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
2405	-	41	object lockObj = new Object();
		42	MediaPlayer.MediaPlayer mediaPlayer = new MediaPlayer.MediaPlayer();
2304	-	43
2287	-	44	GMapMarker copter;
		45	GMapMarker home;
		46	PointLatLng start;
		47	PointLatLng end;
		48	PointLatLng pHome;
2328	-	49	GMapRoute mRouteWP;
2342	-	50	GMapMarker wpActiveMarker;
2328	-	51	List<PointLatLng> wpList = new List<PointLatLng>();
2405	-	52	Circle cWPBound = new Circle();
		53	double dWPMaxRange = 0;
		54
2324	-	55	#region NC-Errors
2287	-	56	String[] NC_Error = new string[44]
		57	{
		58	"No Error",
2381	-	59	"FC not compatible",
		60	"MK3Mag not compatible",
		61	"no FC communication",
		62	"no compass communication",
		63	"no GPS communication",
		64	"bad compass value",
		65	"RC Signal lost",
		66	"FC spi rx error",
		67	"ERR: no NC communication",
		68	"ERR: FC Nick Gyro",
		69	"ERR: FC Roll Gyro",
		70	"ERR: FC Yaw Gyro",
		71	"ERR: FC Nick ACC",
		72	"ERR: FC Roll ACC",
		73	"ERR: FC Z-ACC",
		74	"ERR: Pressure sensor",
		75	"ERR: FC I2C",
		76	"ERR: Bl Missing",
		77	"Mixer Error",
		78	"FC: Carefree Error",
		79	"ERR: GPS lost",
		80	"ERR: Magnet Error",
		81	"Motor restart",
		82	"BL Limitation",
		83	"Waypoint range",
		84	"ERR:No SD-Card",
		85	"ERR:SD Logging aborted",
		86	"ERR:Flying range!",
		87	"ERR:Max Altitude",
		88	"No GPS Fix",
		89	"compass not calibrated",
		90	"ERR:BL selftest",
		91	"no ext. compass",
		92	"compass sensor",
		93	"FAILSAFE pos.!",
		94	"ERR:Redundancy",
		95	"Redundancy test",
		96	"GPS Update rate",
		97	"ERR:Canbus",
		98	"ERR: 5V RC-Supply",
		99	"ERR:Power-Supply",
		100	"ACC not calibr.",
		101	"ERR:Parachute!"
2287	-	102	};
2381	-	103	String[] NC_Error_Link = new string[44]
		104	{
		105	"",
		106	"http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		107	"http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		108	"http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		109	"http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		110	"http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		111	"http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		112	"http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		113	"http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		114	"http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		115	"http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		116	"http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		117	"http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		118	"http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		119	"http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		120	"http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		121	"http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		122	"http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		123	"http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		124	"http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		125	"http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		126	"http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		127	"http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		128	"http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		129	"http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		130	"http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		131	"http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		132	"http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		133	"http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		134	"http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		135	"http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		136	"http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		137	"http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		138	"http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		139	"http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		140	"http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		141	"http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		142	"http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		143	"http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		144	"http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		145	"http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		146	"http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		147	"http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		148	"http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		149	};
		150
2324	-	151	#endregion NC-Errors
2287	-	152	[FlagsAttribute]
		153	enum NC_HWError0 : short
		154	{
		155	None = 0,
		156	SPI_RX = 1,
		157	COMPASS_RX = 2,
		158	FC_INCOMPATIBLE = 4,
		159	COMPASS_INCOMPATIBLE = 8,
		160	GPS_RX = 16,
		161	COMPASS_VALUE = 32
		162	};
		163	[FlagsAttribute]
		164	enum FC_HWError0 : short
		165	{
		166	None = 0,
		167	GYRO_NICK = 1,
		168	GYRO_ROLL = 2,
		169	GYRO_YAW = 4,
		170	ACC_NICK = 8,
		171	ACC_ROLL = 16,
		172	ACC_TOP = 32,
		173	PRESSURE = 64,
		174	CAREFREE = 128
		175	};
		176	[FlagsAttribute]
		177	enum FC_HWError1 : short
		178	{
		179	None = 0,
		180	I2C = 1,
		181	BL_MISSING = 2,
		182	SPI_RX = 4,
		183	PPM = 8,
		184	MIXER = 16,
		185	RC_VOLTAGE = 32,
		186	ACC_NOT_CAL = 64,
		187	RES3 = 128
		188	};
		189	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		190	// Various colors for logging info
		191	private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red };
		192
		193	bool _bCBInit = true;
		194	bool _init = true;
		195	bool check_HWError = false;
		196
		197	string filePath = Directory.GetCurrentDirectory();
		198	bool bReadContinously = false;
		199	bool _debugDataAutorefresh = true;
		200	bool _navCtrlDataAutorefresh = true;
		201	bool _blctrlDataAutorefresh = true;
		202	bool _OSDAutorefresh = true;
		203	bool _bErrorLog = false;
		204	bool _bConnErr = false;
		205	bool _bFollowCopter = false;
2324	-	206	bool _bGPXLog = false;
2376	-	207	bool _Simulate = false;
2287	-	208
		209	bool _bSaveWinStateNormal = true;
		210	bool _bSaveWinStateFull = true;
		211
		212	double scaleNormalAll = 1;
		213	double scaleNormalTopBar = 1;
		214	double scaleNormalMotors = 1;
		215	double scaleNormalOSD = 1;
		216	double scaleNormalLOG = 1;
		217	double scaleNormalHorizon = 1;
		218
		219	double scaleFullAll = 1;
		220	double scaleFullTopBar = 1;
		221	double scaleFullMotors = 1;
		222	double scaleFullOSD = 1;
		223	double scaleFullLOG = 1;
		224	double scaleFullHorizon = 1;
		225
		226	int _iCtrlAct = 0;
		227	int iOSDPage = 0;
		228	int iOSDMax = 0;
		229	int _iLifeCounter = 0;
		230	int crcError = 0;
		231
2291	-	232	bool _bSatFix = false;
		233	Storyboard stbSatFixLostAnim;
		234	bool _bAnimSatFixActive = false;
		235	bool _bVoiceSatFixActive = false;
		236	bool _bVoiceSatFixPlay = false;
		237	int _iSatsLast = 0;
		238	int _iSatsJitter = 0;
		239
		240	bool _bMagneticFieldOK = false;
		241	Storyboard stbMagneticFieldAnim;
		242	bool _bAnimMagneticFieldActive = false;
		243	bool _bVoiceMagneticFieldActive = false;
		244	bool _bVoiceMagneticFieldPlay = false;
		245	int _iMagneticFieldLast = 0;
		246	int _iMagneticFieldJitter = 0;
		247
		248	bool _bRCLevelOK = false;
		249	Storyboard stbRCLevelAnim;
		250	bool _bAnimRCLevelActive = false;
		251	bool _bVoiceRCLevelActive = false;
		252	bool _bVoiceRCLevelPlay = false;
		253	int _iRCLevelLast = 0;
		254	int _iRCLevelJitter = 0;
		255
2287	-	256	int _iMotors = 4;
		257	int _LipoCells = 4;
		258
		259	double _dLipoVMax = 16.88;
		260	double _dLipoVMin = 12;
		261	double _dThresholdVoltageWarn = 0;
		262	double _dThresholdVoltageCrit = 0;
		263	Storyboard stbVoltageCritAnim;
		264	bool _bCritAnimVoltActive = false;
		265	bool _bCritVoiceVoltActive = false;
2291	-	266	bool _bWarnVoiceVoltActive = false;
2287	-	267	bool _bVoiceVoltPlay = false;
		268	double _dVoltLast = 0;
		269	int _iVoltJitter = 0;
		270
2291	-	271	double _dThresholdDistanceWarn = 100;
		272	Storyboard stbDistanceWarnAnim;
