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
2401	-	776	Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m");
2347	-	777	}
		778	void _clearHomePos()
		779	{
2287	-	780	MainMap.Markers.Remove(home);
		781	}
2335	-	782	void _clearMapMarkers(Type markerType)
		783	{
		784	for (int k = 0; k < MainMap.Markers.Count;)
		785	{
		786	GMapMarker p = MainMap.Markers[k];
2340	-	787	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	788	MainMap.Markers.Remove(p);
		789	else
		790	k++;
		791	}
2287	-	792
2335	-	793	}
2369	-	794
		795	GMapMarker _findWPMarker(string name)
2368	-	796	{
		797	for (int k = 0; k < MainMap.Markers.Count;)
		798	{
		799	GMapMarker p = MainMap.Markers[k];
		800	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
2369	-	801	if (((CustomMarkerWP)p.Shape).WPText == name)
		802	return p;
2368	-	803	else
		804	k++;
		805	else
		806	k++;
		807	}
2369	-	808	return null;
2368	-	809	}
2369	-	810	void _clearWPMarker(string name)
		811	{
		812	GMapMarker p = _findWPMarker(name);
		813	if(p != null)
		814	MainMap.Markers.Remove(p);
		815	}
2368	-	816	void _renameWPMarker(string s1, string s2)
		817	{
2369	-	818	GMapMarker p = _findWPMarker(s1);
		819	if (p != null)
		820	((CustomMarkerWP)p.Shape).WPText = s2;
2368	-	821	}
2372	-	822	void _WPMarkerSetType(string text, int type)
		823	{
		824	GMapMarker p = _findWPMarker(text);
		825	if (p != null)
		826	((CustomMarkerWP)p.Shape).WPType = type;
		827	}
2369	-	828	void _repositionWPMarker(PointLatLng point, string name)
		829	{
		830	GMapMarker p = _findWPMarker(name);
		831	if (p != null)
		832	p.Position = point;
		833	}
		834
2287	-	835	// access mode
		836	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		837	{
		838	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		839	MainMap.ReloadMap();
		840	}
		841	// zoom up
		842	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		843	{
		844	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		845	}
		846
		847	// zoom down
		848	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		849	{
		850	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		851	}
		852
		853	// prefetch
		854	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		855	{
		856	RectLatLng area = MainMap.SelectedArea;
		857	if (!area.IsEmpty)
		858	{
		859	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		860	{
		861	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		862
		863	if (res == MessageBoxResult.Yes)
		864	{
		865	TilePrefetcher obj = new TilePrefetcher();
		866	obj.Owner = this;
		867	obj.ShowCompleteMessage = true;
		868	obj.Start(area, i, MainMap.MapProvider, 100);
		869	}
		870	else if (res == MessageBoxResult.No)
		871	{
		872	continue;
		873	}
		874	else if (res == MessageBoxResult.Cancel)
		875	{
		876	break;
		877	}
		878	}
		879	}
		880	else
		881	{
		882	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		883	}
		884	}
		885
		886	// goto by geocoder
		887	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		888	{
		889	_goto_byGeoCoder();
		890	}
		891	// goto by geocoder
		892	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		893	{
		894	if (e.Key == System.Windows.Input.Key.Enter)
		895	_goto_byGeoCoder();
		896	}
		897	void _goto_byGeoCoder()
		898	{
		899	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		900	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		901	{
		902	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		903	}
		904	}
		905	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		906	{
		907	try
		908	{
		909	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		910	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		911
		912	MainMap.Position = new PointLatLng(lat, lng);
		913	}
		914	catch (Exception ex)
		915	{
		916	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		917	}
		918
		919	}
		920
		921	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		922	{
		923	MainMap.ReloadMap();
		924	}
		925
		926	private void MainMap_OnPositionChanged(PointLatLng point)
		927	{
		928	if (_bFollowCopter)
		929	_setCopterData(MainMap.Position);
		930	}
		931
		932	private void MainMap_OnMapZoomChanged()
		933	{
		934	if (_bFollowCopter)
		935	_setCopterData(MainMap.Position);
		936	if((int)sliderMapZoom.Value != MainMap.Zoom)
		937	sliderMapZoom.Value = MainMap.Zoom;
		938	}
		939
		940	void _setCopterData(PointLatLng p)
		941	{
		942	Dispatcher.Invoke(() =>
		943	{
		944	copter.Position = p;
		945	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		946	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		947	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		948	});
		949	if (home != null && MainMap.Markers.Contains(home))
		950	{
		951	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		952	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		953	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	954
		955	if(d*1000 < _dThresholdDistanceWarn)
		956	{
		957	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		958	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		959	{
		960	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		961	_bAnimDistanceActive = false;
		962	}
		963	}
		964	else
		965	{
		966	if (_iDistanceJitter < 20)
		967	{ _iDistanceJitter++; }
		968	if (_iDistanceJitter == 20)
		969	{
		970	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		971	{
		972	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		973	_bAnimDistanceActive = true;
		974	}
		975	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		976	{
2398	-	977	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\Distance.mp3");
		978	//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		979	//t.Start();
2291	-	980	_bVoiceDistanceActive = true;
		981	}
		982	_iDistanceJitter++;
		983	}
		984	}
2287	-	985	}
		986	}
		987
		988	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		989	{
		990	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		991	}
		992
		993	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		994	{
		995	if (MainMap.Zoom != sliderMapZoom.Value)
		996	MainMap.Zoom = (int)sliderMapZoom.Value;
		997	}
		998	#region Touch zooming hackattack ;)
		999	/// <summary>
		1000	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		1001	/// </summary>
		1002	bool bFirstAccess = true;
		1003	double dDistance = 0;
		1004	int iZoom;
		1005	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1006	{
		1007	var id = e.StylusDevice.Id;
		1008	e.StylusDevice.Capture(MainMap);
		1009	if (iFirstStylusID == -1)
		1010	{
		1011	iFirstStylusID = id;
		1012	}
		1013	else
		1014	{
		1015
		1016	MainMap.CanDragMap = false;
		1017	}
		1018	}
		1019	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1020	{
		1021	MainMap.ReleaseStylusCapture();
		1022	iFirstStylusID = -1;
		1023	bFirstAccess = true;
		1024	MainMap.CanDragMap = true;
		1025	iZoom = 0;
		1026	}
		1027	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1028	{
		1029	var id = e.StylusDevice.Id;
		1030	var tp = e.GetPosition(MainMap);
		1031
		1032	// This is the first Stylus point; just record its position.
		1033	if (id == iFirstStylusID)
		1034	{
		1035	pTouch1.X = tp.X;
		1036	pTouch1.Y = tp.Y;
		1037	}
		1038	else
		1039	if (iFirstStylusID > -1)
		1040	{
		1041	pTouch2.X = tp.X;
		1042	pTouch2.Y = tp.Y;
		1043	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1044	if (!bFirstAccess)
		1045	{
		1046	if (distance > dDistance)
		1047	iZoom++;
		1048	else
		1049	if (distance < dDistance)
		1050	iZoom--;
		1051	}
		1052	if (iZoom > 30)
		1053	{
		1054	iZoom = 0;
		1055	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1056	}
		1057	if (iZoom < -30)
		1058	{
		1059	iZoom = 0;
		1060	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1061	}
		1062	dDistance = distance;
		1063	bFirstAccess = false;
		1064	}
		1065	}
		1066	#endregion Touch zooming hackattack ;)
		1067
		1068	#endregion GMap
		1069
		1070	#region settings
		1071	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1072	{
		1073	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		1074	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1075	}
		1076	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1077	{
		1078	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		1079	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1080	}
		1081	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1082	{
		1083	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1084	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1085	}
		1086	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1087	{
		1088	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1089	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1090	}
		1091	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1092	{
		1093	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1094	}
		1095	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1096	{
		1097	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1098	}
		1099	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1100	{
		1101	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1102	}
		1103	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1104	{
		1105	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1106	}
		1107
		1108	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1109	{
		1110	if (cBoxLiPoCells.SelectedIndex > -1)
		1111	{
		1112	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1113	_LipoMinMax();
		1114	}
		1115	}
		1116	void _LipoMinMax()
		1117	{
		1118	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1119	_dLipoVMin = (double)_LipoCells * 3;
		1120	pbTopVoltage.Maximum = _dLipoVMax;
		1121	pbTopVoltage.Minimum = _dLipoVMin;
		1122	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1123	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1124	}
		1125	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1126	{
		1127	if (cBoxMotors.SelectedIndex > -1)
		1128	{
		1129	_iMotors = cBoxMotors.SelectedIndex + 3;
		1130	Dispatcher.Invoke(() =>
		1131	{
		1132	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1133	GridMotors.Height = dgvMotors1.Height + 10;
		1134	});
		1135	}
		1136	}
		1137	void _setMotorGridSize()
		1138	{
		1139	if (dgvMotors1.Columns.Count > 2)
		1140	{
		1141	dgvMotors1.Columns[0].Width = 24;
		1142	dgvMotors1.Columns[1].Width = 50;
		1143	dgvMotors1.Columns[2].Width = 50;
		1144	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1145	GridMotors.Height = dgvMotors1.Height + 10;
		1146	}
		1147
		1148	}
		1149	#endregion settings
		1150
		1151	#region functions
		1152
		1153	#region logging
		1154	/// <summary> Log data to the terminal window. </summary>
		1155	/// <param name="msgtype"> The type of message to be written. </param>
		1156	/// <param name="msg"> The string containing the message to be shown. </param>
		1157	private void Log(LogMsgType msgtype, string msg)
		1158	{
		1159	Dispatcher.Invoke(() =>
		1160	{
		1161	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1162	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1163	// rtfTerminal.AppendText(msg + "\r");
		1164	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1165	tr.Text = msg;
		1166	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1167	rtfTerminal.AppendText("\r");
		1168	rtfTerminal.ScrollToEnd();
		1169	});
		1170	}
2381	-	1171	private void ErrorLog(LogMsgType msgtype, string msg , string linkURL, string linkName)
2287	-	1172	{
2381	-	1173
2287	-	1174	Dispatcher.Invoke(() =>
		1175	{
2381	-	1176	Paragraph para = new Paragraph();
		1177	para.Margin = new Thickness(0); // remove indent between paragraphs
		1178
		1179	Hyperlink link = new Hyperlink();
		1180	if (linkURL != "" && linkName != "")
		1181	{
		1182	link.IsEnabled = true;
		1183	link.Inlines.Add(linkName);
		1184	link.NavigateUri = new Uri(linkURL);
		1185	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1186	}
		1187	//msg = DateTime.Now.ToLongTimeString() + msg;
		1188	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1189	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1190	r.Foreground = new SolidColorBrush(Colors.Black);
		1191	para.Inlines.Add(r);
		1192	para.Inlines.Add(msg);
		1193	para.Inlines.Add(link);
		1194	rtfError.Document.Blocks.Add(para);
		1195	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1196	//tr.Text = msg + link;
		1197	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1198	//rtfError.AppendText("\r");
2287	-	1199	rtfError.ScrollToEnd();
		1200
2381	-	1201	//_bErrorLog = true;
2287	-	1202	});
		1203	}
		1204	/// <summary>
		1205	/// Clear the line in the errorlog window
		1206	/// containing the error string when error has ceased
		1207	/// </summary>
		1208	/// <param name="s">substring of errrormessage</param>
		1209	void _clearErrorLog(string s)
		1210	{
		1211	Dispatcher.Invoke((Action)(() =>
		1212	{
		1213	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1214	TextRange foundRange = FindTextInRange(searchRange, s);
		1215
		1216	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1217
		1218
		1219	if (iStart > -1)
		1220	{
		1221	int iLength = 0;
		1222	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1223	if (iEnd > 0)
		1224	{
		1225	iLength = iEnd + 1;
		1226	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1227	if (iHttp == iLength)
		1228	{
		1229	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1230	if (iEnd2 > iLength)
		1231	{
		1232	iLength = iEnd2 + 1;
		1233	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1234
		1235	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1236	rtfError.Selection.Text = string.Empty;
		1237	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1238	}
		1239
		1240	}
		1241	else
		1242	{
		1243	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1244	rtfError.Selection.Text = string.Empty;
		1245	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1246	}
		1247	}
		1248	}
		1249	}));
		1250
		1251	}
		1252	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1253	{
		1254	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1255	if (offset < 0)
		1256	return null; // Not found
		1257
		1258	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1259	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1260
		1261	return result;
		1262	}
		1263	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1264	{
		1265	while (position != null)
		1266	{
		1267	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1268	{
		1269	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1270	if (characterCount <= count)
		1271	{
		1272	return position.GetPositionAtOffset(characterCount);
		1273	}
		1274
		1275	characterCount -= count;
		1276	}
		1277
		1278	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1279	if (nextContextPosition == null)
		1280	return position;
		1281
		1282	position = nextContextPosition;
		1283	}
		1284
		1285	return position;
		1286	}
		1287	#endregion logging
		1288
		1289	#region processing received data
		1290
		1291	private void processMessage(byte[] message)
		1292	{
		1293	if (message.Length > 0)
		1294	{
		1295	_iLifeCounter++;
		1296	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1297	//Log(LogMsgType.Incoming, message.Length.ToString());
		1298	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1299	char cmdID;
		1300	byte adr;
		1301	byte[] data;
		1302	byte[] tmp = null;
		1303	if (message[0] != '#')
		1304	{
		1305	int iFound = -1;
		1306	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1307	{ //so this is a workaround to not spam the log box
		1308	if (message[i] == 35)
		1309	{
		1310	iFound = i;
		1311	break;
		1312	}
		1313	}
		1314	if (iFound > 0)
		1315	{
		1316	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1317	tmp = new byte[message.Length - iFound];
		1318	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1319	}
		1320	s = s.Trim('\0', '\n', '\r');
		1321	if (s.Length > 0)
		1322	Log(LogMsgType.Normal, s);
		1323	if (tmp != null)
		1324	{
		1325	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1326	processMessage(tmp);
		1327	}
		1328	}
		1329	//Debug.Print(s);
		1330	else
		1331	{
		1332	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1333
		1334	if (adr == 255) { crcError++; }
		1335	else crcError = 0;
		1336	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1337	//display the active controller (FC / NC)
		1338	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...???
