItem != null)
		3568	{
		3569	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		3570	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3571	}
		3572	else
		3573	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		3574	break;
2315	-	3575	default:
		3576	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3577	break;
		3578	}
		3579	});
2312	-	3580
2315	-	3581	}
2372	-	3582	void _MarkerColorSelection(object sender,int type)
		3583	{
2315	-	3584	Dispatcher.Invoke(() =>
		3585	{
2372	-	3586	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	3587	{
		3588	for (int k = 0; k < MainMap.Markers.Count; k++)
		3589	{
		3590	GMapMarker p = MainMap.Markers[k];
2372	-	3591	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	3592	{
2372	-	3593	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	3594	{
2372	-	3595	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	3596	((CustomMarkerWP)(p.Shape)).setColor(s);
		3597	}
		3598	}
		3599	}
		3600	}
		3601	});
2287	-	3602	}
2379	-	3603	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	3604	{
2376	-	3605	_MarkerColorSelection(sender, 0);
		3606	}
		3607	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		3608	{
		3609	_MarkerColorSelection(sender, 1);
		3610	}
		3611	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		3612	{
		3613	_MarkerColorSelection(sender, 2);
		3614	}
		3615	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		3616	{
		3617	_MarkerColorSelection(sender,3);
		3618	}
2385	-	3619	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
2376	-	3620	{
2318	-	3621	Dispatcher.Invoke(() => {
		3622	if (comboBoxCopterColor.SelectionBoxItem != null)
		3623	{
		3624	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	3625	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	3626	}
		3627	else
2385	-	3628	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
2318	-	3629	});
		3630	}
2385	-	3631	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		3632	{
		3633	Dispatcher.Invoke(() => {
		3634	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		3635	{
		3636	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		3637	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		3638	}
		3639	else
		3640	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		3641	});
		3642	}
2328	-	3643	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3644	{
		3645	Dispatcher.Invoke(() =>
		3646	{
		3647	if (comboBoxRouteColor.SelectionBoxItem != null)
		3648	{
		3649	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3650	MainMap.Markers.Remove(mRouteWP);
		3651	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3652	if (_bShowWPRoute)
		3653	MainMap.Markers.Add(mRouteWP);
		3654	}
		3655	});
		3656	}
		3657	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3658	{
		3659	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3660	if (_bShowWPRoute)
		3661	{
		3662	if (mRouteWP != null)
		3663	MainMap.Markers.Add(mRouteWP);
		3664	}
		3665	else
		3666	{
		3667	if (mRouteWP != null)
		3668	MainMap.Markers.Remove(mRouteWP);
		3669	}
		3670	}
2315	-	3671	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3672	{
2315	-	3673	_readWPLFile();
2287	-	3674	}
2335	-	3675	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3676	{
		3677	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	3678	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	3679	wpList.Clear();
		3680	if (mRouteWP != null)
		3681	MainMap.Markers.Remove(mRouteWP);
2347	-	3682	//if (wpActiveMarker != null)
		3683	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	3684	dtWaypoints.Rows.Clear();
2356	-	3685	_wpEdit = -1;
2368	-	3686	_wpIndex = -1;
2335	-	3687	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3688	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3689	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3690	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3691	}
2340	-	3692	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3693	{
		3694	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3695	t.Start();