		273	bool _bAnimDistanceActive = false;
		274	bool _bVoiceDistanceActive = false;
		275	bool _bVoiceDistancePlay = false;
		276	double _dDistanceLast = 0;
		277	int _iDistanceJitter = 0;
		278
		279	double _dThresholdDistanceMax = 1000;
		280	int _iThresholdRC = 160;
		281	int _iThresholdMagField = 15;
		282
2295	-	283	bool _bAutoHome = false;
		284	bool _bFirstSatFix = false;
		285	int _iFirstSatFix = 0;
2291	-	286
2287	-	287	double _dTopHeight = 36;
		288
		289	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		290	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		291	string[] serChanTitle = new string[12];
		292
		293	string[] sAnalogLabel = new string[32];
		294	string[] sAnalogData = new string[32];
2324	-	295	int[] iAnalogData = new int[32];
2287	-	296
		297	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 };
		298	int[] iMotors = new int[] {3,4,5,6,7,8,9,10,11,12 };
		299	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		300	/// <summary>
		301	/// interval for sending debugdata (multiplied by 10ms)
		302	/// </summary>
		303	byte debugInterval = 10; //(=> 100ms)
		304	/// <summary>
		305	/// interval for sending BL-CTRL status (multiplied by 10ms)
		306	/// </summary>
		307	byte blctrlInterval = 75;
		308	/// <summary>
		309	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		310	/// </summary>
		311	byte navctrlInterval = 80;
		312	/// <summary>
		313	/// interval for sending OSD page update (multiplied by 10ms)
		314	/// </summary>
		315	byte OSDInterval = 85;
		316	/// <summary>
		317	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		318	/// </summary>
		319	DataTable dtAnalog = new DataTable();
		320	/// <summary>
		321	/// datatable for motordata (current,temp)
		322	/// </summary>
2315	-	323	DataTable dtMotors = new DataTable();
2287	-	324
		325	DataTable dtWaypoints = new DataTable();
2313	-	326	static volatile int _iWPCount = -1;
		327	static volatile int _iWPIndex = -1;
		328	int _iWPTimeout = 1000;
2287	-	329	bool _bGetWP = false;
2328	-	330	bool _bShowWPRoute = false;
2287	-	331	static volatile bool _bGetWPCount = false;
2324	-	332	DataTable dtGPX = new DataTable();
		333	DataRow drGPX;
		334	bool _bAirborne = false;
2355	-	335	int _wpIndex = -1, _wpCount = 0, _wpEdit = -1;
2340	-	336
2287	-	337	DispatcherTimer timer = new DispatcherTimer();
		338
		339	/// <summary>
		340	/// stuff for enabeling touch zoom for the map
		341	/// </summary>
		342	Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0);
		343	int iFirstStylusID = -1;
		344	public string connectButtonText
		345	{
		346	get
		347	{
		348	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		349	}
		350	}
		351
		352	WinState winState = new WinState();
2304	-	353	#endregion declarations
2287	-	354	public MainWindow()
		355	{
		356	InitializeComponent();
		357	_initForm();
		358	_dataTablesInit();
		359	_setupMap();
		360	_init = false;
		361	timer.Tick += new EventHandler(timerEvent);
		362	timer.Interval = new TimeSpan(0, 0, 1);
		363	timer.Start();
		364	}
		365
		366	#region init
		367	void _initForm()
		368	{
		369	_readIni();
		370	if (_bSaveWinStateNormal)
		371	_setScaleSliders(false);
		372	cBoxTimingsDebug.ItemsSource =
		373	cBoxTimingsNav.ItemsSource =
		374	cBoxTimingsBl.ItemsSource =
		375	cBoxTimingsOSD.ItemsSource =
		376	iTimings;
		377	cBoxLiPoCells.ItemsSource = sLiPoCells;
		378	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		379	_LipoMinMax();
		380	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		381	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		382	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
2291	-	383	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		384	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		385	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		386	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		387	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
2287	-	388
2291	-	389	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		390
2287	-	391	cBoxMotors.ItemsSource = iMotors;
		392	cBoxMotors.SelectedItem = _iMotors;
		393
		394	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		395	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		396	serialPortCtrl.DataReceived += processMessage;
		397
		398	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		399	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		400	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		401	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		402
		403	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		404	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		405	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		406	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
2295	-	407	checkBoxAutoSetHP.IsChecked = _bAutoHome;
2287	-	408	checkBoxFollowCopter.IsChecked = _bFollowCopter;
2324	-	409	checkBoxGPXLog.IsChecked = _bGPXLog;
2328	-	410	checkBoxShowWPRoute.IsChecked = _bShowWPRoute;
2287	-	411
2349	-	412	_initSerialCtrl();
2287	-	413	}
		414	/// <summary>
		415	/// initialize the datatables
		416	/// with columnnames etc
		417	/// </summary>
		418	void _dataTablesInit()
		419	{
2315	-	420	dtMotors.Columns.Add("#");
2313	-	421	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
2315	-	422	dtMotors.Columns.Add("Strom");
2313	-	423	else
2315	-	424	dtMotors.Columns.Add("Current");
		425	dtMotors.Columns.Add("Temp");
		426	dgvMotors1.DataContext = dtMotors.DefaultView;
2287	-	427	_initDTMotors();
		428
		429	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0));
		430	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		431	style.Setters.Add(setter);
		432	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		433	style.Setters.Add(setter);
		434	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		435	style.Setters.Add(setter);
2313	-	436
		437	dtWaypoints.Columns.Add("Index",typeof(int));
2315	-	438	dtWaypoints.Columns.Add("Type", typeof(int));
2313	-	439	dtWaypoints.Columns.Add("Name",typeof(string));
2315	-	440	dtWaypoints.Columns.Add("Latitude",typeof(double));
		441	dtWaypoints.Columns.Add("Longitude",typeof(double));
2313	-	442	dtWaypoints.Columns.Add("Altitude",typeof(string));
		443	dtWaypoints.Columns.Add("Heading",typeof(string));
		444	dtWaypoints.Columns.Add("Speed",typeof(string));
		445	dtWaypoints.Columns.Add("ClimbRate",typeof(string));
		446	dtWaypoints.Columns.Add("Radius",typeof(string));
		447	dtWaypoints.Columns.Add("HoldTime",typeof(string));
		448	dtWaypoints.Columns.Add("AutoTrigger",typeof(string));
		449	dtWaypoints.Columns.Add("CamAngle",typeof(string));
		450	dtWaypoints.Columns.Add("Event",typeof(string));
		451	dtWaypoints.Columns.Add("Out1Timer",typeof(string));
		452	dtWaypoints.Columns.Add("Status",typeof(string));
		453	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		454	dgvWP.ItemsSource = dtWaypoints.DefaultView;
2287	-	455	dgvWP.ColumnHeaderStyle = new Style();
		456	dgvWP.ColumnHeaderStyle = style;
2313	-	457
2324	-	458	dtGPX.Columns.Add("Index",typeof(int));
		459	dtGPX.Columns.Add("Latitude",typeof(double));
		460	dtGPX.Columns.Add("Longitude",typeof(double));
		461	dtGPX.Columns.Add("Elevation",typeof(int));
		462	dtGPX.Columns.Add("Time",typeof(string));
		463	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		464	drGPX = dtGPX.NewRow();
2313	-	465
2287	-	466	}
		467	/// <summary>
2315	-	468	/// initialize the datatable dtMotors for motor values
2313	-	469	/// DataGridView dgvMotors1 is bound to dtMotors1
2287	-	470	/// </summary>
		471	void _initDTMotors()
		472	{
		473	for (int i = 0; i < 12; i++)
		474	{
2315	-	475	if (dtMotors.Rows.Count < 12)
		476	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
2287	-	477	else
		478	{
2315	-	479	dtMotors.Rows[i].SetField(1, "NA");
		480	dtMotors.Rows[i].SetField(2, "NA");
2287	-	481	}
		482	}
		483	}
		484
		485	#endregion init
		486
		487	#region events
		488	private void serialPortCtrl_PortOpened()
		489	{