		1339	{
		1340	_iCtrlAct = adr;
		1341	switch (adr)
		1342	{
		1343	case 1:
		1344	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2381	-	1345	// Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1346	// Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
2287	-	1347	// _setFieldsNA(); //display fields NA for FC
		1348	break;
		1349	case 2:
		1350	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1351	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1352	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1353	break;
		1354	//case 3:
		1355	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1356	// break;
		1357	//case 4:
		1358	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1359	// break;
		1360	default:
		1361	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1362	break;
		1363	}
		1364	// _loadLabelNames();
		1365	}
		1366	// else
		1367	// Debug.Print("Address == 0?");
		1368
		1369	if (data != null && data.Length > 0)
		1370	{
		1371	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1372	s = s.Trim('\0', '\n');
		1373
		1374	switch (cmdID)
		1375	{
		1376	//case 'A': //Label names
		1377	// _processLabelNames(s);
		1378	// break;
		1379
		1380	case 'D': //Debug data
		1381	_processDebugVals(adr, data);
		1382	break;
		1383
		1384	case 'V': //Version
		1385	_processVersion(adr, data);
		1386	break;
		1387
		1388	case 'K'://BL-CTRL data
		1389	_processBLCtrl(data);
		1390	break;
		1391
		1392	case 'O': //NC Data
		1393	_processNCData(data);
		1394	break;
		1395
2381	-	1396	//case 'E': //NC error-string
		1397	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1398	// break;
2287	-	1399
		1400	case 'L': //OSD Menue (called by pagenumber)
		1401	_processOSDSingle(data);
		1402	break;
		1403
		1404	case 'H': //OSD Menue (with autoupdate - called by Key)
		1405	_processOSDAuto(data);
		1406	break;
		1407
		1408	case 'X': //Waypoint data
		1409	_processWPData(data);
		1410	break;
		1411
2313	-	1412	case 'W': //return new Waypoint items count after sending waypoint to copter
		1413	_iWPCount = data[0];
		1414	break;
2287	-	1415	//default:
		1416	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1417	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1418	// break;
		1419	}
		1420	}
		1421	//else
		1422	//{
		1423	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1424	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1425	//}
		1426	}
		1427	}
		1428	}
		1429	/// <summary>
		1430	/// Analog label names 'A'
		1431	/// each label name is returned as a single string
		1432	/// and added to string array sAnalogLabel[]
		1433	/// and the datatable dtAnalog
		1434	/// </summary>
		1435	/// <param name="s">the label name</param>
		1436	void _processLabelNames(string s)
		1437	{
		1438	//if (iLableIndex < 32)
		1439	//{
		1440	// sAnalogLabel[iLableIndex] = s;
		1441	// if (dtAnalog.Rows.Count < 32)
		1442	// dtAnalog.Rows.Add(s, "");
		1443	// else
		1444	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1445
		1446	// // _getAnalogLabels(iLableIndex + 1);
		1447	//}
		1448	//Debug.Print(s);
		1449	}
		1450	/// <summary>
		1451	/// Debug values 'D'
		1452	/// </summary>
		1453	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1454	/// <param name="data">the received byte array to process</param>
		1455	void _processDebugVals(byte adr, byte[] data)
		1456	{
		1457	if (data.Length == 66)
		1458	{
2324	-	1459
2287	-	1460	double v;
		1461	int index = 0;
		1462	Int16 i16 = 0;
		1463	double dTemp = 0;
		1464	for (int i = 2; i < 66; i += 2)
		1465	{
		1466	i16 = data[i + 1];
		1467	i16 = (Int16)(i16 << 8);
		1468	iAnalogData[index] = data[i] + i16;
		1469	sAnalogData[index] = (data[i] + i16).ToString();
		1470	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1471
		1472	if (adr == 2) //NC
		1473	{
		1474	switch (index)
		1475	{
		1476	case 0: //pitch (German: nick)
		1477	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1478	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1479	break;
		1480	case 1: //roll
		1481	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1482	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1483	break;
		1484	case 4: //altitude
		1485	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1486	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2324	-	1487	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1488	break;
		1489	case 7: //Voltage
		1490	v = (double)iAnalogData[index] / (double)10;
		1491	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1492	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1493	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1494	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1495	{
		1496	if (v == _dVoltLast)
		1497	if(_iVoltJitter < 20) _iVoltJitter++;
		1498	else
		1499	{
		1500	_iVoltJitter = 0;
		1501	_dVoltLast = v;
		1502	}
		1503	if (_iVoltJitter == 20)
		1504	{
		1505	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1506
		1507	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1508	{
		1509	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1510	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1511	{
		1512	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1513	_bCritAnimVoltActive = true;
		1514	}
		1515	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1516	{
2398	-	1517	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3");
		1518	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1519	//t.Start();
2287	-	1520	_bCritVoiceVoltActive = true;
		1521	}
		1522	}
		1523	else
		1524	{
		1525	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1526	{
		1527	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1528	_bCritAnimVoltActive = false;
		1529	}
		1530	_bCritVoiceVoltActive = false;
		1531
2291	-	1532	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1533	{
2398	-	1534	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3");
		1535	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1536	//t.Start();
2291	-	1537	_bWarnVoiceVoltActive = true;
2287	-	1538	}
		1539	}
		1540	}
		1541	}
		1542	else
		1543	{
		1544	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1545	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1546	{
		1547	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1548	_bCritAnimVoltActive = false;
		1549	}
		1550	_bCritVoiceVoltActive = false;
2291	-	1551	_bWarnVoiceVoltActive = false;
2287	-	1552	_iVoltJitter = 0;
		1553	}
		1554	break;
		1555	case 8: // Current
		1556	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1557	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1558	break;
		1559	case 10: //heading
2291	-	1560	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2399	-	1561	if (!_Simulate) //use NavData for simulation
		1562	{
		1563	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1564	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		1565	}
2287	-	1566	break;
		1567	case 12: // SPI error
2291	-	1568	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1569	break;
		1570	case 14: //i2c error
2291	-	1571	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1572	break;
		1573	case 20: //Earthmagnet field
2291	-	1574	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1575	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1576
		1577	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1578	{
		1579	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1580	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1581	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1582	{
		1583	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1584	_bAnimMagneticFieldActive = false;
		1585	}
		1586	}
		1587	else
		1588	{
		1589	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1590	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1591	{
		1592	if (_iMagneticFieldJitter < 20)
		1593	_iMagneticFieldJitter++;
		1594	}
		1595	else
		1596	{
		1597	_iMagneticFieldJitter = 0;
		1598	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1599	}
		1600	if(_iMagneticFieldJitter == 20)
		1601	{
		1602	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1603	{
		1604	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1605	_bAnimMagneticFieldActive = true;
		1606	}
		1607	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1608	{
2398	-	1609	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1610	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1611	//t.Start();
2291	-	1612	_bVoiceMagneticFieldActive = true;
		1613	}
		1614	}
		1615	}
2287	-	1616	break;
		1617	case 21: //GroundSpeed
		1618	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2399	-	1619	if (!_Simulate)
		1620	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2287	-	1621	break;
2291	-	1622
		1623	///******** needs testing --> not sure what position this is *************
2287	-	1624	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1625	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1626	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1627	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1628	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1629	dTemp = Math.Sqrt(dTemp) / (double)10;
		1630	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1631	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1632	break;
2291	-	1633
2287	-	1634	case 31: //Sats used
		1635	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1636	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1637	break;
		1638	}
		1639	}
		1640	index++;
		1641	}
		1642	}
		1643	else
		1644	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1645	}
		1646	/// <summary>
		1647	/// Version string 'V'
		1648	/// </summary>
		1649	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1650	/// <param name="data">the received byte array to process</param>
		1651	void _processVersion(byte adr, byte[] data)
		1652	{
		1653	if (data.Length == 12)
		1654	{
		1655	if (!check_HWError)
		1656	{
		1657	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1658	string sVersion = "";
		1659	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1660	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1661	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1662	Log(LogMsgType.Incoming, sVersion);
		1663	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1664	Log(LogMsgType.Incoming, sVersion);
		1665	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1666	}
		1667	if (data[5] > 0) //error0
		1668	{
		1669	if (adr == 1)
2381	-	1670	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(),"","");
2287	-	1671	if (adr == 2)
2381	-	1672	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(),"","");
2287	-	1673	}
		1674	if (data[6] > 0) //error1
		1675	{
		1676	if (adr == 1)
2381	-	1677	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(),"","");
2287	-	1678	if (adr == 2)
2381	-	1679	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(),"",""); //@moment NC has only one error field
2287	-	1680	}
2381	-	1681	//if ((data[5] + data[6] == 0) && _bErrorLog)
		1682	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
2287	-	1683
		1684	}
		1685	check_HWError = false;
		1686	}
		1687	/// <summary>
		1688	/// BL-Ctrl data 'K'
		1689	/// for FC you have to use a customized firmware
		1690	/// </summary>
		1691	/// <param name="data">the received byte array to process</param>
		1692	void _processBLCtrl(byte[] data)
		1693	{
		1694	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1695	{
		1696	bool bAvailable = false;
		1697	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1698	{
		1699
		1700	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1701	bAvailable = true;
		1702	else
		1703	bAvailable = false;
		1704
		1705	if (data[i] < _iMotors)
		1706	{
		1707	if (bAvailable)
		1708	{
2315	-	1709	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1710	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1711	}
		1712	else
		1713	{
2315	-	1714	dtMotors.Rows[data[i]].SetField(1, "NA");
		1715	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1716	}
		1717	}
		1718	//if (data[i] > 3 && data[i] < 8)
		1719	//{
		1720	// if (bAvailable)
		1721	// {
		1722	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1723	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1724	// }
		1725	// else
		1726	// {
		1727	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1728	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1729	// }
		1730	//}
		1731	}
		1732	}
		1733	}
		1734	/// <summary>
		1735	/// Navi-Ctrl data 'O'
		1736	/// GPS-Position, capacatiy, flying time...