		3696	}
2355	-	3697	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	3698	{
		3699	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3700	{
2372	-	3701	if (_wpCount > 0)
2376	-	3702	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	3703	else
2376	-	3704	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	3705
2372	-	3706	//int index = dgvWP.SelectedIndex;
		3707	//Thread t = new Thread(() => _sendWPList(index));
		3708	//t.Start();
2354	-	3709
		3710	Dispatcher.Invoke(() => {
		3711	DataGridRow row;
2368	-	3712	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	3713	{
2368	-	3714	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	3715	row.Background = new SolidColorBrush(Colors.Transparent);
		3716	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3717	row.BorderThickness = new Thickness(0);
2376	-	3718	dgvWP.UpdateLayout();
2354	-	3719	}
2376	-	3720	//_wpEdit = dgvWP.SelectedIndex;
		3721	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3722	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		3723	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		3724	//row.BorderThickness = new Thickness(2);
2354	-	3725	});
2340	-	3726	}
		3727	}
2385	-	3728	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		3729	{
		3730	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3731	{
		3732
		3733	object[] o = new object[16];
		3734	o[0] = dgvWP.SelectedIndex + 1;
		3735	o[1] = cbWPEditType.SelectedIndex;
		3736	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3737	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3738	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		3739	o[5] = tbWPEditAlt.Text;
		3740	switch (cbWPEditHeading.SelectedIndex)
		3741	{
		3742	case 0:
		3743	o[6] = "0";
		3744	break;
		3745	case 1:
		3746	o[6] = "-" + tbWPEditHeading.Text;
		3747	break;
		3748	case 2:
		3749	o[6] = tbWPEditHeading.Text;
		3750	break;
		3751	}
		3752	switch (cbWPEditSpeed.SelectedIndex)
		3753	{
		3754	case 0:
		3755	o[7] = "0";
		3756	break;
		3757	case 1:
		3758	o[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3759	break;
		3760	case 2:
		3761	o[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3762	break;
		3763	}
		3764	switch (cbWPEditClimbrate.SelectedIndex)
		3765	{
		3766	case 0:
		3767	o[8] = "255";
		3768	break;
		3769	case 1:
		3770	o[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		3771	break;
		3772	}
		3773	o[9] = tbWPEditRadius.Text;
		3774	o[10] = tbWPEditHoldtime.Text;
		3775	o[11] = tbWPEditAutoTrigger.Text;
		3776	switch (cbWPEditCamAngle.SelectedIndex)
		3777	{
		3778	case 0:
		3779	o[12] = "0";
		3780	break;
		3781	case 1:
		3782	o[12] = "255";
		3783	break;
		3784	case 2:
		3785	o[12] = tbWPEditCamAngle.Text;
		3786	break;
		3787	}
		3788	o[13] = 0;
		3789	o[14] = tbWPEditOut1.Text;
		3790	DataRow dr = dtWaypoints.NewRow();
		3791	dr.ItemArray = o;
		3792
		3793	if (_wpCount > 0)
		3794	_sendWayPoint(dr, -1, 'w', false);
		3795	else
		3796	_sendWayPoint(dr, 1, 'w', false);
2399	-	3797
		3798	if(_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count)
		3799	_sendWayPoint(dtWaypoints.Rows[_wpIndex], _wpIndex + 1, 's', false);
2385	-	3800	}
		3801	}
2376	-	3802	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		3803	{
		3804	_Simulate = !_Simulate;
		3805	if (dtWaypoints.Rows.Count > 0)
		3806	{
		3807	DataRow dr = dtWaypoints.Rows[0];
		3808	dr[13] = _Simulate ? 3 : 0;
2379	-	3809	_sendWayPoint(dr, 0, 's', true);
2381	-	3810	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
2376	-	3811	}
		3812	}
2355	-	3813	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		3814	{
2359	-	3815	_dgvWPselectEditRow();
		3816	}
		3817	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		3818	{
		3819	}
		3820	void _dgvWPselectEditRow()
		3821	{
2355	-	3822	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3823	{
2368	-	3824	Dispatcher.Invoke(() => {
2355	-	3825	DataGridRow row;
2368	-	3826	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	3827	{