		490	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		491	_getVersion();
		492	Thread.Sleep(100);
		493	//_OSDMenue(0);
		494	//Thread.Sleep(200);
		495	//_sendSerialData();
		496	_readCont(true);
		497	}
		498	private void serialPortCtrl_PortClosed()
		499	{
		500	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		501	_readCont(false);
		502	}
2324	-	503	bool _bToggle = false;
2287	-	504	void timerEvent(object sender, EventArgs e)
		505	{
		506	if (bReadContinously)
		507	{
		508	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		509
		510	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		511
		512	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		513	check_HWError = true;
		514	_getVersion();
		515	Thread.Sleep(10);
		516	if (_OSDAutorefresh)
		517	{
		518	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		519	_initOSDCB();
		520	_OSDMenueAutoRefresh();
		521	}
		522	if (_iLifeCounter > 0)
		523	{
		524	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		525	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		526	_iLifeCounter = 0;
		527	_bConnErr = false;
2327	-	528	if(_bAirborne && _bGPXLog)
2324	-	529	{
		530	drGPX[0] = dtGPX.Rows.Count;
		531	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		532	}
2327	-	533	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		534	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		535	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
2324	-	536	_bToggle = !_bToggle;
2287	-	537	}
		538	else
		539	{
		540	if (!_bConnErr)
		541	{
		542	Log(LogMsgType.Error, "No communication to NC/FC!");
		543	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		544	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		545	_bConnErr = true;
		546	}
		547	}
		548	}
		549	}
		550
		551	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		552	{
		553	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		554	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		555	}
		556	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		557	{
		558	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		559	if (GridMotors.IsVisible)
		560	_setMotorGridSize();
		561	}
		562	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		563	{
		564	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		565	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		566	}
		567	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		568	{
		569	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		570	}
		571	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		572	{
		573	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		574	}
		575	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		576	{
		577	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		578	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		579	}
		580
		581	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		582	{
		583	Thread t = new Thread(new ThreadStart(_getWP));
		584	t.Start();
		585	}
		586	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		587	{
2313	-	588	Thread t = new Thread(new ThreadStart(_sendWPList));
		589	t.Start();
2287	-	590	}
		591
		592	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		593	{
		594	if (!serialPortCtrl.Port.IsOpen)
		595	serialPortCtrl.Connect(true);
		596	else
		597	_readCont(!bReadContinously);
		598	}
		599	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		600	{
2347	-	601	_setHomePos();
2287	-	602	}
		603	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		604	{
2347	-	605	_clearHomePos();
2287	-	606	}
		607	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		608	{
		609	if (home != null && MainMap.Markers.Contains(home))
		610	MainMap.Position = home.Position;
		611	}
2295	-	612	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		613	{
		614	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		615	}
2287	-	616	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		617	{
		618	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		619	}
		620	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		621	{
		622	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		623	}
		624
2291	-	625	#region thresholds
2287	-	626	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		627	{
		628	if(!_init)
		629	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		630	}
		631	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		632	{
		633	if(!_init)
		634	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		635	}
		636	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		637	{
		638	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		639	}
2291	-	640
		641	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		642	{
		643	if(!_init)
		644	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		645	}
		646	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		647	{
		648	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		649	}
		650
		651	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		652	{
		653	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		654	}
		655	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		656	{
		657	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		658	}
		659	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		660	{
		661	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		662	}
		663	#endregion thresholds
		664
2287	-	665	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		666	{
		667	_switchToNC();
		668	}
		669
		670	private void Window_Loaded(object sender, RoutedEventArgs e)
		671	{
		672	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
2291	-	673	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		674	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		675	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		676	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
2287	-	677	_setMotorGridSize();
		678	}
2310	-	679	private void Window_Closing(object sender, CancelEventArgs e)
		680	{
		681	_writeIni();
2324	-	682	if(_bGPXLog && dtGPX.Rows.Count > 0)
		683	_saveGPXLog();
2310	-	684	}
2379	-	685	private void Window_Closed(object sender, EventArgs e)
		686	{
		687	Application.Current.Shutdown();
		688	}
		689
2287	-	690	#endregion events
		691
		692	#region GMap
		693
		694	void _setupMap()
		695	{
		696	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		697	MainMap.MapProvider = GMapProviders.BingHybridMap;
		698	MainMap.SetPositionByKeywords("Landshut");
		699	MainMap.MinZoom = 0;
		700	MainMap.MaxZoom = 24;
		701	MainMap.Zoom = 16;
		702	MainMap.ShowCenter = true;
		703	MainMap.ShowTileGridLines = false;
		704	sliderMapZoom.Value = 16;
		705	comboBoxMapType.ItemsSource = providerList;
		706	comboBoxMapType.DisplayMemberPath = "Name";
		707	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		708
		709	// acccess mode
		710	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		711	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		712
		713	}
		714
		715	/// <summary>
		716	/// selection of relevant map providers --> if You need more, You can change the line:
		717	/// comboBoxMapType.ItemsSource = providerList;
		718	/// to:
		719	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		720	/// in _setupMap()
		721	/// or add items here:
		722	/// </summary>
		723	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		724	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		725	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		726	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		727	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		728
		729	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		730	{
		731	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		732	copter = new GMapMarker(MainMap.Position);
2318	-	733
		734	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"),"red");
		735	if (comboBoxCopterColor.SelectionBoxItem != null)
		736	{
		737	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	738	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	739	}