		1737	/// </summary>
		1738	/// <param name="data">the received byte array to process</param>
		1739	void _processNCData(byte[] data)
		1740	{
		1741	int i_32, i_16, iVal;
		1742	double d;
		1743	i_32 = data[4];
		1744	iVal = i_32 << 24;
		1745	i_32 = data[3];
		1746	iVal += i_32 << 16;
		1747	i_32 = data[2];
		1748	iVal += i_32 << 8;
		1749	iVal += data[1];
		1750	d = (double)iVal / Math.Pow(10, 7);
2324	-	1751	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1752
2287	-	1753	PointLatLng p = new PointLatLng();
		1754
		1755	p.Lng = d;
		1756	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1757	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1758
		1759	i_32 = data[8];
		1760	iVal = i_32 << 24;
		1761	i_32 = data[7];
		1762	iVal += i_32 << 16;
		1763	i_32 = data[6];
		1764	iVal += i_32 << 8;
		1765	iVal += data[5];
		1766	d = (double)iVal / Math.Pow(10, 7);
2324	-	1767	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1768	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1769	p.Lat = d;
2399	-	1770
2291	-	1771	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1772	{
		1773	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1774	if(_bAutoHome && !_bFirstSatFix)
		1775	{
		1776	if (_iFirstSatFix < 3)
		1777	_iFirstSatFix++;
		1778	else
		1779	{
		1780	_bFirstSatFix = true;
2347	-	1781	Dispatcher.Invoke(() => _setHomePos());
2295	-	1782	}
		1783	}
2291	-	1784	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1785	{
		1786	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1787	_bAnimSatFixActive = false;
		1788	}
		1789	if (!_bFollowCopter)
		1790	{
		1791	_setCopterData(p);
		1792	if (!MainMap.ViewArea.Contains(p))
		1793	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1794
2291	-	1795	}
		1796	else
2287	-	1797	Dispatcher.Invoke(() => MainMap.Position = p);
		1798	}
		1799	else
2291	-	1800	{
		1801	if(_bSatFix)
		1802	{
		1803	if (data[50] == _iSatsLast)
		1804	{
		1805	if (_iSatsJitter < 20) _iSatsJitter++;
		1806	}
		1807	else
		1808	{
		1809	_iSatsJitter = 0;
		1810	_iSatsLast = data[50];
		1811	}
2287	-	1812
2291	-	1813	if (_iSatsJitter == 20)
		1814	{
		1815	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1816	{
		1817	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1818	_bAnimSatFixActive = true;
		1819	}
		1820	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1821	{
2398	-	1822	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		1823	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		1824	//th.Start();
2291	-	1825	_bVoiceSatFixActive = true;
		1826	}
		1827
		1828	_bSatFix = false;
		1829	}
		1830	}
		1831	}
		1832
2399	-	1833	//Distance to next WP
2287	-	1834	i_16 = data[28];
		1835	i_16 = (Int16)(i_16 << 8);
		1836	iVal = data[27] + i_16;
2399	-	1837	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		1838	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
2401	-	1839	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	1840
		1841	i_16 = data[45];
		1842	i_16 = (Int16)(i_16 << 8);
		1843	iVal = data[44] + i_16;
		1844	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1845	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1846
		1847	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2355	-	1848	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2401	-	1849	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString()));
2399	-	1850	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
2342	-	1851	{
2347	-	1852	_setActiveWP(data[48]-1);
2355	-	1853	if((data[67] & 2) == 2)
		1854	Dispatcher.Invoke(() => {
		1855	DataGridRow row;
		1856	if (_wpIndex > -1)
		1857	{
		1858	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1859	row.Background = new SolidColorBrush(Colors.Transparent);
		1860	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1861	row.BorderThickness = new Thickness(0);
		1862	}
		1863	_wpIndex = data[48] - 1;
		1864	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
2366	-	1865	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		1866	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	1867	row.BorderThickness = new Thickness(2);
		1868	dgvWP.UpdateLayout();
		1869	});
2347	-	1870	_wpIndex = data[48]-1;
2342	-	1871	}
2347	-	1872	else
		1873	{
		1874	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	1875	{
2347	-	1876	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	1877	Dispatcher.Invoke(() =>
		1878	{
		1879	DataGridRow row;
2368	-	1880	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	1881	{
		1882	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1883	row.Background = new SolidColorBrush(Colors.Transparent);
		1884	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1885	row.BorderThickness = new Thickness(0);
		1886	_wpIndex = -1;
		1887	}
		1888	});
		1889
		1890	}
2347	-	1891	}
2342	-	1892
2287	-	1893	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	1894	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2401	-	1895	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	1896	_wpCount = data[49];
2287	-	1897	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1898
		1899	//--------------- Capacity used ------------------------
		1900	i_16 = data[81];
		1901	i_16 = (Int16)(i_16 << 8);
		1902	iVal = data[80] + i_16;
		1903	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1904	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1905
2398	-	1906	//--------------- Ground speed ------------------------
		1907	i_16 = data[59];
		1908	i_16 = (Int16)(i_16 << 8);
		1909	iVal = data[58] + i_16;
2399	-	1910	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		1911	if(_Simulate)
		1912	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
2398	-	1913
		1914	//--------------- Heading north ------------------------
		1915	i_16 = data[61];
		1916	i_16 = (Int16)(i_16 << 8);
		1917	iVal = data[60] + i_16;
		1918	Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
		1919
		1920	//--------------- Heading compass ------------------------
		1921	i_16 = data[63];
		1922	i_16 = (Int16)(i_16 << 8);
		1923	iVal = data[62] + i_16;
		1924	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
2399	-	1925	if (_Simulate)
		1926	{
		1927	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		1928	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		1929	}
2287	-	1930	//--------------- Flying time ------------------------
		1931	i_16 = data[56];
		1932	i_16 = (Int16)(i_16 << 8);
		1933	iVal = data[55] + i_16;
		1934	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1935	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1936	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1937	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1938
		1939	//--------------- RC quality ------------------------
		1940	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1941	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1942
2291	-	1943	if(data[66] > _iThresholdRC)
		1944	{
		1945	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1946	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1947	{
		1948	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1949	_bAnimRCLevelActive = false;
		1950	}
		1951	}
		1952	else
		1953	{
		1954	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1955	if (_iRCLevelJitter == 20)
		1956	{
		1957	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1958	{
		1959	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1960	_bAnimRCLevelActive = true;
		1961	}
		1962	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1963	{
2398	-	1964	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1965	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1966	//th.Start();
2291	-	1967	_bVoiceRCLevelActive = true;
		1968	}
		1969	_iRCLevelJitter++;
		1970	}
		1971	}
		1972
2399	-	1973	//Target hold time
		1974	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
2401	-	1975	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s"));
2399	-	1976
2287	-	1977	//--------------- NC Error ------------------------
		1978	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1979	if (data[69] > 0)
		1980	_readNCError();
		1981	if (data[69] > 0 & data[69] < 44)
2381	-	1982	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		1983	//else
		1984	// if (_bErrorLog) _clearErrorLog("NC Error");
2287	-	1985
2298	-	1986	//-------------FC / NC Status Flags
		1987	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1988	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1989	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1990	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1991	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1992	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1993
		1994	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1995	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1996	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1997	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1998	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1999	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
		2000	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2001	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2002
		2003	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2004	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2005	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2006	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2007	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2008	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2009	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	2010
		2011	//Sidebar StatusSymbols
		2012	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2013	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
		2014	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
		2015
		2016	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2017	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
		2018	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
		2019
		2020	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	2021	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
		2022	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	-	2023
		2024	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2025	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
		2026	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
		2027
		2028	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	2029	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
		2030	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
		2031	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	-	2032
2324	-	2033	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	2034	}
		2035	/// <summary>
		2036	/// Navi-Ctrl WP data struct 'X'
		2037	/// called by index
		2038	/// </summary>
		2039	/// <param name="data">the received byte array to process</param>
		2040	void _processWPData(byte[] data)
		2041	{
2313	-	2042	_iWPCount = data[0];
2287	-	2043	_bGetWPCount = false;
		2044	if (data.Length >= 28)
		2045	{
		2046	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		2047	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		2048	if (_bGetWP)
		2049	{
		2050	if (data[1] == 1)
2315	-	2051	{
2333	-	2052	Dispatcher.Invoke(() =>
		2053	{
2356	-	2054	wpList.Clear();
		2055	_clearMapMarkers(typeof(CustomMarkerWP));
		2056	if (mRouteWP != null)
		2057	MainMap.Markers.Remove(mRouteWP);
		2058	if (wpActiveMarker != null)
		2059	MainMap.Markers.Remove(wpActiveMarker);
		2060	lblWPRouteDistance.Content = "0 m";
		2061	dtWaypoints.Rows.Clear();
2368	-	2062	_wpEdit = -1;_wpIndex = -1;
2318	-	2063	});
2315	-	2064	}
2287	-	2065	DataRow dr = dtWaypoints.NewRow();
		2066	dr = Waypoints.toDataRow(data, dr);
2313	-	2067	dtWaypoints.Rows.Add(dr);
2363	-	2068	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1]);
2313	-	2069	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2070	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	2071	if (data[1] == data[0])
		2072	{
		2073	_bGetWP = false;
2368	-	2074	_routeUpdate();
2287	-	2075	}
		2076
		2077	}
		2078	}
		2079	else
		2080	{
		2081	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		2082	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		2083	}
		2084	}
		2085	/// <summary>
		2086	/// OSD Menue 'L'
		2087	/// single page called by pagenumber
		2088	/// no autoupdate
		2089	/// </summary>
		2090	/// <param name="data">the received byte array to process</param>
		2091	void _processOSDSingle(byte[] data)
		2092	{
		2093	if (data.Length == 84)
		2094	{
		2095	string sMessage = "";
		2096	iOSDPage = data[0];
		2097	iOSDMax = data[1];
		2098	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		2099	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		2100	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2101	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2102	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2103	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2104	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2105	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2106
		2107	}
		2108	//else
		2109	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2110
		2111	}
		2112	/// <summary>
		2113	/// OSD Menue 'H'
		2114	/// called by keys (0x01,0x02,0x03,0x04)
		2115	/// autoupdate
		2116	/// </summary>
		2117	/// <param name="data">the received byte array to process</param>
		2118	void _processOSDAuto(byte[] data)
		2119	{
		2120	if (data.Length == 81)
		2121	{
		2122	string sMessage = "";
		2123	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2124	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2125	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2126	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2127	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2128
		2129	}
		2130	//else
		2131	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2132	}
		2133
		2134	#endregion processing received data
		2135
		2136	#region controller messages
		2137	/// <summary> send message to controller to request data
		2138	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2139	/// </summary>
		2140	/// <param name="CMDID"> the command ID </param>
		2141	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2142	private void _sendControllerMessage(char CMDID, byte address)
		2143	{
		2144	if (serialPortCtrl.Port.IsOpen)
		2145	{
		2146	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2147	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2148	serialStream.Write(bytes, 0, bytes.Length);
		2149
		2150	}
		2151	else
		2152	Log(LogMsgType.Error, "NOT CONNECTED!");
		2153	}
		2154	/// <summary> send message to controller to request data
		2155	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2156	/// </summary>
		2157	/// <param name="CMDID"> the command ID </param>
		2158	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2159	/// <param name="data"> additional data for the request</param>
		2160	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2161	{
		2162	if (serialPortCtrl.Port.IsOpen)
		2163	{
		2164	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2165	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2166	serialStream.Write(bytes, 0, bytes.Length);
		2167
		2168	}
		2169	else
		2170	Log(LogMsgType.Error, "NOT CONNECTED!");
		2171	}
		2172
		2173	/// <summary>
		2174	/// start/stop continous polling of controller values
		2175	/// </summary>
		2176	/// <param name="b">start/stop switch</param>
		2177	void _readCont(bool b)
		2178	{
		2179	bReadContinously = b;
		2180	if (bReadContinously)
		2181	{
		2182	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2183	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2184	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2185	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2186	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2187	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2188	}
		2189	else
		2190	{
		2191	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2192	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2193	_bConnErr = false;
		2194	}
		2195	_iLifeCounter = 0;
		2196	}
		2197
		2198	private void _getVersion()
		2199	{
		2200	_sendControllerMessage('v', 0);
		2201	}
		2202	/// <summary>
		2203	/// get FC version struct via NC
		2204	/// by sending '1' as data (not documented in wiki...)
		2205	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2206	/// </summary>
		2207	/// <param name="ctrl">controller number 1=FC</param>
		2208	private void _getVersion(byte ctrl)
		2209	{
		2210	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2211	}
		2212	/// <summary>
		2213	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2214	/// </summary>
		2215	private void _switchToNC()
		2216	{
		2217	if (serialPortCtrl.Port.IsOpen)
		2218	{
		2219	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2220	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2221	serialStream.Write(bytes, 0, bytes.Length);
		2222
		2223	Thread.Sleep(100);
		2224	_getVersion();
		2225	Thread.Sleep(100);
		2226	// _OSDMenue(0);
		2227	}
		2228	else
		2229	Log(LogMsgType.Error, "NOT CONNECTED!");
		2230	}
		2231	/// <summary>
		2232	/// switch to FC
		2233	/// </summary>
		2234	private void _switchToFC()
		2235	{
		2236	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2237	Thread.Sleep(100);
		2238	_getVersion();
		2239	Thread.Sleep(100);
		2240	// _OSDMenue(0);
		2241	}
		2242	/// <summary>
		2243	/// send RESET signal to FC
		2244	/// </summary>
		2245	private void _resetCtrl()
		2246	{
		2247	_sendControllerMessage('R', 1);
		2248	}
		2249	/// <summary>
		2250	/// poll the debug data (4sec subscription)
		2251	/// </summary>
		2252	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2253	private void _readDebugData(bool auto)
		2254	{
		2255	byte interval = auto ? debugInterval : (byte)0;
		2256	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2257	}
		2258	/// <summary>
		2259	/// poll the BL-CTRL status via NC (4sec subscription)
		2260	/// </summary>
		2261	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2262	private void _readBLCtrl(bool auto)
		2263	{
		2264	byte interval = auto ? blctrlInterval : (byte)0;
		2265	_sendControllerMessage('k', 0, new byte[1] { interval });
		2266	}
		2267	/// <summary>
		2268	/// poll the NC data struct (4sec subscription)
		2269	/// </summary>
		2270	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2271	private void _readNavData(bool auto)
		2272	{
		2273	byte interval = auto ? navctrlInterval : (byte)0;
		2274	_sendControllerMessage('o', 2, new byte[1] { interval });
		2275	}
		2276	/// <summary>
		2277	/// get the errortext for pending NC error
		2278	/// </summary>
		2279	private void _readNCError()
		2280	{
		2281	_sendControllerMessage('e', 2);
		2282	}
		2283	/// <summary>
		2284	/// request the Waypoint at index
		2285	/// </summary>
		2286	/// <param name="index"></param>
		2287	void _getpWP(int index)
		2288	{
		2289	if (serialPortCtrl.Port.IsOpen)
		2290	{
		2291	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2292	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2293	serialStream.Write(bytes, 0, bytes.Length);
		2294	}
		2295	else
		2296	Log(LogMsgType.Error, "NOT CONNECTED!");
		2297
		2298	}
		2299	void _getWP()
		2300	{
2335	-	2301	int iTimeout = 0;
2287	-	2302	_bGetWPCount = true;
2315	-	2303	_getpWP(1); //get the itemscount of wp
2335	-	2304	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2305	{
		2306	Thread.Sleep(10);
		2307	iTimeout++;
		2308	}
		2309	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2310	_getWPList();
		2311	}
		2312	void _getWPList()
		2313	{
		2314	_bGetWP = true;
2313	-	2315	int iTimeout=0;
		2316	for (int j = 0; j < _iWPCount; j++)
2287	-	2317	{
		2318	_getpWP(j + 1);
2313	-	2319	iTimeout = 0;
		2320	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2321	{
		2322	Thread.Sleep(1);
		2323	iTimeout++;
		2324	}
2287	-	2325	}
		2326	}
2363	-	2327	/// <summary>
		2328	/// Wrapper for _clearCopterWPList()
		2329	/// necessary, cause it is called by threadnew which does not like return values...