		3828	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3829	row.Background = new SolidColorBrush(Colors.Transparent);
		3830	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3831	row.BorderThickness = new Thickness(0);
		3832	}
		3833	_wpEdit = dgvWP.SelectedIndex;
		3834	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3835	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		3836	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		3837	row.BorderThickness = new Thickness(2);
		3838	dgvWP.UpdateLayout();
2340	-	3839
2355	-	3840	_setWPEditFields(_wpEdit);
		3841	});
		3842	}
		3843	}
		3844	void _setWPEditFields(int index)
		3845	{
		3846	int iVal;
		3847	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		3848	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		3849	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		3850	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		3851	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		3852	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		3853	if (iVal == 0)
		3854	{
		3855	cbWPEditHeading.SelectedIndex = 0;
		3856	tbWPEditHeading.Text = " - - -";
		3857	tbWPEditHeading.IsReadOnly = true;
		3858	}
		3859	if (iVal > 0 && iVal < 360)
		3860	{
		3861	cbWPEditHeading.SelectedIndex = 2;
		3862	tbWPEditHeading.Text = iVal.ToString();
		3863	tbWPEditHeading.IsReadOnly = false;
		3864	}
		3865	if (iVal < 0)
		3866	{
		3867	cbWPEditHeading.SelectedIndex = 1;
		3868	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		3869	tbWPEditHeading.IsReadOnly = false;
		3870	}
		3871	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		3872	if (iVal == 0)
		3873	{
		3874	cbWPEditSpeed.SelectedIndex = 0;
		3875	tbWPEditSpeed.Text = "MAX";
		3876	tbWPEditSpeed.IsReadOnly = true;
		3877	}
		3878	if (iVal > 0 && iVal < 248)
		3879	{
		3880	cbWPEditSpeed.SelectedIndex = 1;
		3881	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		3882	tbWPEditSpeed.IsReadOnly = false;
		3883	}
		3884	if (iVal > 247)
		3885	{
		3886	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		3887	tbWPEditSpeed.Text = "";
		3888	tbWPEditSpeed.IsReadOnly = true;
		3889	}
		3890	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		3891	if (iVal == 255)
		3892	{
		3893	cbWPEditClimbrate.SelectedIndex = 0;
		3894	tbWPEditClimbrate.Text = "AUTO";
		3895	tbWPEditClimbrate.IsReadOnly = true;
		3896	}
		3897	else
		3898	{
		3899	cbWPEditClimbrate.SelectedIndex = 1;
		3900	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		3901	tbWPEditClimbrate.IsReadOnly = false;
		3902	}
		3903	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		3904	tbWPEditRadius.Text = iVal.ToString();
		3905	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		3906	tbWPEditHoldtime.Text = iVal.ToString();
		3907	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		3908	tbWPEditAutoTrigger.Text = iVal.ToString();
		3909	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		3910	if (iVal == 0)
		3911	{
		3912	cbWPEditCamAngle.SelectedIndex = 0;
		3913	tbWPEditCamAngle.Text = " - - - ";
		3914	tbWPEditCamAngle.IsReadOnly = true;
		3915	}
		3916	if (iVal < 0 \| iVal == 255)
		3917	{
		3918	cbWPEditCamAngle.SelectedIndex = 1;
		3919	tbWPEditCamAngle.Text = "AUTO";
		3920	tbWPEditCamAngle.IsReadOnly = true;
		3921	}
		3922	if (iVal > 0 & iVal < 255)
		3923	{
		3924	cbWPEditCamAngle.SelectedIndex = 2;
		3925	tbWPEditCamAngle.Text = iVal.ToString();
		3926	tbWPEditCamAngle.IsReadOnly = false;
		3927	}
		3928	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		3929	tbWPEditOut1.Text = iVal.ToString();
		3930
		3931	}
		3932
2361	-	3933	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		3934	{
2363	-	3935	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3936	{
2369	-	3937	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	3938	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		3939	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		3940	int i = wpList.IndexOf(pOld);