2385	-	740	Dispatcher.Invoke(() => {
		741	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		742	{
		743	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		744	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		745	}
		746	});
2405	-	747	copter.Offset = new System.Windows.Point(-26, -26);
2287	-	748	copter.ZIndex = int.MaxValue;
		749	MainMap.Markers.Add(copter);
		750	copter.Position = MainMap.Position;
		751	}
2347	-	752	void _setHomePos()
2287	-	753	{
		754	pHome = MainMap.Position;
		755	if (!MainMap.Markers.Contains(home))
		756	{
		757	home = new GMapMarker(MainMap.Position);
		758	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
2405	-	759	home.Offset = new System.Windows.Point(-16.5, -16.5);
2287	-	760	// home.ZIndex = int.MaxValue;
		761	MainMap.Markers.Add(home);
		762	}
		763	home.Position = MainMap.Position;
		764	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
2405	-	765
		766	if (checkBoxShowWPMaxRange.IsChecked == true)
		767	{
		768	if (cWPBound != null && cWPBound.Tag != null)
		769	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		770
		771	createCircle(home.Position, dWPMaxRange);
		772	}
		773
2287	-	774	}
2347	-	775	void _setActiveWP(int iIndex)
2287	-	776	{
2347	-	777	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
		778	{
		779	Dispatcher.Invoke(() =>
		780	{
		781	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		782	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		783	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		784	MainMap.Markers.Add(wpActiveMarker);
		785	});
		786	}
		787	else
		788	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
		789
2401	-	790	Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m");
2347	-	791	}
		792	void _clearHomePos()
		793	{
2287	-	794	MainMap.Markers.Remove(home);
2405	-	795	if (cWPBound != null && cWPBound.Tag != null)
		796	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2287	-	797	}
2335	-	798	void _clearMapMarkers(Type markerType)
		799	{
		800	for (int k = 0; k < MainMap.Markers.Count;)
		801	{
		802	GMapMarker p = MainMap.Markers[k];
2340	-	803	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	804	MainMap.Markers.Remove(p);
		805	else
		806	k++;
		807	}
2287	-	808
2335	-	809	}
2369	-	810
		811	GMapMarker _findWPMarker(string name)
2368	-	812	{
		813	for (int k = 0; k < MainMap.Markers.Count;)
		814	{
		815	GMapMarker p = MainMap.Markers[k];
		816	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
2369	-	817	if (((CustomMarkerWP)p.Shape).WPText == name)
		818	return p;
2368	-	819	else
		820	k++;
		821	else
		822	k++;
		823	}
2369	-	824	return null;
2368	-	825	}
2369	-	826	void _clearWPMarker(string name)
		827	{
		828	GMapMarker p = _findWPMarker(name);
		829	if(p != null)
		830	MainMap.Markers.Remove(p);
		831	}
2368	-	832	void _renameWPMarker(string s1, string s2)
		833	{
2369	-	834	GMapMarker p = _findWPMarker(s1);
		835	if (p != null)
		836	((CustomMarkerWP)p.Shape).WPText = s2;
2368	-	837	}
2372	-	838	void _WPMarkerSetType(string text, int type)
		839	{
		840	GMapMarker p = _findWPMarker(text);
		841	if (p != null)
		842	((CustomMarkerWP)p.Shape).WPType = type;
		843	}
2369	-	844	void _repositionWPMarker(PointLatLng point, string name)
		845	{
		846	GMapMarker p = _findWPMarker(name);
		847	if (p != null)
		848	p.Position = point;
		849	}
		850
2405	-	851	void createCircle(PointLatLng center, double distance)
		852	{
		853
		854	GMapMarker it = new GMapMarker(center);
		855	it.ZIndex = -1;
		856
		857	cWPBound.Center = center;
		858	cWPBound.Bound = GMap.NET.PureProjection.GetPointFromDistance(center, distance);
		859	cWPBound.Tag = it;
		860	cWPBound.IsHitTestVisible = false;
		861	UpdateCircle(cWPBound);
		862	it.Shape = cWPBound;
		863	MainMap.Markers.Add(it);
		864	}
		865	// calculates circle radius
		866	void UpdateCircle(Circle c)
		867	{
		868	var pxCenter = MainMap.FromLatLngToLocal(c.Center);
		869	var pxBounds = MainMap.FromLatLngToLocal(c.Bound);
		870
		871	double a = (double)(pxBounds.X - pxCenter.X);
		872	double b = (double)(pxBounds.Y - pxCenter.Y);
		873	var pxCircleRadius = Math.Sqrt(a * a + b * b);
		874
		875	c.Width = c.Height = pxCircleRadius * 2;
		876	//c.Width = 55 + pxCircleRadius * 2;
		877	//c.Height = 55 + pxCircleRadius * 2;
		878	(c.Tag as GMapMarker).Offset = new System.Windows.Point(-c.Width / 2, -c.Height / 2);
		879	}
		880
2287	-	881	// access mode
		882	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		883	{
		884	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		885	MainMap.ReloadMap();
		886	}
		887	// zoom up
		888	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		889	{
		890	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		891	}
		892
		893	// zoom down
		894	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		895	{
		896	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		897	}
		898
		899	// prefetch
		900	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		901	{
		902	RectLatLng area = MainMap.SelectedArea;
		903	if (!area.IsEmpty)
		904	{
		905	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		906	{
		907	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		908
		909	if (res == MessageBoxResult.Yes)
		910	{
		911	TilePrefetcher obj = new TilePrefetcher();
		912	obj.Owner = this;
		913	obj.ShowCompleteMessage = true;
		914	obj.Start(area, i, MainMap.MapProvider, 100);
		915	}
		916	else if (res == MessageBoxResult.No)
		917	{
		918	continue;
		919	}
		920	else if (res == MessageBoxResult.Cancel)
		921	{
		922	break;
		923	}
		924	}
		925	}
		926	else
		927	{
		928	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		929	}
		930	}
		931
		932	// goto by geocoder
		933	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		934	{
		935	_goto_byGeoCoder();
		936	}
		937	// goto by geocoder
		938	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		939	{
		940	if (e.Key == System.Windows.Input.Key.Enter)
		941	_goto_byGeoCoder();
		942	}
		943	void _goto_byGeoCoder()
		944	{
		945	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		946	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		947	{
		948	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		949	}
		950	}
		951	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		952	{
		953	try
		954	{
		955	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		956	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		957
		958	MainMap.Position = new PointLatLng(lat, lng);
		959	}
		960	catch (Exception ex)
		961	{
		962	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		963	}
		964
		965	}
		966
		967	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		968	{
		969	MainMap.ReloadMap();
		970	}
		971
		972	private void MainMap_OnPositionChanged(PointLatLng point)
		973	{
		974	if (_bFollowCopter)
		975	_setCopterData(MainMap.Position);
		976	}
		977
		978	private void MainMap_OnMapZoomChanged()
		979	{
		980	if (_bFollowCopter)
		981	_setCopterData(MainMap.Position);
		982	if((int)sliderMapZoom.Value != MainMap.Zoom)
		983	sliderMapZoom.Value = MainMap.Zoom;
2405	-	984	if(cWPBound != null && cWPBound.Tag != null)
		985	UpdateCircle(cWPBound);
2287	-	986	}
		987
		988	void _setCopterData(PointLatLng p)
		989	{
		990	Dispatcher.Invoke(() =>
		991	{
		992	copter.Position = p;
		993	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		994	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		995	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		996	});
		997	if (home != null && MainMap.Markers.Contains(home))
		998	{
		999	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		1000	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		1001	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	1002
		1003	if(d*1000 < _dThresholdDistanceWarn)
		1004	{
		1005	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		1006	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		1007	{