		2330	/// </summary>
2340	-	2331	void clearCopterWPList()
2313	-	2332	{
2340	-	2333	_clearCopterWPList();
		2334	}
2363	-	2335	/// <summary>
		2336	/// clear the WP list of the copter
		2337	/// by sending 'invalid' and index '0'
		2338	/// </summary>
		2339	/// <returns></returns>
2340	-	2340	bool _clearCopterWPList()
		2341	{
2335	-	2342	int iTimeout = 0;
2313	-	2343	if (serialPortCtrl.Port.IsOpen)
		2344	{
		2345	byte[] bData = new byte[30];
		2346	for (int i = 0; i < 30; i++)
		2347	bData[i] = 0;
		2348	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2349	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2350	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2351
2313	-	2352	_iWPCount = -1;
2340	-	2353	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2354	{
2313	-	2355	Thread.Sleep(10);
2335	-	2356	iTimeout++;
		2357	}
2313	-	2358	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2359	if (_iWPCount > -1)
2340	-	2360	return true;
		2361	else
		2362	Log(LogMsgType.Error, "Timeout while sending list!");
		2363	}
		2364	else
		2365	Log(LogMsgType.Error, "NOT CONNECTED!");
		2366
		2367	return false;
		2368	}
		2369	void _sendWPList()
		2370	{
2362	-	2371	_sendWPList(0);
		2372	}
		2373	void _sendWPList(int iStart)
		2374	{
2340	-	2375	int iTimeout = 0;
		2376	if (serialPortCtrl.Port.IsOpen)
		2377	{
		2378	if (_clearCopterWPList())
2313	-	2379	{
2362	-	2380	int k = 1;
		2381	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	2382	{
2362	-	2383	k = iStart > 0 ? k : -1;
2376	-	2384	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	2385
2335	-	2386	_iWPCount = -1;
		2387	iTimeout = 0;
		2388	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2389	{
		2390	Thread.Sleep(10);
		2391	iTimeout++;
		2392	}
		2393	if (_iWPCount == -1)
		2394	{
		2395	Log(LogMsgType.Error, "Timeout while sending list!");
		2396	break;
		2397	}
		2398	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	2399	k++;
2335	-	2400	}
2313	-	2401	}
		2402	}
		2403	else
		2404	Log(LogMsgType.Error, "NOT CONNECTED!");
		2405
		2406	}
2376	-	2407	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	2408	{
2313	-	2409
2340	-	2410	if (serialPortCtrl.Port.IsOpen)
		2411	{
		2412	byte[] bData = new byte[30];
		2413	for (int i = 0; i < 30; i++)
		2414	bData[i] = 0;
		2415	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2416	byte[] bytes;
		2417	int iVal;
		2418	double dVal;
		2419	NumberFormatInfo nfi = new NumberFormatInfo();
		2420	nfi.NumberDecimalSeparator = ",";
		2421
		2422	//longitude
		2423	dVal = Convert.ToDouble(dr[4], nfi);
		2424	iVal = (int)(dVal * Math.Pow(10, 7));
		2425	bData[0] = (byte)(iVal & 0xff);
		2426	bData[1] = (byte)((iVal >> 8) & 0xff);
		2427	bData[2] = (byte)((iVal >> 16) & 0xff);
		2428	bData[3] = (byte)(iVal >> 24);
		2429	//latitude
		2430	dVal = Convert.ToDouble(dr[3], nfi);
		2431	iVal = (int)(dVal * Math.Pow(10, 7));
		2432	bData[4] = (byte)(iVal & 0xff);
		2433	bData[5] = (byte)((iVal >> 8) & 0xff);
		2434	bData[6] = (byte)((iVal >> 16) & 0xff);
		2435	bData[7] = (byte)(iVal >> 24);
		2436	//altitude
		2437	dVal = Convert.ToDouble(dr[5], nfi);
		2438	iVal = (int)(dVal * 10);
		2439	bData[8] = (byte)(iVal & 0xff);
		2440	bData[9] = (byte)((iVal >> 8) & 0xff);
		2441	bData[10] = (byte)((iVal >> 16) & 0xff);
		2442	bData[11] = (byte)(iVal >> 24);
2376	-	2443	if(bSim)
		2444	bData[12] = 3; //Status 'SIMULATE'
2340	-	2445	//Status 'NEWDATA'
2376	-	2446	else
		2447	bData[12] = 1;
2340	-	2448	//heading
		2449	iVal = Convert.ToInt16(dr[6]);
		2450	bData[13] = (byte)(iVal & 0xff);
		2451	bData[14] = (byte)((iVal >> 8) & 0xff);
		2452	//ToleranceRadius
		2453	bData[15] = Convert.ToByte(dr[9]);
		2454	//HoldTime
		2455	bData[16] = Convert.ToByte(dr[10]);
		2456	//Event_Flag
		2457	bData[17] = Convert.ToByte(dr[13]);
		2458	//Index
2379	-	2459	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
2340	-	2460	//Type
		2461	bData[19] = Convert.ToByte(dr[1]);
		2462	//WP_EventChannelValue
		2463	bData[20] = Convert.ToByte(dr[14]);
		2464	//AltitudeRate
		2465	bData[21] = Convert.ToByte(dr[8]);
		2466	//Speed
		2467	bData[22] = Convert.ToByte(dr[7]);
		2468	//CamAngle
		2469	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2470	//Name
2362	-	2471	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		2472	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	2473	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2474	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2475	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2476	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2477	//Autotrigger
		2478	bData[28] = Convert.ToByte(dr[11]);
		2479
2356	-	2480	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	2481	serialStream.Write(bytes, 0, bytes.Length);
		2482
		2483	return true;
		2484	}
		2485
		2486	return false;
		2487	}
2287	-	2488	#region OSD-Menue
		2489
		2490	/// <summary>
		2491	/// one time query of the OSD Menue with pagenumber
		2492	/// </summary>
		2493	/// <param name="iMenue">Menue page</param>
		2494	void _OSDMenue(int iMenue)
		2495	{
		2496	if (serialPortCtrl.Port.IsOpen)
		2497	{
		2498	if (iMenue > iOSDMax)
		2499	iMenue = 0;
		2500	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2501	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2502	serialStream.Write(bytes, 0, bytes.Length);
		2503	}
		2504	else
		2505	Log(LogMsgType.Error, "NOT CONNECTED!");
		2506
		2507	}
		2508	/// <summary>
		2509	/// call the OSDMenue and start autorefresh
		2510	/// usually by sending a menuekey
		2511	/// 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)
		2512	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2513	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2514	/// </summary>
		2515	void _OSDMenueAutoRefresh()
		2516	{
		2517	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2518	}
		2519	void _OSDMenueAutoRefresh(byte key)
		2520	{
		2521	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2522	}
		2523	/// <summary>
		2524	/// initialize the OSD menue combobox
		2525	/// combox is filled by numbers from 0 to max pagenumber
		2526	/// </summary>
		2527	void _initOSDCB()
		2528	{
		2529	_bCBInit = true;
		2530	if (iOSDMax == 0)
		2531	{
		2532	_OSDMenue(0);
		2533	Thread.Sleep(10);
		2534	}
		2535	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2536	for (int i = 0; i <= iOSDMax; i++)
		2537	{
		2538	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2539	}
		2540	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2541	_bCBInit = false;
		2542	}
		2543	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2544	{
		2545	iOSDPage++;
		2546	if (iOSDPage > iOSDMax)
		2547	iOSDPage = 0;
		2548
		2549	_OSDMenue(iOSDPage);
		2550	}
		2551	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2552	{
		2553	iOSDPage--;
		2554	if (iOSDPage < 0)
		2555	iOSDPage = iOSDMax;
		2556
		2557	_OSDMenue(iOSDPage);
		2558	}
		2559	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2560	{
		2561	_OSDMenueAutoRefresh(8);
		2562	}
		2563	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2564	{
		2565	_OSDMenueAutoRefresh(4);
		2566	}
		2567	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2568	{
		2569	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2570	_OSDMenue(cbOSD.SelectedIndex);
		2571	}
		2572	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2573	{
		2574	Dispatcher.Invoke(() =>
		2575	{
		2576	TextRange tr;
		2577	if (bNew)
		2578	{
		2579	rtfOSD.SelectAll();
		2580	rtfOSD.Selection.Text = string.Empty;
		2581	}
		2582	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2583	tr.Text = msg;
		2584	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2585	// rtfOSD.AppendText("\r");
		2586	rtfOSD.ScrollToEnd();
		2587
		2588	});
		2589	}
		2590
		2591	#endregion OSD-Menue
		2592
		2593	#endregion controller messages
		2594
2398	-	2595	void _mediaPlayer(object file)
2295	-	2596	{
2398	-	2597	if (File.Exists((string)file))
2295	-	2598	{
		2599	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
2398	-	2600	mp.Open((string)file);
2295	-	2601	mp.Play();
		2602	}
		2603	}
2310	-	2604
2362	-	2605	#region ui
2310	-	2606	/// <summary>
		2607	/// Switch between fullscreen and normal window mode
		2608	/// save & restore scaling settings
		2609	/// </summary>
		2610	/// <param name="sender"></param>
		2611	/// <param name="e"></param>
2287	-	2612	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2613	{
		2614	if (winState.isMaximized)
		2615	{
		2616	winState.Restore(this);
		2617	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2618	if(_bSaveWinStateFull)
		2619	_saveScaleSliders(true);
		2620	if(_bSaveWinStateNormal)
		2621	_setScaleSliders(false);
		2622	}
		2623	else
		2624	{
		2625	winState.Maximize(this);
		2626	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2627	if(_bSaveWinStateNormal)
		2628	_saveScaleSliders(false);
		2629	if(_bSaveWinStateFull)
		2630	_setScaleSliders(true);
		2631	}
		2632	}
		2633
		2634	/// <summary>
		2635	/// reset the scaling of all UI elements to default
		2636	/// </summary>
		2637	/// <param name="sender"></param>
		2638	/// <param name="e"></param>
		2639	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2640	{
		2641	UIScaleHorizonSlider.Value =
		2642	UIScaleLOGSlider.Value =
		2643	UIScaleMotorsSlider.Value =
		2644	UIScaleOSDSlider.Value =
		2645	UIScaleSlider.Value =
		2646	UIScaleTopSlider.Value = 1;
		2647	}
		2648	/// <summary>
		2649	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2650	/// </summary>
		2651	/// <param name="sender"></param>
		2652	/// <param name="e"></param>
		2653	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2654	{
		2655	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2656	if (GridMotors != null)
		2657	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2658	if (GridSideBar != null)
		2659	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
2401	-	2660	if (WPStatus != null)
		2661	WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom);
2287	-	2662	if (GridOSD != null)
2401	-	2663	{
		2664	if(WPStatus.Visibility == Visibility.Visible)
		2665	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2666	else
		2667	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2668	}
2287	-	2669	if (GridData != null)
		2670	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2671	if (GridWP != null)
		2672	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2673	}
2310	-	2674	/// <summary>
		2675	/// restore the saved scalings for the fullscreen/normal window mode
		2676	/// </summary>
		2677	/// <param name="bFull">the mode the window is set to</param>
2287	-	2678	void _setScaleSliders(bool bFull)
		2679	{
		2680	if(bFull)
		2681	{
		2682	UIScaleSlider.Value = scaleFullAll;
		2683	UIScaleTopSlider.Value = scaleFullTopBar;
		2684	UIScaleMotorsSlider.Value = scaleFullMotors;
		2685	UIScaleOSDSlider.Value = scaleFullOSD;
		2686	UIScaleLOGSlider.Value = scaleFullLOG;
		2687	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2688	}
		2689	else
		2690	{
		2691	UIScaleSlider.Value = scaleNormalAll;
		2692	UIScaleTopSlider.Value = scaleNormalTopBar;
		2693	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2694	UIScaleOSDSlider.Value = scaleNormalOSD;
		2695	UIScaleLOGSlider.Value = scaleNormalLOG;
		2696	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2697	}
		2698	}
		2699
2310	-	2700	/// <summary>
		2701	/// save the scalings for the actual window mode
		2702	/// </summary>
		2703	/// <param name="bFull">the actual window mode</param>
2287	-	2704	void _saveScaleSliders(bool bFull)
		2705	{
		2706
		2707	if (bFull)
		2708	{
		2709	scaleFullAll = UIScaleSlider.Value;
		2710	scaleFullTopBar = UIScaleTopSlider.Value;
		2711	scaleFullMotors = UIScaleMotorsSlider.Value;
		2712	scaleFullOSD = UIScaleOSDSlider.Value;
		2713	scaleFullLOG = UIScaleLOGSlider.Value;
		2714	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2715	}
		2716	else
		2717	{
		2718	scaleNormalAll = UIScaleSlider.Value;
		2719	scaleNormalTopBar = UIScaleTopSlider.Value;
		2720	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2721	scaleNormalOSD = UIScaleOSDSlider.Value;
		2722	scaleNormalLOG = UIScaleLOGSlider.Value;
		2723	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2724	}
		2725	}
2362	-	2726	#endregion ui
2287	-	2727
		2728	/// <summary>
		2729	/// read settings from ini-file
		2730	/// </summary>
		2731	void _readIni()
		2732	{
		2733	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2734	_writeIni();
		2735	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2736	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2737	try
		2738	{
2287	-	2739
2312	-	2740	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2741	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2742	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2743	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2744	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2745	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2746	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2747	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2748
2312	-	2749	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2750	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2751	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2752	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2753	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2754	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2755	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2756	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2757
2312	-	2758	sVal = ini.IniReadValue("topBar", "voltage");
		2759	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2760	sVal = ini.IniReadValue("topBar", "capacity");
		2761	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2762	sVal = ini.IniReadValue("topBar", "current");
		2763	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2764	sVal = ini.IniReadValue("topBar", "flightTime");
		2765	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2766	sVal = ini.IniReadValue("topBar", "distanceHP");
		2767	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2768	sVal = ini.IniReadValue("topBar", "height");
		2769	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2770	sVal = ini.IniReadValue("topBar", "speed");
		2771	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2772	sVal = ini.IniReadValue("topBar", "magneticField");
		2773	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2774	sVal = ini.IniReadValue("topBar", "satellites");
		2775	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2776	sVal = ini.IniReadValue("topBar", "rc");
		2777	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2778