2363	-	3941	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		3942	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3943	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3944	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	3945	if (i > -1)
		3946	{
		3947	if((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		3948	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		3949	else
		3950	wpList.Remove(pOld);
		3951	}
		3952	else
		3953	{
		3954	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		3955	{
		3956	int found = 0;
		3957	for (int k = 0; k < dgvWP.SelectedIndex; k++)
		3958	if ((int)dtWaypoints.Rows[k][1] == 0)
		3959	found++;
		3960	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		3961	}
		3962	}
2363	-	3963	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		3964	switch (cbWPEditHeading.SelectedIndex)
		3965	{
		3966	case 0:
		3967	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		3968	break;
		3969	case 1:
		3970	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		3971	break;
		3972	case 2:
		3973	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		3974	break;
		3975	}
		3976	switch (cbWPEditSpeed.SelectedIndex)
		3977	{
		3978	case 0:
		3979	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		3980	break;
		3981	case 1:
		3982	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3983	break;
		3984	case 2:
		3985	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3986	break;
		3987	}
		3988	switch (cbWPEditClimbrate.SelectedIndex)
		3989	{
		3990	case 0:
		3991	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		3992	break;
		3993	case 1:
		3994	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		3995	break;
		3996	}
		3997	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		3998	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		3999	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		4000	switch (cbWPEditCamAngle.SelectedIndex)
		4001	{
		4002	case 0:
		4003	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		4004	break;
		4005	case 1:
		4006	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		4007	break;
		4008	case 2:
		4009	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		4010	break;
		4011	}
		4012	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	4013
2369	-	4014	// _clearMapMarkers(typeof(CustomMarkerWP));
		4015	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		4016	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	4017	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	4018	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	4019	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	4020	// wpList.Clear();
2363	-	4021	if (mRouteWP != null)
		4022	MainMap.Markers.Remove(mRouteWP);
		4023
2369	-	4024	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		4025	//{
		4026	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		4027	//}
2363	-	4028	_routeUpdate();
		4029	dgvWP.Items.Refresh();
		4030
		4031	}
		4032
2361	-	4033	}
		4034	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		4035	{
2368	-	4036	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4037	{
		4038	int index = dgvWP.SelectedIndex;
		4039	Dispatcher.Invoke(() => {
		4040	DataGridRow row;
		4041	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		4042	{
		4043	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4044	row.Background = new SolidColorBrush(Colors.Transparent);
		4045	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4046	row.BorderThickness = new Thickness(0);
		4047	}
2372	-	4048	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	4049	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
		4050	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	4051	if (wpActiveMarker != null)
		4052	MainMap.Markers.Remove(wpActiveMarker);
2368	-	4053	dtWaypoints.Rows[index].Delete();
		4054	_wpIndex = -1;
		4055	_wpEdit = -1;
		4056	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		4057	{
		4058	dtWaypoints.Rows[i][0] = i + 1;