		1008	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		1009	_bAnimDistanceActive = false;
		1010	}
		1011	}
		1012	else
		1013	{
		1014	if (_iDistanceJitter < 20)
		1015	{ _iDistanceJitter++; }
		1016	if (_iDistanceJitter == 20)
		1017	{
		1018	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		1019	{
		1020	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		1021	_bAnimDistanceActive = true;
		1022	}
		1023	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		1024	{
2398	-	1025	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\Distance.mp3");
		1026	//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		1027	//t.Start();
2291	-	1028	_bVoiceDistanceActive = true;
		1029	}
		1030	_iDistanceJitter++;
		1031	}
		1032	}
2287	-	1033	}
		1034	}
		1035
		1036	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		1037	{
		1038	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		1039	}
		1040
		1041	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1042	{
		1043	if (MainMap.Zoom != sliderMapZoom.Value)
		1044	MainMap.Zoom = (int)sliderMapZoom.Value;
		1045	}
		1046	#region Touch zooming hackattack ;)
		1047	/// <summary>
		1048	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		1049	/// </summary>
		1050	bool bFirstAccess = true;
		1051	double dDistance = 0;
		1052	int iZoom;
		1053	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1054	{
		1055	var id = e.StylusDevice.Id;
		1056	e.StylusDevice.Capture(MainMap);
		1057	if (iFirstStylusID == -1)
		1058	{
		1059	iFirstStylusID = id;
		1060	}
		1061	else
		1062	{
		1063
		1064	MainMap.CanDragMap = false;
		1065	}
		1066	}
		1067	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1068	{
		1069	MainMap.ReleaseStylusCapture();
		1070	iFirstStylusID = -1;
		1071	bFirstAccess = true;
		1072	MainMap.CanDragMap = true;
		1073	iZoom = 0;
		1074	}
		1075	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1076	{
		1077	var id = e.StylusDevice.Id;
		1078	var tp = e.GetPosition(MainMap);
		1079
		1080	// This is the first Stylus point; just record its position.
		1081	if (id == iFirstStylusID)
		1082	{
		1083	pTouch1.X = tp.X;
		1084	pTouch1.Y = tp.Y;
		1085	}
		1086	else
		1087	if (iFirstStylusID > -1)
		1088	{
		1089	pTouch2.X = tp.X;
		1090	pTouch2.Y = tp.Y;
		1091	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1092	if (!bFirstAccess)
		1093	{
		1094	if (distance > dDistance)
		1095	iZoom++;
		1096	else
		1097	if (distance < dDistance)
		1098	iZoom--;
		1099	}
		1100	if (iZoom > 30)
		1101	{
		1102	iZoom = 0;
		1103	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1104	}
		1105	if (iZoom < -30)
		1106	{
		1107	iZoom = 0;
		1108	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1109	}
		1110	dDistance = distance;
		1111	bFirstAccess = false;
		1112	}
		1113	}
		1114	#endregion Touch zooming hackattack ;)
		1115
		1116	#endregion GMap
		1117
		1118	#region settings
		1119	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1120	{
		1121	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		1122	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1123	}
		1124	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1125	{
		1126	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		1127	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1128	}
		1129	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1130	{
		1131	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1132	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1133	}
		1134	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1135	{
		1136	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1137	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1138	}
		1139	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1140	{
		1141	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1142	}
		1143	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1144	{
		1145	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1146	}
		1147	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1148	{
		1149	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1150	}
		1151	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1152	{
		1153	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1154	}
		1155
		1156	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1157	{
		1158	if (cBoxLiPoCells.SelectedIndex > -1)
		1159	{
		1160	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1161	_LipoMinMax();
		1162	}
		1163	}
		1164	void _LipoMinMax()
		1165	{
		1166	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1167	_dLipoVMin = (double)_LipoCells * 3;
		1168	pbTopVoltage.Maximum = _dLipoVMax;
		1169	pbTopVoltage.Minimum = _dLipoVMin;
		1170	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1171	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1172	}
		1173	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1174	{
		1175	if (cBoxMotors.SelectedIndex > -1)
		1176	{
		1177	_iMotors = cBoxMotors.SelectedIndex + 3;
		1178	Dispatcher.Invoke(() =>
		1179	{
		1180	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1181	GridMotors.Height = dgvMotors1.Height + 10;
		1182	});
		1183	}
		1184	}
		1185	void _setMotorGridSize()
		1186	{
		1187	if (dgvMotors1.Columns.Count > 2)
		1188	{
		1189	dgvMotors1.Columns[0].Width = 24;
		1190	dgvMotors1.Columns[1].Width = 50;
		1191	dgvMotors1.Columns[2].Width = 50;
		1192	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1193	GridMotors.Height = dgvMotors1.Height + 10;
		1194	}
		1195
		1196	}
		1197	#endregion settings
		1198
		1199	#region functions
		1200
		1201	#region logging
		1202	/// <summary> Log data to the terminal window. </summary>
		1203	/// <param name="msgtype"> The type of message to be written. </param>
		1204	/// <param name="msg"> The string containing the message to be shown. </param>
		1205	private void Log(LogMsgType msgtype, string msg)
		1206	{
		1207	Dispatcher.Invoke(() =>
		1208	{
		1209	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1210	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1211	// rtfTerminal.AppendText(msg + "\r");
		1212	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1213	tr.Text = msg;
		1214	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1215	rtfTerminal.AppendText("\r");
		1216	rtfTerminal.ScrollToEnd();
		1217	});
		1218	}
2381	-	1219	private void ErrorLog(LogMsgType msgtype, string msg , string linkURL, string linkName)
2287	-	1220	{
2381	-	1221
2287	-	1222	Dispatcher.Invoke(() =>
		1223	{
2381	-	1224	Paragraph para = new Paragraph();
		1225	para.Margin = new Thickness(0); // remove indent between paragraphs
		1226
		1227	Hyperlink link = new Hyperlink();
		1228	if (linkURL != "" && linkName != "")
		1229	{
		1230	link.IsEnabled = true;
		1231	link.Inlines.Add(linkName);
		1232	link.NavigateUri = new Uri(linkURL);
		1233	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1234	}
		1235	//msg = DateTime.Now.ToLongTimeString() + msg;
		1236	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1237	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1238	r.Foreground = new SolidColorBrush(Colors.Black);
		1239	para.Inlines.Add(r);
		1240	para.Inlines.Add(msg);
		1241	para.Inlines.Add(link);
		1242	rtfError.Document.Blocks.Add(para);
		1243	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1244	//tr.Text = msg + link;
		1245	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1246	//rtfError.AppendText("\r");
2287	-	1247	rtfError.ScrollToEnd();
		1248
2381	-	1249	//_bErrorLog = true;
2287	-	1250	});
		1251	}
		1252	/// <summary>
		1253	/// Clear the line in the errorlog window
		1254	/// containing the error string when error has ceased
		1255	/// </summary>
		1256	/// <param name="s">substring of errrormessage</param>
		1257	void _clearErrorLog(string s)
		1258	{
		1259	Dispatcher.Invoke((Action)(() =>
		1260	{
		1261	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1262	TextRange foundRange = FindTextInRange(searchRange, s);
		1263
		1264	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1265