2312	-	2779	sVal = ini.IniReadValue("style", "saveFullScreen");
		2780	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2781	sVal = ini.IniReadValue("style", "saveNormalState");
		2782	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2783
2312	-	2784	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2785	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2786	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2787	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2788	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2789	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2790	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2791	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2792	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2793	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2794	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2795	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2796
2312	-	2797	sVal = ini.IniReadValue("style", "scaleFullAll");
		2798	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2799	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2800	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2801	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2802	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2803	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2804	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2805	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2806	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2807	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2808	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2809
2312	-	2810	sVal = ini.IniReadValue("general", "LiPoCells");
		2811	_LipoCells = Convert.ToInt16(sVal);
		2812	sVal = ini.IniReadValue("general", "Motors");
		2813	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2814
2312	-	2815	sVal = ini.IniReadValue("map", "followMe");
		2816	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2817	sVal = ini.IniReadValue("map", "AutoSetHome");
		2818	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2819	sVal = ini.IniReadValue("map", "GPXLog");
		2820	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2821
2312	-	2822	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2823	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2824	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2825	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2826	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2827	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2828	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2829	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2830	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2831	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2832	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2833	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2834	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2835	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2836	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2837	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2838	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2839	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2840	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2841	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2842	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2843	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2844
		2845	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2846	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2847	sVal = ini.IniReadValue("waypoints", "poicolor");
		2848	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2849	sVal = ini.IniReadValue("waypoints", "fscolor");
		2850	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2851	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2852	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2385	-	2853	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		2854	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
2379	-	2855	sVal = ini.IniReadValue("waypoints", "landingcolor");
		2856	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	2857	sVal = ini.IniReadValue("waypoints", "routecolor");
		2858	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		2859	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		2860	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2349	-	2861
		2862	for (int i = 0; i < 12; i++)
		2863	{
		2864	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		2865	if (sVal != "")
		2866	serChan[i] = Convert.ToInt16(sVal);
		2867	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		2868	if (sVal != "")
		2869	serChanTitle[i] = sVal;
		2870	for (int y = 0; i < 4 && y < 3; y++)
		2871	{
		2872	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		2873	if (sVal != "")
		2874	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		2875	}
		2876	}
		2877
2312	-	2878	}
		2879	catch (Exception e)
		2880	{
2287	-	2881
2312	-	2882	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2883	}
		2884
2287	-	2885	}
		2886
		2887	/// <summary>
		2888	/// save settings to ini-file
		2889	/// </summary>
		2890	void _writeIni()
		2891	{
		2892
		2893	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2894	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2895
2312	-	2896	try
		2897	{
2287	-	2898
2312	-	2899	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2900	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2901	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2902	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2903
2312	-	2904	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2905	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2906	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2907	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2908
2312	-	2909	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2910	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2911
2312	-	2912	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2913	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	2914	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	2915
2312	-	2916	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2917	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2918	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2919	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2920	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2921	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2922	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2923	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2924	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2925	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2926
2312	-	2927	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2928	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2929
2312	-	2930	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2931	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2932	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2933	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2934	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2935	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	2936
2312	-	2937	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2938	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2939	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2940	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2941	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2942	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	2943
2312	-	2944	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2945
		2946	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2947	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2948	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2949	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2950	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2951	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2952	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2953	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2954	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2955	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2956	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	2957
		2958	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		2959	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		2960	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		2961	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2385	-	2962	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
2379	-	2963	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
2328	-	2964	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		2965	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2349	-	2966
		2967	for (int i = 0; i < 12; i++)
		2968	{
		2969	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		2970	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		2971	for (int y = 0; i < 4 && y < 3; y++)
		2972	{
		2973	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		2974	}
		2975	}
		2976
2312	-	2977	}
		2978	catch (Exception e)
		2979	{
		2980
		2981	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);
		2982	}
2287	-	2983	}
2350	-	2984
2349	-	2985	#region serial channels
		2986	/// <summary>
		2987	/// Sending the serial channel values
		2988	/// </summary>
		2989	void _sendSerialData()
		2990	{
		2991	byte[] serData = new byte[12];
		2992	for (int i = 0; i < 12; i++)
		2993	{
		2994	serData[i] = unchecked((byte)(serChan[i] - 127));
		2995	}
		2996	_sendControllerMessage('y', 1, serData);
		2997	}
		2998	/// <summary>
		2999	/// init the controls for displaying
		3000	/// and setting serial control channels
		3001	/// </summary>
		3002	void _initSerialCtrl()
		3003	{
		3004	SerChan1ScaleSlider.Value = serChan[0];
		3005	textBoxSerial1.Text = serChanTitle[0];
		3006	SerChan2ScaleSlider.Value = serChan[1];
		3007	textBoxSerial2.Text = serChanTitle[1];
2350	-	3008	SerChan3ScaleSlider.Value = serChan[2];
		3009	textBoxSerial3.Text = serChanTitle[2];
2349	-	3010	//SerChan4ScaleSlider.Value = serChan[3];
		3011	//textBoxSerial4.Text = serChanTitle[3];
		3012	//trckbarSerial5.Value = serChan[4];
		3013	//textBoxSerial5.Text = serChanTitle[4];
		3014	//trckbarSerial6.Value = serChan[5];
		3015	//textBoxSerial6.Text = serChanTitle[5];
		3016	//trckbarSerial7.Value = serChan[6];
		3017	//textBoxSerial7.Text = serChanTitle[6];
		3018	//trckbarSerial8.Value = serChan[7];
		3019	//textBoxSerial8.Text = serChanTitle[7];
2312	-	3020
2349	-	3021	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		3022	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		3023	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		3024	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		3025	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		3026	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	3027	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		3028	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		3029	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	3030	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		3031	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		3032	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		3033	}
		3034	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3035	{
		3036	if (!_init)
		3037	{
		3038	serChan[0] = (int)SerChan1ScaleSlider.Value;
		3039	_sendSerialData();
		3040	}
		3041	}
		3042	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		3043	{
		3044	if (!_init)
		3045	{
		3046	serChanTitle[0] = textBoxSerial1.Text;
		3047	}
		3048	}
		3049	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		3050	{
		3051	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		3052	{
		3053	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		3054	}
		3055	}
		3056	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		3057	{
		3058	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		3059	{
		3060	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		3061	}
		3062	}
		3063	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		3064	{
		3065	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		3066	{
		3067	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		3068	}
		3069	}
		3070	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		3071	{
		3072	if (textBoxSerial1_val1.Text.Length > 0)
		3073	{
		3074	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		3075	}
		3076	}
		3077	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		3078	{
		3079	SerChan1ScaleSlider.Value = 0;
		3080	}
		3081	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		3082	{
		3083	SerChan1ScaleSlider.Value = 127;
		3084	}
		3085	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		3086	{
		3087	SerChan1ScaleSlider.Value = 254;
		3088	}
		3089	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		3090	{
		3091	if (textBoxSerial1_val2.Text.Length > 0)
		3092	{
		3093	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		3094	}
		3095	}
		3096	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		3097	{
		3098	if (textBoxSerial1_val3.Text.Length > 0)
		3099	{
		3100	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		3101	}
		3102	}
		3103
		3104	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3105	{
		3106	if (!_init)
		3107	{
		3108	serChan[1] = (int)SerChan2ScaleSlider.Value;
		3109	_sendSerialData();
		3110	}
		3111	}
		3112	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		3113	{
		3114	if (!_init)
		3115	{
		3116	serChanTitle[1] = textBoxSerial2.Text;
		3117	}
		3118	}
		3119	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		3120	{
		3121	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		3122	{
		3123	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		3124	}
		3125	}
		3126	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		3127	{
		3128	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		3129	{
		3130	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		3131	}
		3132	}
		3133	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		3134	{
		3135	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		3136	{
		3137	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3138	}
		3139	}
		3140	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3141	{
		3142	SerChan2ScaleSlider.Value = 0;
		3143	}
		3144	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3145	{
		3146	SerChan2ScaleSlider.Value = 127;
		3147	}
		3148	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3149	{
		3150	SerChan2ScaleSlider.Value = 254;
		3151	}