		4059	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		4060	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		4061	_renameWPMarker(s1, s2);
		4062	dtWaypoints.Rows[i][2] = s2;
		4063	}
		4064	lblWPCount.Content = dtWaypoints.Rows.Count;
		4065	if (mRouteWP != null)
		4066	MainMap.Markers.Remove(mRouteWP);
		4067	_routeUpdate();
2361	-	4068
2368	-	4069	dgvWP.UpdateLayout();
		4070	});
		4071	}
2361	-	4072	}
2366	-	4073	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		4074	{
		4075	_wpWEdit(sender);
		4076	}
2361	-	4077	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		4078	{
2366	-	4079	_wpWEdit(sender);
		4080	}
2369	-	4081	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		4082	{
		4083	_wpWEdit(sender);
		4084	}
2366	-	4085	void _wpWEdit(object sender)
		4086	{
2369	-	4087	// if (!((TextBox)sender).IsReadOnly)
2361	-	4088	{
		4089	KeyPad.Keypad k = new KeyPad.Keypad(this);
		4090
2363	-	4091	switch (((TextBox)sender).Name)
		4092	{
		4093	case "tbWPEditLat":
		4094	k.Title = "Latitude";
		4095	k.LENGTH = 17;
		4096	k.MAX = 359.9;
		4097	break;
		4098	case "tbWPEditLon":
		4099	k.Title = "Longitude";
		4100	k.LENGTH = 17;
		4101	k.MAX = 359.9;
		4102	break;
		4103	case "tbWPEditAlt":
		4104	k.Title = "Altitude";
		4105	k.LENGTH = 3;
		4106	k.MAX = 254;
		4107	k.disableDecimal();
		4108	break;
		4109	case "tbWPEditHeading":
		4110	k.Title = "Heading";
		4111	k.LENGTH = 3;
		4112	k.MAX = 359;
		4113	k.MIN = 1;
		4114	k.disableDecimal();
		4115	break;
		4116	case "tbWPEditSpeed":
		4117	k.Title = "Speed";
		4118	k.LENGTH = 4;
		4119	k.MAX = 24.7;
		4120	k.MIN = 0.1;
		4121	break;
		4122	case "tbWPEditClimbrate":
		4123	k.Title = "Climbrate";
		4124	k.LENGTH = 4;
		4125	k.MAX = 25.4;
		4126	k.MIN = 0.1;
		4127	break;
		4128	case "tbWPEditRadius":
		4129	k.Title = "Radius";
		4130	k.LENGTH = 3;
		4131	k.MAX = 254;
		4132	k.disableDecimal();
		4133	break;
		4134	case "tbWPEditHoldtime":
		4135	k.Title = "Holdtime";
		4136	k.LENGTH = 3;
		4137	k.MAX = 254;
		4138	break;
		4139	case "tbWPEditAutoTrigger":
		4140	k.Title = "Autotrigger";
		4141	k.LENGTH = 3;
		4142	k.MAX = 254;
		4143	k.disableDecimal();
		4144	break;
		4145	case "tbWPEditCamAngle":
		4146	k.Title = "Camera angle";
		4147	k.LENGTH = 3;
		4148	k.MAX = 254;
		4149	k.MIN = 1;
		4150	k.disableDecimal();
		4151	break;
		4152	case "tbWPEditOut1":
		4153	k.Title = "OUT1 timer interval";
		4154	k.LENGTH = 3;
		4155	k.MAX = 254;
		4156	k.disableDecimal();
		4157	break;
		4158	}
		4159	k.Result = ((TextBox)sender).Text;
2366	-	4160	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	4161	((TextBox)sender).Text = k.Result;
2361	-	4162	}
2366	-	4163
2361	-	4164	}
		4165	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	4166	{
2359	-	4167	object[] o = new object[16];
2356	-	4168
2359	-	4169	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		4170	o[1] = 0;
		4171	// cbWPEditType.SelectedIndex = 0;
		4172	// tbWPEditPrefix.Text = "P";
		4173	o[2] = "P" + o[0].ToString();
		4174	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4175	o[3] = copter.Position.Lat;
		4176	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4177	o[4] = copter.Position.Lng;
		4178	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		4179	o[5] = iAnalogData[4].ToString();
2356	-	4180
2359	-	4181	// cbWPEditHeading.SelectedIndex = 2;
		4182	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		4183	// tbWPEditHeading.IsReadOnly = false;
2356	-	4184
2359	-	4185	// cbWPEditSpeed.SelectedIndex = 1;
		4186	// tbWPEditSpeed.Text = "5.0";
		4187	// tbWPEditSpeed.IsReadOnly = false;
2372	-	4188	o[7] = "10";
2356	-	4189
2359	-	4190	// cbWPEditClimbrate.SelectedIndex = 1;
		4191	// tbWPEditClimbrate.Text = "5.0";
		4192	// tbWPEditClimbrate.IsReadOnly = false;
2372	-	4193	o[8] = "10";
2356	-	4194
2359	-	4195	// tbWPEditRadius.Text = "10";
2372	-	4196	o[9] = "5";
2359	-	4197	// tbWPEditHoldtime.Text = "5";
		4198	o[10] = "5";
		4199	// tbWPEditAutoTrigger.Text = "0";
		4200	o[11] = "0";