		1266
		1267	if (iStart > -1)
		1268	{
		1269	int iLength = 0;
		1270	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1271	if (iEnd > 0)
		1272	{
		1273	iLength = iEnd + 1;
		1274	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1275	if (iHttp == iLength)
		1276	{
		1277	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1278	if (iEnd2 > iLength)
		1279	{
		1280	iLength = iEnd2 + 1;
		1281	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1282
		1283	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1284	rtfError.Selection.Text = string.Empty;
		1285	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1286	}
		1287
		1288	}
		1289	else
		1290	{
		1291	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1292	rtfError.Selection.Text = string.Empty;
		1293	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1294	}
		1295	}
		1296	}
		1297	}));
		1298
		1299	}
		1300	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1301	{
		1302	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1303	if (offset < 0)
		1304	return null; // Not found
		1305
		1306	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1307	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1308
		1309	return result;
		1310	}
		1311	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1312	{
		1313	while (position != null)
		1314	{
		1315	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1316	{
		1317	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1318	if (characterCount <= count)
		1319	{
		1320	return position.GetPositionAtOffset(characterCount);
		1321	}
		1322
		1323	characterCount -= count;
		1324	}
		1325
		1326	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1327	if (nextContextPosition == null)
		1328	return position;
		1329
		1330	position = nextContextPosition;
		1331	}
		1332
		1333	return position;
		1334	}
		1335	#endregion logging
		1336
		1337	#region processing received data
		1338
		1339	private void processMessage(byte[] message)
		1340	{
		1341	if (message.Length > 0)
		1342	{
		1343	_iLifeCounter++;
		1344	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1345	//Log(LogMsgType.Incoming, message.Length.ToString());
		1346	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1347	char cmdID;
		1348	byte adr;
		1349	byte[] data;
		1350	byte[] tmp = null;
		1351	if (message[0] != '#')
		1352	{
		1353	int iFound = -1;
		1354	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1355	{ //so this is a workaround to not spam the log box
		1356	if (message[i] == 35)
		1357	{
		1358	iFound = i;
		1359	break;
		1360	}
		1361	}
		1362	if (iFound > 0)
		1363	{
		1364	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1365	tmp = new byte[message.Length - iFound];
		1366	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1367	}
		1368	s = s.Trim('\0', '\n', '\r');
		1369	if (s.Length > 0)
		1370	Log(LogMsgType.Normal, s);
		1371	if (tmp != null)
		1372	{
		1373	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1374	processMessage(tmp);
		1375	}
		1376	}
		1377	//Debug.Print(s);
		1378	else
		1379	{
		1380	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1381
		1382	if (adr == 255) { crcError++; }
		1383	else crcError = 0;
		1384	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1385	//display the active controller (FC / NC)
		1386	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...???
		1387	{
		1388	_iCtrlAct = adr;
		1389	switch (adr)
		1390	{
		1391	case 1:
		1392	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2381	-	1393	// Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1394	// Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
2287	-	1395	// _setFieldsNA(); //display fields NA for FC
		1396	break;
		1397	case 2:
		1398	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1399	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1400	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1401	break;
		1402	//case 3:
		1403	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1404	// break;
		1405	//case 4:
		1406	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1407	// break;
		1408	default:
		1409	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1410	break;
		1411	}
		1412	// _loadLabelNames();
		1413	}
		1414	// else
		1415	// Debug.Print("Address == 0?");
		1416
		1417	if (data != null && data.Length > 0)
		1418	{
		1419	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1420	s = s.Trim('\0', '\n');
		1421
		1422	switch (cmdID)
		1423	{
		1424	//case 'A': //Label names
		1425	// _processLabelNames(s);
		1426	// break;
		1427
		1428	case 'D': //Debug data
		1429	_processDebugVals(adr, data);
		1430	break;
		1431
		1432	case 'V': //Version
		1433	_processVersion(adr, data);
		1434	break;
		1435
		1436	case 'K'://BL-CTRL data
		1437	_processBLCtrl(data);
		1438	break;
		1439
		1440	case 'O': //NC Data
		1441	_processNCData(data);
		1442	break;
		1443
2381	-	1444	//case 'E': //NC error-string
		1445	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1446	// break;
2287	-	1447
		1448	case 'L': //OSD Menue (called by pagenumber)
		1449	_processOSDSingle(data);
		1450	break;
		1451
		1452	case 'H': //OSD Menue (with autoupdate - called by Key)
		1453	_processOSDAuto(data);
		1454	break;
		1455
		1456	case 'X': //Waypoint data
		1457	_processWPData(data);
		1458	break;
		1459
2313	-	1460	case 'W': //return new Waypoint items count after sending waypoint to copter
		1461	_iWPCount = data[0];
		1462	break;
2287	-	1463	//default:
		1464	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1465	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1466	// break;
		1467	}
		1468	}
		1469	//else
		1470	//{
		1471	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1472	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1473	//}
		1474	}
		1475	}
		1476	}
		1477	/// <summary>
		1478	/// Analog label names 'A'
		1479	/// each label name is returned as a single string
		1480	/// and added to string array sAnalogLabel[]
		1481	/// and the datatable dtAnalog
		1482	/// </summary>
		1483	/// <param name="s">the label name</param>
		1484	void _processLabelNames(string s)
		1485	{
		1486	//if (iLableIndex < 32)
		1487	//{
		1488	// sAnalogLabel[iLableIndex] = s;
		1489	// if (dtAnalog.Rows.Count < 32)
		1490	// dtAnalog.Rows.Add(s, "");
		1491	// else
		1492	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1493
		1494	// // _getAnalogLabels(iLableIndex + 1);
		1495	//}
		1496	//Debug.Print(s);
		1497	}
		1498	/// <summary>
		1499	/// Debug values 'D'
		1500	/// </summary>
		1501	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1502	/// <param name="data">the received byte array to process</param>
		1503	void _processDebugVals(byte adr, byte[] data)
		1504	{
		1505	if (data.Length == 66)
		1506	{
2324	-	1507
2287	-	1508	double v;
		1509	int index = 0;
		1510	Int16 i16 = 0;
		1511	double dTemp = 0;
		1512	for (int i = 2; i < 66; i += 2)
		1513	{
		1514	i16 = data[i + 1];
		1515	i16 = (Int16)(i16 << 8);
		1516	iAnalogData[index] = data[i] + i16;
		1517	sAnalogData[index] = (data[i] + i16).ToString();
		1518	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1519
		1520	if (adr == 2) //NC
		1521	{
		1522	switch (index)
		1523	{
		1524	case 0: //pitch (German: nick)
		1525	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1526	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1527	break;
		1528	case 1: //roll
		1529	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1530	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1531	break;
		1532	case 4: //altitude
		1533	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1534	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2324	-	1535	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1536	break;
		1537	case 7: //Voltage
		1538	v = (double)iAnalogData[index] / (double)10;
		1539	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1540	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1541	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1542	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1543	{