		3152	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3153	{
		3154	if (textBoxSerial2_val1.Text.Length > 0)
		3155	{
		3156	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3157	}
		3158	}
		3159	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3160	{
		3161	if (textBoxSerial2_val2.Text.Length > 0)
		3162	{
		3163	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3164	}
		3165	}
		3166	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3167	{
		3168	if (textBoxSerial2_val3.Text.Length > 0)
		3169	{
		3170	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3171	}
		3172	}
2350	-	3173
		3174	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3175	{
		3176	if (!_init)
		3177	{
		3178	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3179	_sendSerialData();
		3180	}
		3181	}
		3182	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3183	{
		3184	if (!_init)
		3185	{
		3186	serChanTitle[2] = textBoxSerial3.Text;
		3187	}
		3188	}
		3189	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3190	{
		3191	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3192	{
		3193	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3194	}
		3195	}
		3196	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3197	{
		3198	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3199	{
		3200	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3201	}
		3202	}
		3203	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3204	{
		3205	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3206	{
		3207	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3208	}
		3209	}
		3210	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3211	{
		3212	SerChan3ScaleSlider.Value = 0;
		3213	}
		3214	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3215	{
		3216	SerChan3ScaleSlider.Value = 127;
		3217	}
		3218	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3219	{
		3220	SerChan3ScaleSlider.Value = 254;
		3221	}
		3222	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3223	{
		3224	if (textBoxSerial3_val1.Text.Length > 0)
		3225	{
		3226	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3227	}
		3228	}
		3229	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3230	{
		3231	if (textBoxSerial3_val2.Text.Length > 0)
		3232	{
		3233	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3234	}
		3235	}
		3236	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3237	{
		3238	if (textBoxSerial3_val3.Text.Length > 0)
		3239	{
		3240	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3241	}
		3242	}
2349	-	3243	/// <summary>
		3244	/// checks the input of a textbox
		3245	/// for valid data
		3246	/// in this case values 0-254
		3247	/// </summary>
		3248	/// <param name="sender"></param>
		3249	/// <param name="e"></param>
		3250	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3251	{
		3252	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3253	e.Handled = true;
		3254	else
		3255	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3256	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3257	e.Handled = true;
		3258	else
		3259	{
		3260	int i = -1;
		3261	switch (((TextBox)sender).Name)
		3262	{
		3263	case "textBoxSerial1_val1":
		3264	i = 0;
		3265	break;
		3266	case "textBoxSerial1_val2":
		3267	i = 1;
		3268	break;
		3269	case "textBoxSerial1_val3":
		3270	i = 2;
		3271	break;
		3272	case "textBoxSerial2_val1":
		3273	i = 3;
		3274	break;
		3275	case "textBoxSerial2_val2":
		3276	i = 4;
		3277	break;
		3278	case "textBoxSerial2_val3":
		3279	i = 5;
		3280	break;
		3281	case "textBoxSerial3_val1":
		3282	i = 6;
		3283	break;
		3284	case "textBoxSerial3_val2":
		3285	i = 7;
		3286	break;
		3287	case "textBoxSerial3_val3":
		3288	i = 8;
		3289	break;
		3290	case "textBoxSerial4_val1":
		3291	i = 9;
		3292	break;
		3293	case "textBoxSerial4_val2":
		3294	i = 10;
		3295	break;
		3296	case "textBoxSerial4_val3":
		3297	i = 11;
		3298	break;
		3299	}
		3300	if (i > -1)
		3301	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3302	}
		3303	}
		3304
		3305	#endregion serial channels
2315	-	3306	#region WP
2312	-	3307	void _readWPLFile()
		3308	{
		3309	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3310	fd.Filter = "Waypointlists \| *.wpl";
		3311	fd.Multiselect = false;
		3312	if (fd.ShowDialog().Value)
		3313	{
		3314	string file = fd.SafeFileName;
		3315	IniFile ini = new IniFile(fd.SafeFileName);
		3316	ini.path = fd.FileName;
		3317
		3318	try
		3319	{
		3320	string sVal = ini.IniReadValue("General", "FileVersion");
		3321	if (sVal == "")
		3322	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3323	else
		3324	{
		3325	if (Convert.ToInt16(sVal) < 3)
		3326	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3327	else
		3328	{
		3329	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3330	if (sVal == "")
		3331	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3332	else
		3333	{
		3334	int wpnum = Convert.ToInt16(sVal);
		3335	string wp;
		3336	int i;
2313	-	3337	NumberFormatInfo nfi = new NumberFormatInfo();
		3338	nfi.NumberDecimalSeparator = ".";
2312	-	3339	dtWaypoints.Rows.Clear();
2368	-	3340	_wpEdit = -1;_wpIndex = -1;
2327	-	3341	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	3342	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	3343	wpList.Clear();
		3344	if (mRouteWP != null)
		3345	MainMap.Markers.Remove(mRouteWP);
2363	-	3346	//if (wpActiveMarker != null)
		3347	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	3348	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3349
2312	-	3350	for (int k = 1; k <= wpnum; k++)
		3351	{
		3352	DataRow dr = dtWaypoints.NewRow();
		3353	dr.ItemArray = new object[16];
		3354	object[] o = new object[16];
		3355	i = 0;
		3356	wp = "Point" + k.ToString();
		3357	o[i] = k;
		3358	i++;
		3359	sVal = ini.IniReadValue(wp, "Type");
		3360	if (sVal != "")
2315	-	3361	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3362	i++;
		3363	sVal = ini.IniReadValue(wp, "Prefix");
		3364	if (sVal != "")
2350	-	3365	o[i] = sVal + k.ToString();
		3366	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3367	i++;
2313	-	3368	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3369	if (sVal != "")
2313	-	3370	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3371	i++;
2313	-	3372	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3373	if (sVal != "")
2313	-	3374	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3375	i++;
		3376	sVal = ini.IniReadValue(wp, "Altitude");
		3377	if (sVal != "")
2313	-	3378	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3379	i++;
		3380	sVal = ini.IniReadValue(wp, "Heading");
		3381	if (sVal != "")
		3382	o[i] = Convert.ToInt16(sVal);
		3383	i++;
		3384	sVal = ini.IniReadValue(wp, "Speed");
		3385	if (sVal != "")
2315	-	3386	o[i] = Convert.ToInt16(sVal);
2312	-	3387	i++;
		3388	sVal = ini.IniReadValue(wp, "ClimbRate");
		3389	if (sVal != "")
		3390	o[i] = Convert.ToInt16(sVal);
		3391	i++;
		3392	sVal = ini.IniReadValue(wp, "Radius");
		3393	if (sVal != "")
		3394	o[i] = Convert.ToInt16(sVal);
		3395	i++;
		3396	sVal = ini.IniReadValue(wp, "DelayTime");
		3397	if (sVal != "")
		3398	o[i] = Convert.ToInt16(sVal);
		3399	i++;
		3400	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3401	if (sVal != "")
		3402	o[i] = Convert.ToInt16(sVal); ;
		3403	i++;
		3404	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3405	if (sVal != "")
2313	-	3406	o[i] = Convert.ToInt16(sVal);
2312	-	3407	i++;
		3408	o[i] = 0;
		3409	i++;
		3410	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3411	if (sVal != "")
		3412	o[i] = Convert.ToInt16(sVal);
		3413	i++;
		3414	o[i] = "New";
		3415
		3416	dr.ItemArray = o;
		3417	dtWaypoints.Rows.Add(dr);
2363	-	3418	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1]);
2315	-	3419
2312	-	3420	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3421	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3422	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3423	Thread.Sleep(10);
		3424	}
2359	-	3425	_routeUpdate();
2312	-	3426	}
		3427	}
		3428	}
		3429
		3430	}
		3431	catch (Exception e)
		3432	{
		3433
		3434	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		3435	}
		3436
		3437	}
		3438	}
2350	-	3439	void _saveWPLFile()
		3440	{
		3441	if (dtWaypoints.Rows.Count > 0)
		3442	{
		3443	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		3444	fd.Filter = "Waypointlists \| *.wpl";
		3445	fd.AddExtension = true;
		3446	if (fd.ShowDialog().Value)
		3447	{
		3448	string file = fd.SafeFileName;
		3449	IniFile ini = new IniFile(fd.SafeFileName);
		3450	ini.path = fd.FileName;
		3451	NumberFormatInfo nfi = new NumberFormatInfo();
		3452	nfi.NumberDecimalSeparator = ".";
		3453
		3454	try
		3455	{
		3456	ini.IniWriteValue("General", "FileVersion", "3");
		3457	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		3458	ini.IniWriteValue("General", "Mapfile", "");
		3459	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		3460	{
		3461	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		3462	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		3463	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		3464	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		3465	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		3466	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		3467	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		3468	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		3469	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		3470	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		3471	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		3472	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));
		3473	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		3474	}
		3475	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		3476	}
		3477	catch { }
		3478	}
		3479	}
		3480	else
		3481	MessageBox.Show("Nothing to save...");
		3482	}
		3483	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		3484	{
		3485	_saveWPLFile();
		3486	}
		3487	/// <summary>
		3488	/// set the selected color for the route
		3489	/// </summary>
		3490	/// <param name="color"></param>
		3491	/// <returns></returns>
2328	-	3492	Brush _getBrush(string color)
		3493	{
		3494	switch (color)
		3495	{
		3496	case "red":
		3497	return Brushes.Red;
		3498	case "green":
		3499	return Brushes.Lime;
		3500	case "blue":
		3501	return Brushes.Aqua;
		3502	case "pink":
		3503	return Brushes.Magenta;
		3504	case "yellow":
		3505	return Brushes.Yellow;
		3506	default:
		3507	return Brushes.Magenta;
		3508	}
		3509	}
2359	-	3510	void _routeUpdate()
		3511	{
		3512	Dispatcher.Invoke(() =>
		3513	{
		3514	if (comboBoxRouteColor.SelectionBoxItem != null)
		3515	{
		3516	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3517	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3518	}
		3519	else
		3520	mRouteWP = new GMapRoute(wpList, null);
		3521
		3522	if (_bShowWPRoute)
2368	-	3523	MainMap.Markers.Add(mRouteWP);
2359	-	3524	});
		3525
		3526	MapRoute mr = new MapRoute(wpList, "WPList");
		3527	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		3528	}
2363	-	3529	GMapMarker _createWP(PointLatLng p, string name, int type)
		3530	{
		3531	GMapMarker wpMarker = new GMapMarker(p);
2385	-	3532	Dispatcher.Invoke(()=>
		3533	{
		3534	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
		3535	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		3536	wpMarker.ZIndex = 100;
		3537	_setMarkerColor(wpMarker, type);
		3538	MainMap.Markers.Add(wpMarker);
		3539	if (type == 0 \|\| type == 3)
		3540	wpList.Add(p);
		3541	});
2363	-	3542	return wpMarker;
		3543	}
2315	-	3544	void _setMarkerColor(GMapMarker wpMarker,int iType)
		3545	{
2369	-	3546	if(wpMarker != null)
2315	-	3547	Dispatcher.Invoke(() =>
		3548	{
		3549	switch (iType)
		3550	{
		3551	case 0:
		3552	if (comboBoxWPColor.SelectionBoxItem != null)
		3553	{
		3554	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3555	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3556	}
		3557	else
2372	-	3558	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	3559	break;
		3560	case 1:
		3561	if (comboBoxPOIColor.SelectionBoxItem != null)
		3562	{
		3563	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3564	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3565	}
		3566	else
2372	-	3567	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	3568	break;
		3569	case 2:
		3570	if (comboBoxFSColor.SelectionBoxItem != null)
		3571	{
		3572	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3573	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3574	}
		3575	else
		3576	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3577	break;
2372	-	3578	case 3:
		3579	if (comboBoxLandingColor.SelectionBoxItem != null)
		3580	{
		3581	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		3582	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3583	}
		3584	else
		3585	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		3586	break;
2315	-	3587	default:
		3588	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3589	break;
		3590	}
		3591	});
2312	-	3592
2315	-	3593	}
2372	-	3594	void _MarkerColorSelection(object sender,int type)
		3595	{
2315	-	3596	Dispatcher.Invoke(() =>
		3597	{
2372	-	3598	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	3599	{
		3600	for (int k = 0; k < MainMap.Markers.Count; k++)
		3601	{
		3602	GMapMarker p = MainMap.Markers[k];
2372	-	3603	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	3604	{
2372	-	3605	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	3606	{
2372	-	3607	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	3608	((CustomMarkerWP)(p.Shape)).setColor(s);
		3609	}
		3610	}
		3611	}
		3612	}
		3613	});
2287	-	3614	}
2379	-	3615	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	3616	{
2376	-	3617	_MarkerColorSelection(sender, 0);
		3618	}
		3619	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		3620	{
		3621	_MarkerColorSelection(sender, 1);
		3622	}
		3623	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		3624	{
		3625	_MarkerColorSelection(sender, 2);
		3626	}
		3627	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		3628	{
		3629	_MarkerColorSelection(sender,3);
		3630	}
2385	-	3631	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
2376	-	3632	{
2318	-	3633	Dispatcher.Invoke(() => {
		3634	if (comboBoxCopterColor.SelectionBoxItem != null)
		3635	{
		3636	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	3637	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	3638	}
		3639	else
2385	-	3640	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
2318	-	3641	});
		3642	}
2385	-	3643	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		3644	{
		3645	Dispatcher.Invoke(() => {