		4201	// cbWPEditCamAngle.SelectedIndex = 1;
		4202	// tbWPEditCamAngle.Text = "AUTO";
		4203	// tbWPEditCamAngle.IsReadOnly = true;
		4204	o[12] = "255";
2356	-	4205
2359	-	4206	o[13] = "0";
		4207	// tbWPEditOut1.Text = "0";
		4208	o[14] = "0";
		4209	o[15] = "0";
		4210
		4211	dtWaypoints.Rows.Add(o);
2368	-	4212	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1]);
2359	-	4213	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4214	if (mRouteWP != null)
		4215	MainMap.Markers.Remove(mRouteWP);
		4216	_routeUpdate();
		4217	Dispatcher.Invoke(() => {
		4218	dgvWP.Items.Refresh();
		4219	dgvWP.SelectedIndex = (int)o[0] -1;
		4220	dgvWP.UpdateLayout();
		4221	_dgvWPselectEditRow();
		4222	});
2356	-	4223	}
		4224
2315	-	4225	#endregion WP
2324	-	4226	#region GPX
		4227	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		4228	{
		4229	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		4230	}
		4231	void _gpxAdd(double lat,double lon, int elevation)
		4232	{
		4233	DataRow dr = dtGPX.NewRow();
		4234	dr[0] = dtGPX.Rows.Count - 1;
		4235	dr[1] = lat;
		4236	dr[2] = lon;
		4237	dr[3] = elevation;
		4238	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		4239	dtGPX.Rows.Add(dr);
		4240	}
		4241	void _saveGPXLog()
		4242	{
		4243	if (!Directory.Exists("GPXLog"))
		4244	Directory.CreateDirectory("GPXLog");
		4245	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		4246	XmlTextWriter myXmlTextWriter = null;
		4247	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		4248	NumberFormatInfo nfi = new NumberFormatInfo();
		4249	nfi.NumberDecimalSeparator = ".";
2315	-	4250
2324	-	4251	try
		4252	{
		4253	myXmlTextWriter.Formatting = Formatting.Indented;
		4254
		4255	myXmlTextWriter.WriteStartDocument();
		4256
		4257	myXmlTextWriter.WriteStartElement("gpx");
		4258
		4259	myXmlTextWriter.WriteAttributeString("version", "1.0");
		4260	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		4261	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		4262	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		4263	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		4264
		4265	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		4266
		4267	myXmlTextWriter.WriteStartElement("trk");
		4268	myXmlTextWriter.WriteStartElement("trkseg");
		4269	for(int i = 0; i< dtGPX.Rows.Count;i++)
		4270	{
		4271	myXmlTextWriter.WriteStartElement("trkpt");
		4272	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		4273	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		4274	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		4275	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		4276	myXmlTextWriter.WriteEndElement();
		4277	}
		4278	myXmlTextWriter.WriteEndElement();
		4279	myXmlTextWriter.WriteEndElement();
		4280	myXmlTextWriter.WriteEndElement();
		4281	}
		4282	catch (Exception e)
		4283	{
		4284	Console.WriteLine("Exception: {0}", e.ToString());
		4285	}
		4286	finally
		4287	{
		4288	if (myXmlTextWriter != null)
		4289	{
		4290	myXmlTextWriter.Close();
		4291	}
		4292	}
		4293	}
2356	-	4294
2385	-	4295
2324	-	4296	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		4297	{
		4298	_loadGPXLog();
		4299	}
2327	-	4300	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		4301	{
		4302	_clearMapMarkers(typeof(GMapRoute));
		4303	}
2324	-	4304	void _loadGPXLog()
		4305	{
		4306
		4307	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4308	fd.Filter = "GPX-Logfile \| *.gpx";
		4309	fd.Multiselect = false;
		4310	if (fd.ShowDialog().Value)
		4311	{
		4312	string file = fd.FileName;
		4313	try
		4314	{
		4315	XDocument gpxDoc = XDocument.Load(file);
		4316	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		4317
		4318	NumberFormatInfo nfi = new NumberFormatInfo();
		4319	nfi.NumberDecimalSeparator = ".";
		4320
		4321	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		4322	select new
		4323	{
		4324	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		4325	Segs = (
		4326	from trackpoint in track.Descendants(gpx + "trkpt")