		1544	if (v == _dVoltLast)
		1545	if(_iVoltJitter < 20) _iVoltJitter++;
		1546	else
		1547	{
		1548	_iVoltJitter = 0;
		1549	_dVoltLast = v;
		1550	}
		1551	if (_iVoltJitter == 20)
		1552	{
		1553	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1554
		1555	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1556	{
		1557	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1558	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1559	{
		1560	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1561	_bCritAnimVoltActive = true;
		1562	}
		1563	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1564	{
2398	-	1565	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3");
		1566	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1567	//t.Start();
2287	-	1568	_bCritVoiceVoltActive = true;
		1569	}
		1570	}
		1571	else
		1572	{
		1573	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1574	{
		1575	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1576	_bCritAnimVoltActive = false;
		1577	}
		1578	_bCritVoiceVoltActive = false;
		1579
2291	-	1580	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1581	{
2398	-	1582	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3");
		1583	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1584	//t.Start();
2291	-	1585	_bWarnVoiceVoltActive = true;
2287	-	1586	}
		1587	}
		1588	}
		1589	}
		1590	else
		1591	{
		1592	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1593	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1594	{
		1595	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1596	_bCritAnimVoltActive = false;
		1597	}
		1598	_bCritVoiceVoltActive = false;
2291	-	1599	_bWarnVoiceVoltActive = false;
2287	-	1600	_iVoltJitter = 0;
		1601	}
		1602	break;
		1603	case 8: // Current
		1604	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1605	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1606	break;
		1607	case 10: //heading
2291	-	1608	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2399	-	1609	if (!_Simulate) //use NavData for simulation
		1610	{
		1611	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1612	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		1613	}
2287	-	1614	break;
		1615	case 12: // SPI error
2291	-	1616	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1617	break;
		1618	case 14: //i2c error
2291	-	1619	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1620	break;
		1621	case 20: //Earthmagnet field
2291	-	1622	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1623	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1624
		1625	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1626	{
		1627	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1628	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1629	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1630	{
		1631	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1632	_bAnimMagneticFieldActive = false;
		1633	}
		1634	}
		1635	else
		1636	{
		1637	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1638	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1639	{
		1640	if (_iMagneticFieldJitter < 20)
		1641	_iMagneticFieldJitter++;
		1642	}
		1643	else
		1644	{
		1645	_iMagneticFieldJitter = 0;
		1646	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1647	}
		1648	if(_iMagneticFieldJitter == 20)
		1649	{
		1650	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1651	{
		1652	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1653	_bAnimMagneticFieldActive = true;
		1654	}
		1655	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1656	{
2398	-	1657	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1658	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1659	//t.Start();
2291	-	1660	_bVoiceMagneticFieldActive = true;
		1661	}
		1662	}
		1663	}
2287	-	1664	break;
		1665	case 21: //GroundSpeed
		1666	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2399	-	1667	if (!_Simulate)
		1668	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2287	-	1669	break;
2291	-	1670
		1671	///******** needs testing --> not sure what position this is *************
2287	-	1672	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1673	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1674	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1675	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1676	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1677	dTemp = Math.Sqrt(dTemp) / (double)10;
		1678	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1679	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1680	break;
2291	-	1681
2287	-	1682	case 31: //Sats used
		1683	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1684	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1685	break;
		1686	}
		1687	}
		1688	index++;
		1689	}
		1690	}
		1691	else
		1692	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1693	}
		1694	/// <summary>
		1695	/// Version string 'V'
		1696	/// </summary>
		1697	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1698	/// <param name="data">the received byte array to process</param>
		1699	void _processVersion(byte adr, byte[] data)
		1700	{
		1701	if (data.Length == 12)
		1702	{
		1703	if (!check_HWError)
		1704	{
		1705	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1706	string sVersion = "";
		1707	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1708	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1709	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1710	Log(LogMsgType.Incoming, sVersion);
		1711	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1712	Log(LogMsgType.Incoming, sVersion);
		1713	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1714	}
		1715	if (data[5] > 0) //error0
		1716	{
		1717	if (adr == 1)
2381	-	1718	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(),"","");
2287	-	1719	if (adr == 2)
2381	-	1720	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(),"","");
2287	-	1721	}
		1722	if (data[6] > 0) //error1
		1723	{
		1724	if (adr == 1)
2381	-	1725	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(),"","");
2287	-	1726	if (adr == 2)
2381	-	1727	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(),"",""); //@moment NC has only one error field
2287	-	1728	}
2381	-	1729	//if ((data[5] + data[6] == 0) && _bErrorLog)
		1730	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
2287	-	1731
		1732	}
		1733	check_HWError = false;
		1734	}
		1735	/// <summary>
		1736	/// BL-Ctrl data 'K'
		1737	/// for FC you have to use a customized firmware
		1738	/// </summary>
		1739	/// <param name="data">the received byte array to process</param>
		1740	void _processBLCtrl(byte[] data)
		1741	{
		1742	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1743	{
		1744	bool bAvailable = false;
		1745	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1746	{
		1747
		1748	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1749	bAvailable = true;
		1750	else
		1751	bAvailable = false;
		1752
		1753	if (data[i] < _iMotors)
		1754	{
		1755	if (bAvailable)
		1756	{
2315	-	1757	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1758	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1759	}
		1760	else
		1761	{
2315	-	1762	dtMotors.Rows[data[i]].SetField(1, "NA");
		1763	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1764	}
		1765	}
		1766	//if (data[i] > 3 && data[i] < 8)
		1767	//{
		1768	// if (bAvailable)
		1769	// {
		1770	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1771	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1772	// }
		1773	// else
		1774	// {
		1775	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1776	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1777	// }
		1778	//}
		1779	}
		1780	}
		1781	}
		1782	/// <summary>
		1783	/// Navi-Ctrl data 'O'
		1784	/// GPS-Position, capacatiy, flying time...