		3646	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		3647	{
		3648	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		3649	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		3650	}
		3651	else
		3652	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		3653	});
		3654	}
2328	-	3655	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3656	{
		3657	Dispatcher.Invoke(() =>
		3658	{
		3659	if (comboBoxRouteColor.SelectionBoxItem != null)
		3660	{
		3661	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3662	MainMap.Markers.Remove(mRouteWP);
		3663	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3664	if (_bShowWPRoute)
		3665	MainMap.Markers.Add(mRouteWP);
		3666	}
		3667	});
		3668	}
		3669	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3670	{
		3671	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3672	if (_bShowWPRoute)
		3673	{
		3674	if (mRouteWP != null)
		3675	MainMap.Markers.Add(mRouteWP);
		3676	}
		3677	else
		3678	{
		3679	if (mRouteWP != null)
		3680	MainMap.Markers.Remove(mRouteWP);
		3681	}
		3682	}
2315	-	3683	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3684	{
2315	-	3685	_readWPLFile();
2287	-	3686	}
2335	-	3687	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3688	{
		3689	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	3690	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	3691	wpList.Clear();
		3692	if (mRouteWP != null)
		3693	MainMap.Markers.Remove(mRouteWP);
2347	-	3694	//if (wpActiveMarker != null)
		3695	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	3696	dtWaypoints.Rows.Clear();
2356	-	3697	_wpEdit = -1;
2368	-	3698	_wpIndex = -1;
2335	-	3699	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3700	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3701	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3702	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3703	}
2340	-	3704	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3705	{
		3706	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3707	t.Start();
		3708	}
2355	-	3709	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	3710	{
		3711	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3712	{
2372	-	3713	if (_wpCount > 0)
2376	-	3714	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	3715	else
2376	-	3716	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	3717
2372	-	3718	//int index = dgvWP.SelectedIndex;
		3719	//Thread t = new Thread(() => _sendWPList(index));
		3720	//t.Start();
2354	-	3721
		3722	Dispatcher.Invoke(() => {
		3723	DataGridRow row;
2368	-	3724	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	3725	{
2368	-	3726	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	3727	row.Background = new SolidColorBrush(Colors.Transparent);
		3728	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3729	row.BorderThickness = new Thickness(0);
2376	-	3730	dgvWP.UpdateLayout();
2354	-	3731	}
2376	-	3732	//_wpEdit = dgvWP.SelectedIndex;
		3733	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3734	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		3735	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		3736	//row.BorderThickness = new Thickness(2);
2354	-	3737	});
2340	-	3738	}
		3739	}
2385	-	3740	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		3741	{
		3742	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3743	{
		3744
		3745	object[] o = new object[16];
		3746	o[0] = dgvWP.SelectedIndex + 1;
		3747	o[1] = cbWPEditType.SelectedIndex;
		3748	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3749	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3750	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		3751	o[5] = tbWPEditAlt.Text;
		3752	switch (cbWPEditHeading.SelectedIndex)
		3753	{
		3754	case 0:
		3755	o[6] = "0";
		3756	break;
		3757	case 1:
		3758	o[6] = "-" + tbWPEditHeading.Text;
		3759	break;
		3760	case 2:
		3761	o[6] = tbWPEditHeading.Text;
		3762	break;
		3763	}
		3764	switch (cbWPEditSpeed.SelectedIndex)
		3765	{
		3766	case 0:
		3767	o[7] = "0";
		3768	break;
		3769	case 1:
		3770	o[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3771	break;
		3772	case 2:
		3773	o[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3774	break;
		3775	}
		3776	switch (cbWPEditClimbrate.SelectedIndex)
		3777	{
		3778	case 0:
		3779	o[8] = "255";
		3780	break;
		3781	case 1:
		3782	o[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		3783	break;
		3784	}
		3785	o[9] = tbWPEditRadius.Text;
		3786	o[10] = tbWPEditHoldtime.Text;
		3787	o[11] = tbWPEditAutoTrigger.Text;
		3788	switch (cbWPEditCamAngle.SelectedIndex)
		3789	{
		3790	case 0:
		3791	o[12] = "0";
		3792	break;
		3793	case 1:
		3794	o[12] = "255";
		3795	break;
		3796	case 2:
		3797	o[12] = tbWPEditCamAngle.Text;
		3798	break;
		3799	}
		3800	o[13] = 0;
		3801	o[14] = tbWPEditOut1.Text;
		3802	DataRow dr = dtWaypoints.NewRow();
		3803	dr.ItemArray = o;
		3804
		3805	if (_wpCount > 0)
		3806	_sendWayPoint(dr, -1, 'w', false);
		3807	else
		3808	_sendWayPoint(dr, 1, 'w', false);
2399	-	3809
		3810	if(_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count)
		3811	_sendWayPoint(dtWaypoints.Rows[_wpIndex], _wpIndex + 1, 's', false);
2385	-	3812	}
		3813	}
2376	-	3814	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		3815	{
		3816	_Simulate = !_Simulate;
		3817	if (dtWaypoints.Rows.Count > 0)
		3818	{
		3819	DataRow dr = dtWaypoints.Rows[0];
		3820	dr[13] = _Simulate ? 3 : 0;
2379	-	3821	_sendWayPoint(dr, 0, 's', true);
2381	-	3822	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
2376	-	3823	}
		3824	}
2355	-	3825	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		3826	{
2359	-	3827	_dgvWPselectEditRow();
		3828	}
		3829	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		3830	{
		3831	}
		3832	void _dgvWPselectEditRow()
		3833	{
2355	-	3834	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3835	{
2368	-	3836	Dispatcher.Invoke(() => {
2355	-	3837	DataGridRow row;
2368	-	3838	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	3839	{
		3840	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3841	row.Background = new SolidColorBrush(Colors.Transparent);
		3842	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3843	row.BorderThickness = new Thickness(0);
		3844	}
		3845	_wpEdit = dgvWP.SelectedIndex;
		3846	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3847	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		3848	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		3849	row.BorderThickness = new Thickness(2);
		3850	dgvWP.UpdateLayout();
2340	-	3851
2355	-	3852	_setWPEditFields(_wpEdit);
		3853	});
		3854	}
		3855	}
		3856	void _setWPEditFields(int index)
		3857	{
		3858	int iVal;
		3859	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		3860	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		3861	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		3862	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		3863	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		3864	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		3865	if (iVal == 0)
		3866	{
		3867	cbWPEditHeading.SelectedIndex = 0;
		3868	tbWPEditHeading.Text = " - - -";
		3869	tbWPEditHeading.IsReadOnly = true;
		3870	}
		3871	if (iVal > 0 && iVal < 360)
		3872	{
		3873	cbWPEditHeading.SelectedIndex = 2;
		3874	tbWPEditHeading.Text = iVal.ToString();
		3875	tbWPEditHeading.IsReadOnly = false;
		3876	}
		3877	if (iVal < 0)
		3878	{
		3879	cbWPEditHeading.SelectedIndex = 1;
		3880	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		3881	tbWPEditHeading.IsReadOnly = false;
		3882	}
		3883	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		3884	if (iVal == 0)
		3885	{
		3886	cbWPEditSpeed.SelectedIndex = 0;
		3887	tbWPEditSpeed.Text = "MAX";
		3888	tbWPEditSpeed.IsReadOnly = true;
		3889	}
		3890	if (iVal > 0 && iVal < 248)
		3891	{
		3892	cbWPEditSpeed.SelectedIndex = 1;
		3893	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		3894	tbWPEditSpeed.IsReadOnly = false;
		3895	}
		3896	if (iVal > 247)
		3897	{
		3898	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		3899	tbWPEditSpeed.Text = "";
		3900	tbWPEditSpeed.IsReadOnly = true;
		3901	}
		3902	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		3903	if (iVal == 255)
		3904	{
		3905	cbWPEditClimbrate.SelectedIndex = 0;
		3906	tbWPEditClimbrate.Text = "AUTO";
		3907	tbWPEditClimbrate.IsReadOnly = true;
		3908	}
		3909	else
		3910	{
		3911	cbWPEditClimbrate.SelectedIndex = 1;
		3912	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		3913	tbWPEditClimbrate.IsReadOnly = false;
		3914	}
		3915	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		3916	tbWPEditRadius.Text = iVal.ToString();
		3917	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		3918	tbWPEditHoldtime.Text = iVal.ToString();
		3919	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		3920	tbWPEditAutoTrigger.Text = iVal.ToString();
		3921	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		3922	if (iVal == 0)
		3923	{
		3924	cbWPEditCamAngle.SelectedIndex = 0;
		3925	tbWPEditCamAngle.Text = " - - - ";
		3926	tbWPEditCamAngle.IsReadOnly = true;
		3927	}
		3928	if (iVal < 0 \| iVal == 255)
		3929	{
		3930	cbWPEditCamAngle.SelectedIndex = 1;
		3931	tbWPEditCamAngle.Text = "AUTO";
		3932	tbWPEditCamAngle.IsReadOnly = true;
		3933	}
		3934	if (iVal > 0 & iVal < 255)
		3935	{
		3936	cbWPEditCamAngle.SelectedIndex = 2;
		3937	tbWPEditCamAngle.Text = iVal.ToString();
		3938	tbWPEditCamAngle.IsReadOnly = false;
		3939	}
		3940	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		3941	tbWPEditOut1.Text = iVal.ToString();
		3942
		3943	}
		3944
2361	-	3945	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		3946	{
2363	-	3947	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3948	{
2369	-	3949	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	3950	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		3951	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		3952	int i = wpList.IndexOf(pOld);
2363	-	3953	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		3954	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3955	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3956	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	3957	if (i > -1)
		3958	{
		3959	if((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		3960	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		3961	else
		3962	wpList.Remove(pOld);
		3963	}
		3964	else
		3965	{
		3966	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		3967	{
		3968	int found = 0;
		3969	for (int k = 0; k < dgvWP.SelectedIndex; k++)
		3970	if ((int)dtWaypoints.Rows[k][1] == 0)
		3971	found++;
		3972	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		3973	}
		3974	}
2363	-	3975	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		3976	switch (cbWPEditHeading.SelectedIndex)
		3977	{
		3978	case 0:
		3979	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		3980	break;
		3981	case 1:
		3982	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		3983	break;
		3984	case 2:
		3985	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		3986	break;
		3987	}
		3988	switch (cbWPEditSpeed.SelectedIndex)
		3989	{
		3990	case 0:
		3991	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		3992	break;
		3993	case 1:
		3994	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3995	break;
		3996	case 2:
		3997	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3998	break;
		3999	}
		4000	switch (cbWPEditClimbrate.SelectedIndex)
		4001	{
		4002	case 0:
		4003	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		4004	break;
		4005	case 1:
		4006	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		4007	break;
		4008	}
		4009	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		4010	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		4011	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		4012	switch (cbWPEditCamAngle.SelectedIndex)
		4013	{
		4014	case 0:
		4015	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		4016	break;
		4017	case 1:
		4018	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		4019	break;
		4020	case 2:
		4021	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		4022	break;
		4023	}
		4024	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	4025
2369	-	4026	// _clearMapMarkers(typeof(CustomMarkerWP));
		4027	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		4028	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	4029	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	4030	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	4031	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	4032	// wpList.Clear();
2363	-	4033	if (mRouteWP != null)
		4034	MainMap.Markers.Remove(mRouteWP);
		4035
2369	-	4036	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		4037	//{
		4038	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		4039	//}
2363	-	4040	_routeUpdate();
		4041	dgvWP.Items.Refresh();
		4042
		4043	}
		4044
2361	-	4045	}
		4046	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		4047	{
2368	-	4048	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4049	{
		4050	int index = dgvWP.SelectedIndex;
		4051	Dispatcher.Invoke(() => {
		4052	DataGridRow row;
		4053	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		4054	{
		4055	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4056	row.Background = new SolidColorBrush(Colors.Transparent);
		4057	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4058	row.BorderThickness = new Thickness(0);
		4059	}
2372	-	4060	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	4061	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
		4062	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	4063	if (wpActiveMarker != null)
		4064	MainMap.Markers.Remove(wpActiveMarker);
2368	-	4065	dtWaypoints.Rows[index].Delete();
		4066	_wpIndex = -1;
		4067	_wpEdit = -1;
		4068	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		4069	{
		4070	dtWaypoints.Rows[i][0] = i + 1;
		4071	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		4072	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		4073	_renameWPMarker(s1, s2);
		4074	dtWaypoints.Rows[i][2] = s2;
		4075	}
		4076	lblWPCount.Content = dtWaypoints.Rows.Count;
		4077	if (mRouteWP != null)
		4078	MainMap.Markers.Remove(mRouteWP);
		4079	_routeUpdate();
2361	-	4080
2368	-	4081	dgvWP.UpdateLayout();
		4082	});
		4083	}
2361	-	4084	}
2366	-	4085	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		4086	{
		4087	_wpWEdit(sender);
		4088	}
2361	-	4089	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		4090	{
2366	-	4091	_wpWEdit(sender);
		4092	}
2369	-	4093	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		4094	{