		4327	select new
		4328	{
		4329	Latitude = trackpoint.Attribute("lat").Value,
		4330	Longitude = trackpoint.Attribute("lon").Value,
		4331	Elevation = trackpoint.Element(gpx + "ele") != null ?
		4332	trackpoint.Element(gpx + "ele").Value : null,
		4333	Time = trackpoint.Element(gpx + "time") != null ?
		4334	trackpoint.Element(gpx + "time").Value : null
		4335	}
		4336	)
		4337	};
		4338
		4339	List<PointLatLng> wpl = new List<PointLatLng>();
		4340	foreach(var trk in tracks)
		4341	{
		4342	foreach(var trkseg in trk.Segs)
		4343	{
		4344	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		4345	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		4346	}
		4347
		4348	}
		4349	if(wpl.Count() > 0)
		4350	{
2327	-	4351	_clearMapMarkers(typeof(GMapRoute));
2324	-	4352	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	4353	Dispatcher.Invoke(() =>
		4354	{
		4355	GMapRoute mRoute;
		4356	if (comboBoxRouteColor.SelectionBoxItem != null)
		4357	{
		4358	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	4359	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	4360	}
		4361	else
2366	-	4362	mRoute = new GMapRoute(wpl, null);
2324	-	4363
2328	-	4364	MainMap.Markers.Add(mRoute);
		4365	});
2324	-	4366	}
		4367
		4368	}
		4369	catch (Exception e)
		4370	{
		4371	Console.WriteLine("Exception: {0}", e.ToString());
		4372	}
		4373	}
		4374	}
		4375	#endregion GPX
2315	-	4376	#endregion functions
2287	-	4377	}
2315	-	4378	/// <summary>
		4379	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		4380	/// </summary>
2313	-	4381	public class waypointsConverter : IValueConverter
		4382	{
		4383	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		4384	{
		4385	if (value != null)
		4386	{
		4387	switch ((string)parameter)
		4388	{
		4389	case "Latitude":
		4390	return value.ToString() + " °";
		4391	case "Longitude":
		4392	return value.ToString() + " °";
		4393	case "Radius":
		4394	return value.ToString() + " m";
		4395	case "Altitude":
		4396	return value.ToString() + " m";
		4397	case "ClimbRate":
		4398	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		4399	case "DelayTime":
		4400	return value.ToString() + " s";
		4401	case "Heading":
		4402	return Waypoints.Heading(System.Convert.ToInt32(value));
		4403	case "Speed":
		4404	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		4405	case "CamAngle":
		4406	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		4407	case "Type":
		4408	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		4409	case "AutoTrigger":
		4410	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		4411	case "Status":
2355	-	4412	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	4413	}
		4414
		4415	return value.ToString();
		4416	}
		4417	else return value;
		4418	}
		4419
		4420	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		4421	{
		4422	throw new NotImplementedException();
		4423	}
		4424	}
		4425
2287	-	4426	public class IniFile
		4427	{
		4428	public string path;
		4429
		4430	[DllImport("kernel32")]
		4431	private static extern long WritePrivateProfileString(string section,
		4432	string key, string val, string filePath);
		4433
		4434	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		4435	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		4436	uint nSize, string lpFileName);
		4437
		4438	[DllImport("kernel32")]
		4439	private static extern int GetPrivateProfileString(string section,
		4440	string key, string def, StringBuilder retVal,
		4441	int size, string filePath);
		4442
		4443	public IniFile(string INIPath)
		4444	{
		4445	path = INIPath;
		4446	}
		4447
		4448	public void IniWriteValue(string Section, string Key, string Value)
		4449	{
		4450	WritePrivateProfileString(Section, Key, Value, this.path);
		4451	}
		4452
		4453	public string IniReadValue(string Section, string Key)
		4454	{
		4455	StringBuilder temp = new StringBuilder(255);
		4456	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		4457	return temp.ToString();
		4458	}
		4459	//Ini_sections auslesen in String-Array
		4460	public string[] IniSectionNames()
		4461	{
		4462
		4463	// uint MAX_BUFFER = 32767;
		4464	uint MAX_BUFFER = 8388608;
		4465	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		4466	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		4467	if (bytesReturned == 0)
		4468	{
		4469	Marshal.FreeCoTaskMem(pReturnedString);
		4470	return null;
		4471	}
		4472	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		4473	Marshal.FreeCoTaskMem(pReturnedString);
		4474	//use of Substring below removes terminating null for split
		4475	return local.Substring(0, local.Length - 1).Split('\0');
		4476
		4477
		4478	}
		4479	}
		4480
		4481	/// <summary>
		4482	/// Selected Win AI Function Calls
		4483	/// </summary>
		4484	public class WinApi
		4485	{
		4486	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		4487	public static extern int GetSystemMetrics(int which);
		4488	[DllImport("user32.dll")]
		4489	public static extern void
		4490	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		4491	int X, int Y, int width, int height, uint flags);
		4492
		4493	private const int SM_CXSCREEN = 0;
		4494	private const int SM_CYSCREEN = 1;
		4495	private static IntPtr HWND_TOP = IntPtr.Zero;
		4496	private const int SWP_SHOWWINDOW = 64; // 0x0040
		4497
		4498	public static int ScreenX
		4499	{
		4500	get { return GetSystemMetrics(SM_CXSCREEN); }
		4501	}
		4502
		4503	public static int ScreenY
		4504	{
		4505	get { return GetSystemMetrics(SM_CYSCREEN); }
		4506	}
		4507
		4508	public static void SetWinFullScreen(IntPtr hwnd)
		4509	{
		4510	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		4511	}
		4512	}
		4513	/// <summary>
		4514	/// Class used to preserve / restore state of the window
		4515	/// </summary>
		4516	public class WinState
		4517	{
		4518	private WindowState winState;
		4519	private WindowStyle brdStyle;
		4520	private bool topMost;
		4521	private Rect restore;
		4522	private bool IsMaximized = false;
		4523
		4524	public bool isMaximized
		4525	{
		4526	get { return IsMaximized; }
		4527	}
		4528	public void Maximize(Window targetForm)
		4529	{
		4530	if (!IsMaximized)
		4531	{
		4532	IsMaximized = true;
		4533	Save(targetForm);
		4534	targetForm.WindowState = WindowState.Maximized;
		4535	targetForm.WindowStyle = WindowStyle.None;
		4536	targetForm.Topmost = true;
		4537	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		4538	}
		4539	}
		4540
		4541	public void Save(Window targetForm)
		4542	{
		4543	winState = targetForm.WindowState;
		4544	brdStyle = targetForm.WindowStyle;
		4545	topMost = targetForm.Topmost;
		4546	restore = targetForm.RestoreBounds;
		4547	}
		4548	public void Restore(Window targetForm)
		4549	{
		4550	targetForm.WindowState = winState;
		4551	targetForm.WindowStyle = brdStyle;
		4552	targetForm.Topmost = topMost;
		4553
		4554	targetForm.Left = restore.Left;
		4555	targetForm.Top = restore.Top;
		4556	targetForm.Height = restore.Height;
		4557	targetForm.Width = restore.Width;
		4558	IsMaximized = false;
		4559	}
		4560	}
		4561
		4562	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2399 - Rev