		4095	_wpWEdit(sender);
		4096	}
2366	-	4097	void _wpWEdit(object sender)
		4098	{
2369	-	4099	// if (!((TextBox)sender).IsReadOnly)
2361	-	4100	{
		4101	KeyPad.Keypad k = new KeyPad.Keypad(this);
		4102
2363	-	4103	switch (((TextBox)sender).Name)
		4104	{
		4105	case "tbWPEditLat":
		4106	k.Title = "Latitude";
		4107	k.LENGTH = 17;
		4108	k.MAX = 359.9;
		4109	break;
		4110	case "tbWPEditLon":
		4111	k.Title = "Longitude";
		4112	k.LENGTH = 17;
		4113	k.MAX = 359.9;
		4114	break;
		4115	case "tbWPEditAlt":
		4116	k.Title = "Altitude";
		4117	k.LENGTH = 3;
		4118	k.MAX = 254;
		4119	k.disableDecimal();
		4120	break;
		4121	case "tbWPEditHeading":
		4122	k.Title = "Heading";
		4123	k.LENGTH = 3;
		4124	k.MAX = 359;
		4125	k.MIN = 1;
		4126	k.disableDecimal();
		4127	break;
		4128	case "tbWPEditSpeed":
		4129	k.Title = "Speed";
		4130	k.LENGTH = 4;
		4131	k.MAX = 24.7;
		4132	k.MIN = 0.1;
		4133	break;
		4134	case "tbWPEditClimbrate":
		4135	k.Title = "Climbrate";
		4136	k.LENGTH = 4;
		4137	k.MAX = 25.4;
		4138	k.MIN = 0.1;
		4139	break;
		4140	case "tbWPEditRadius":
		4141	k.Title = "Radius";
		4142	k.LENGTH = 3;
		4143	k.MAX = 254;
		4144	k.disableDecimal();
		4145	break;
		4146	case "tbWPEditHoldtime":
		4147	k.Title = "Holdtime";
		4148	k.LENGTH = 3;
		4149	k.MAX = 254;
		4150	break;
		4151	case "tbWPEditAutoTrigger":
		4152	k.Title = "Autotrigger";
		4153	k.LENGTH = 3;
		4154	k.MAX = 254;
		4155	k.disableDecimal();
		4156	break;
		4157	case "tbWPEditCamAngle":
		4158	k.Title = "Camera angle";
		4159	k.LENGTH = 3;
		4160	k.MAX = 254;
		4161	k.MIN = 1;
		4162	k.disableDecimal();
		4163	break;
		4164	case "tbWPEditOut1":
		4165	k.Title = "OUT1 timer interval";
		4166	k.LENGTH = 3;
		4167	k.MAX = 254;
		4168	k.disableDecimal();
		4169	break;
		4170	}
		4171	k.Result = ((TextBox)sender).Text;
2366	-	4172	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	4173	((TextBox)sender).Text = k.Result;
2361	-	4174	}
2366	-	4175
2361	-	4176	}
		4177	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	4178	{
2359	-	4179	object[] o = new object[16];
2356	-	4180
2359	-	4181	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		4182	o[1] = 0;
		4183	// cbWPEditType.SelectedIndex = 0;
		4184	// tbWPEditPrefix.Text = "P";
		4185	o[2] = "P" + o[0].ToString();
		4186	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4187	o[3] = copter.Position.Lat;
		4188	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4189	o[4] = copter.Position.Lng;
		4190	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		4191	o[5] = iAnalogData[4].ToString();
2356	-	4192
2359	-	4193	// cbWPEditHeading.SelectedIndex = 2;
		4194	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		4195	// tbWPEditHeading.IsReadOnly = false;
2356	-	4196
2359	-	4197	// cbWPEditSpeed.SelectedIndex = 1;
		4198	// tbWPEditSpeed.Text = "5.0";
		4199	// tbWPEditSpeed.IsReadOnly = false;
2372	-	4200	o[7] = "10";
2356	-	4201
2359	-	4202	// cbWPEditClimbrate.SelectedIndex = 1;
		4203	// tbWPEditClimbrate.Text = "5.0";
		4204	// tbWPEditClimbrate.IsReadOnly = false;
2372	-	4205	o[8] = "10";
2356	-	4206
2359	-	4207	// tbWPEditRadius.Text = "10";
2372	-	4208	o[9] = "5";
2359	-	4209	// tbWPEditHoldtime.Text = "5";
		4210	o[10] = "5";
		4211	// tbWPEditAutoTrigger.Text = "0";
		4212	o[11] = "0";
		4213	// cbWPEditCamAngle.SelectedIndex = 1;
		4214	// tbWPEditCamAngle.Text = "AUTO";
		4215	// tbWPEditCamAngle.IsReadOnly = true;
		4216	o[12] = "255";
2356	-	4217
2359	-	4218	o[13] = "0";
		4219	// tbWPEditOut1.Text = "0";
		4220	o[14] = "0";
		4221	o[15] = "0";
		4222
		4223	dtWaypoints.Rows.Add(o);
2368	-	4224	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1]);
2359	-	4225	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4226	if (mRouteWP != null)
		4227	MainMap.Markers.Remove(mRouteWP);
		4228	_routeUpdate();
		4229	Dispatcher.Invoke(() => {
		4230	dgvWP.Items.Refresh();
		4231	dgvWP.SelectedIndex = (int)o[0] -1;
		4232	dgvWP.UpdateLayout();
		4233	_dgvWPselectEditRow();
		4234	});
2356	-	4235	}
		4236
2315	-	4237	#endregion WP
2324	-	4238	#region GPX
		4239	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		4240	{
		4241	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		4242	}
		4243	void _gpxAdd(double lat,double lon, int elevation)
		4244	{
		4245	DataRow dr = dtGPX.NewRow();
		4246	dr[0] = dtGPX.Rows.Count - 1;
		4247	dr[1] = lat;
		4248	dr[2] = lon;
		4249	dr[3] = elevation;
		4250	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		4251	dtGPX.Rows.Add(dr);
		4252	}
		4253	void _saveGPXLog()
		4254	{
		4255	if (!Directory.Exists("GPXLog"))
		4256	Directory.CreateDirectory("GPXLog");
		4257	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		4258	XmlTextWriter myXmlTextWriter = null;
		4259	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		4260	NumberFormatInfo nfi = new NumberFormatInfo();
		4261	nfi.NumberDecimalSeparator = ".";
2315	-	4262
2324	-	4263	try
		4264	{
		4265	myXmlTextWriter.Formatting = Formatting.Indented;
		4266
		4267	myXmlTextWriter.WriteStartDocument();
		4268
		4269	myXmlTextWriter.WriteStartElement("gpx");
		4270
		4271	myXmlTextWriter.WriteAttributeString("version", "1.0");
		4272	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		4273	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		4274	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		4275	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		4276
		4277	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		4278
		4279	myXmlTextWriter.WriteStartElement("trk");
		4280	myXmlTextWriter.WriteStartElement("trkseg");
		4281	for(int i = 0; i< dtGPX.Rows.Count;i++)
		4282	{
		4283	myXmlTextWriter.WriteStartElement("trkpt");
		4284	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		4285	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		4286	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		4287	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		4288	myXmlTextWriter.WriteEndElement();
		4289	}
		4290	myXmlTextWriter.WriteEndElement();
		4291	myXmlTextWriter.WriteEndElement();
		4292	myXmlTextWriter.WriteEndElement();
		4293	}
		4294	catch (Exception e)
		4295	{
		4296	Console.WriteLine("Exception: {0}", e.ToString());
		4297	}
		4298	finally
		4299	{
		4300	if (myXmlTextWriter != null)
		4301	{
		4302	myXmlTextWriter.Close();
		4303	}
		4304	}
		4305	}
2356	-	4306
2401	-	4307	private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e)
		4308	{
		4309	if (WPStatus.Visibility == Visibility.Visible)
		4310	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		4311	else
		4312	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		4313	}
2385	-	4314
2324	-	4315	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		4316	{
		4317	_loadGPXLog();
		4318	}
2327	-	4319	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		4320	{
		4321	_clearMapMarkers(typeof(GMapRoute));
		4322	}
2324	-	4323	void _loadGPXLog()
		4324	{
		4325
		4326	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4327	fd.Filter = "GPX-Logfile \| *.gpx";
		4328	fd.Multiselect = false;
		4329	if (fd.ShowDialog().Value)
		4330	{
		4331	string file = fd.FileName;
		4332	try
		4333	{
		4334	XDocument gpxDoc = XDocument.Load(file);
		4335	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		4336
		4337	NumberFormatInfo nfi = new NumberFormatInfo();
		4338	nfi.NumberDecimalSeparator = ".";
		4339
		4340	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		4341	select new
		4342	{
		4343	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		4344	Segs = (
		4345	from trackpoint in track.Descendants(gpx + "trkpt")
		4346	select new
		4347	{
		4348	Latitude = trackpoint.Attribute("lat").Value,
		4349	Longitude = trackpoint.Attribute("lon").Value,
		4350	Elevation = trackpoint.Element(gpx + "ele") != null ?
		4351	trackpoint.Element(gpx + "ele").Value : null,
		4352	Time = trackpoint.Element(gpx + "time") != null ?
		4353	trackpoint.Element(gpx + "time").Value : null
		4354	}
		4355	)
		4356	};
		4357
		4358	List<PointLatLng> wpl = new List<PointLatLng>();
		4359	foreach(var trk in tracks)
		4360	{
		4361	foreach(var trkseg in trk.Segs)
		4362	{
		4363	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		4364	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		4365	}
		4366
		4367	}
		4368	if(wpl.Count() > 0)
		4369	{
2327	-	4370	_clearMapMarkers(typeof(GMapRoute));
2324	-	4371	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	4372	Dispatcher.Invoke(() =>
		4373	{
		4374	GMapRoute mRoute;
		4375	if (comboBoxRouteColor.SelectionBoxItem != null)
		4376	{
		4377	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	4378	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	4379	}
		4380	else
2366	-	4381	mRoute = new GMapRoute(wpl, null);
2324	-	4382
2328	-	4383	MainMap.Markers.Add(mRoute);
		4384	});
2324	-	4385	}
		4386
		4387	}
		4388	catch (Exception e)
		4389	{
		4390	Console.WriteLine("Exception: {0}", e.ToString());
		4391	}
		4392	}
		4393	}
		4394	#endregion GPX
2315	-	4395	#endregion functions
2287	-	4396	}
2315	-	4397	/// <summary>
		4398	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		4399	/// </summary>
2313	-	4400	public class waypointsConverter : IValueConverter
		4401	{
		4402	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		4403	{
		4404	if (value != null)
		4405	{
		4406	switch ((string)parameter)
		4407	{
		4408	case "Latitude":
		4409	return value.ToString() + " °";
		4410	case "Longitude":
		4411	return value.ToString() + " °";
		4412	case "Radius":
		4413	return value.ToString() + " m";
		4414	case "Altitude":
		4415	return value.ToString() + " m";
		4416	case "ClimbRate":
		4417	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		4418	case "DelayTime":
		4419	return value.ToString() + " s";
		4420	case "Heading":
		4421	return Waypoints.Heading(System.Convert.ToInt32(value));
		4422	case "Speed":
		4423	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		4424	case "CamAngle":
		4425	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		4426	case "Type":
		4427	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		4428	case "AutoTrigger":
		4429	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		4430	case "Status":
2355	-	4431	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	4432	}
		4433
		4434	return value.ToString();
		4435	}
		4436	else return value;
		4437	}
		4438
		4439	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		4440	{
		4441	throw new NotImplementedException();
		4442	}
		4443	}
		4444
2287	-	4445	public class IniFile
		4446	{
		4447	public string path;
		4448
		4449	[DllImport("kernel32")]
		4450	private static extern long WritePrivateProfileString(string section,
		4451	string key, string val, string filePath);
		4452
		4453	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		4454	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		4455	uint nSize, string lpFileName);
		4456
		4457	[DllImport("kernel32")]
		4458	private static extern int GetPrivateProfileString(string section,
		4459	string key, string def, StringBuilder retVal,
		4460	int size, string filePath);
		4461
		4462	public IniFile(string INIPath)
		4463	{
		4464	path = INIPath;
		4465	}
		4466
		4467	public void IniWriteValue(string Section, string Key, string Value)
		4468	{
		4469	WritePrivateProfileString(Section, Key, Value, this.path);
		4470	}
		4471
		4472	public string IniReadValue(string Section, string Key)
		4473	{
		4474	StringBuilder temp = new StringBuilder(255);
		4475	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		4476	return temp.ToString();
		4477	}
		4478	//Ini_sections auslesen in String-Array
		4479	public string[] IniSectionNames()
		4480	{
		4481
		4482	// uint MAX_BUFFER = 32767;
		4483	uint MAX_BUFFER = 8388608;
		4484	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		4485	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		4486	if (bytesReturned == 0)
		4487	{
		4488	Marshal.FreeCoTaskMem(pReturnedString);
		4489	return null;
		4490	}
		4491	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		4492	Marshal.FreeCoTaskMem(pReturnedString);
		4493	//use of Substring below removes terminating null for split
		4494	return local.Substring(0, local.Length - 1).Split('\0');
		4495
		4496
		4497	}
		4498	}
		4499
		4500	/// <summary>
		4501	/// Selected Win AI Function Calls
		4502	/// </summary>
		4503	public class WinApi
		4504	{
		4505	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		4506	public static extern int GetSystemMetrics(int which);
		4507	[DllImport("user32.dll")]
		4508	public static extern void
		4509	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		4510	int X, int Y, int width, int height, uint flags);
		4511
		4512	private const int SM_CXSCREEN = 0;
		4513	private const int SM_CYSCREEN = 1;
		4514	private static IntPtr HWND_TOP = IntPtr.Zero;
		4515	private const int SWP_SHOWWINDOW = 64; // 0x0040
		4516
		4517	public static int ScreenX
		4518	{
		4519	get { return GetSystemMetrics(SM_CXSCREEN); }
		4520	}
		4521
		4522	public static int ScreenY
		4523	{
		4524	get { return GetSystemMetrics(SM_CYSCREEN); }
		4525	}
		4526
		4527	public static void SetWinFullScreen(IntPtr hwnd)
		4528	{
		4529	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		4530	}
		4531	}
		4532	/// <summary>
		4533	/// Class used to preserve / restore state of the window
		4534	/// </summary>
		4535	public class WinState
		4536	{
		4537	private WindowState winState;
		4538	private WindowStyle brdStyle;
		4539	private bool topMost;
		4540	private Rect restore;
		4541	private bool IsMaximized = false;
		4542
		4543	public bool isMaximized
		4544	{
		4545	get { return IsMaximized; }
		4546	}
		4547	public void Maximize(Window targetForm)
		4548	{
		4549	if (!IsMaximized)
		4550	{
		4551	IsMaximized = true;
		4552	Save(targetForm);
		4553	targetForm.WindowState = WindowState.Maximized;
		4554	targetForm.WindowStyle = WindowStyle.None;
		4555	targetForm.Topmost = true;
		4556	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		4557	}
		4558	}
		4559
		4560	public void Save(Window targetForm)
		4561	{
		4562	winState = targetForm.WindowState;
		4563	brdStyle = targetForm.WindowStyle;
		4564	topMost = targetForm.Topmost;
		4565	restore = targetForm.RestoreBounds;
		4566	}
		4567	public void Restore(Window targetForm)
		4568	{
		4569	targetForm.WindowState = winState;
		4570	targetForm.WindowStyle = brdStyle;
		4571	targetForm.Topmost = topMost;
		4572
		4573	targetForm.Left = restore.Left;
		4574	targetForm.Top = restore.Top;
		4575	targetForm.Height = restore.Height;
		4576	targetForm.Width = restore.Width;
		4577	IsMaximized = false;
		4578	}
		4579	}
		4580
		4581	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2401 - Rev