		1785	/// </summary>
		1786	/// <param name="data">the received byte array to process</param>
		1787	void _processNCData(byte[] data)
		1788	{
		1789	int i_32, i_16, iVal;
		1790	double d;
		1791	i_32 = data[4];
		1792	iVal = i_32 << 24;
		1793	i_32 = data[3];
		1794	iVal += i_32 << 16;
		1795	i_32 = data[2];
		1796	iVal += i_32 << 8;
		1797	iVal += data[1];
		1798	d = (double)iVal / Math.Pow(10, 7);
2324	-	1799	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1800
2287	-	1801	PointLatLng p = new PointLatLng();
		1802
		1803	p.Lng = d;
		1804	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1805	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1806
		1807	i_32 = data[8];
		1808	iVal = i_32 << 24;
		1809	i_32 = data[7];
		1810	iVal += i_32 << 16;
		1811	i_32 = data[6];
		1812	iVal += i_32 << 8;
		1813	iVal += data[5];
		1814	d = (double)iVal / Math.Pow(10, 7);
2324	-	1815	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1816	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1817	p.Lat = d;
2399	-	1818
2291	-	1819	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1820	{
		1821	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1822	if(_bAutoHome && !_bFirstSatFix)
		1823	{
		1824	if (_iFirstSatFix < 3)
		1825	_iFirstSatFix++;
		1826	else
		1827	{
		1828	_bFirstSatFix = true;
2347	-	1829	Dispatcher.Invoke(() => _setHomePos());
2295	-	1830	}
		1831	}
2291	-	1832	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1833	{
		1834	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1835	_bAnimSatFixActive = false;
		1836	}
		1837	if (!_bFollowCopter)
		1838	{
		1839	_setCopterData(p);
		1840	if (!MainMap.ViewArea.Contains(p))
		1841	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1842
2291	-	1843	}
		1844	else
2287	-	1845	Dispatcher.Invoke(() => MainMap.Position = p);
		1846	}
		1847	else
2291	-	1848	{
		1849	if(_bSatFix)
		1850	{
		1851	if (data[50] == _iSatsLast)
		1852	{
		1853	if (_iSatsJitter < 20) _iSatsJitter++;
		1854	}
		1855	else
		1856	{
		1857	_iSatsJitter = 0;
		1858	_iSatsLast = data[50];
		1859	}
2287	-	1860
2291	-	1861	if (_iSatsJitter == 20)
		1862	{
		1863	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1864	{
		1865	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1866	_bAnimSatFixActive = true;
		1867	}
		1868	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1869	{
2405	-	1870	_bVoiceSatFixActive = true;
2398	-	1871	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		1872	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		1873	//th.Start();
2291	-	1874	}
		1875
		1876	_bSatFix = false;
		1877	}
		1878	}
		1879	}
		1880
2399	-	1881	//Distance to next WP
2287	-	1882	i_16 = data[28];
		1883	i_16 = (Int16)(i_16 << 8);
		1884	iVal = data[27] + i_16;
2399	-	1885	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		1886	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
2401	-	1887	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	1888
		1889	i_16 = data[45];
		1890	i_16 = (Int16)(i_16 << 8);
		1891	iVal = data[44] + i_16;
		1892	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1893	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1894
		1895	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2355	-	1896	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2401	-	1897	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString()));
2399	-	1898	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
2342	-	1899	{
2347	-	1900	_setActiveWP(data[48]-1);
2355	-	1901	if((data[67] & 2) == 2)
		1902	Dispatcher.Invoke(() => {
		1903	DataGridRow row;
		1904	if (_wpIndex > -1)
		1905	{
		1906	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1907	row.Background = new SolidColorBrush(Colors.Transparent);
		1908	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1909	row.BorderThickness = new Thickness(0);
		1910	}
		1911	_wpIndex = data[48] - 1;
		1912	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
2366	-	1913	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		1914	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	1915	row.BorderThickness = new Thickness(2);
		1916	dgvWP.UpdateLayout();
		1917	});
2347	-	1918	_wpIndex = data[48]-1;
2342	-	1919	}
2347	-	1920	else
		1921	{
		1922	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	1923	{
2347	-	1924	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	1925	Dispatcher.Invoke(() =>
		1926	{
		1927	DataGridRow row;
2368	-	1928	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	1929	{
		1930	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1931	row.Background = new SolidColorBrush(Colors.Transparent);
		1932	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1933	row.BorderThickness = new Thickness(0);
		1934	_wpIndex = -1;
		1935	}
		1936	});
		1937
		1938	}
2347	-	1939	}
2342	-	1940
2287	-	1941	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	1942	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2401	-	1943	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	1944	_wpCount = data[49];
2287	-	1945	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1946
		1947	//--------------- Capacity used ------------------------
		1948	i_16 = data[81];
		1949	i_16 = (Int16)(i_16 << 8);
		1950	iVal = data[80] + i_16;
		1951	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1952	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1953
2398	-	1954	//--------------- Ground speed ------------------------
		1955	i_16 = data[59];
		1956	i_16 = (Int16)(i_16 << 8);
		1957	iVal = data[58] + i_16;
2399	-	1958	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		1959	if(_Simulate)
		1960	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
2398	-	1961
		1962	//--------------- Heading north ------------------------
		1963	i_16 = data[61];
		1964	i_16 = (Int16)(i_16 << 8);
		1965	iVal = data[60] + i_16;
		1966	Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
		1967
		1968	//--------------- Heading compass ------------------------
		1969	i_16 = data[63];
		1970	i_16 = (Int16)(i_16 << 8);
		1971	iVal = data[62] + i_16;
		1972	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
2399	-	1973	if (_Simulate)
		1974	{
		1975	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		1976	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		1977	}
2287	-	1978	//--------------- Flying time ------------------------
		1979	i_16 = data[56];
		1980	i_16 = (Int16)(i_16 << 8);
		1981	iVal = data[55] + i_16;
		1982	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1983	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1984	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1985	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1986
		1987	//--------------- RC quality ------------------------
		1988	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1989	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1990
2291	-	1991	if(data[66] > _iThresholdRC)
		1992	{
		1993	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1994	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1995	{
		1996	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1997	_bAnimRCLevelActive = false;
		1998	}
		1999	}
		2000	else
		2001	{
		2002	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2003	if (_iRCLevelJitter == 20)
		2004	{
		2005	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2006	{
		2007	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2008	_bAnimRCLevelActive = true;
		2009	}
		2010	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2011	{
2405	-	2012	_bVoiceRCLevelActive = true;
2398	-	2013	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2014	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2015	//th.Start();
2291	-	2016	}
		2017	_iRCLevelJitter++;
		2018	}
		2019	}
		2020
2405	-	2021	//Waypoint max range (by license)
		2022	if(dWPMaxRange != (double)data[70])
		2023	{
		2024	dWPMaxRange = (double)data[70];
		2025	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2026	{
		2027	if (cWPBound != null && cWPBound.Tag != null)
		2028	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2029
		2030	createCircle(home.Position, dWPMaxRange);
		2031	}
		2032	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m"));
		2033	}
2399	-	2034	//Target hold time
		2035	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
2401	-	2036	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s"));
2399	-	2037
2287	-	2038	//--------------- NC Error ------------------------
		2039	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		2040	if (data[69] > 0)
		2041	_readNCError();
		2042	if (data[69] > 0 & data[69] < 44)
2381	-	2043	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		2044	//else
		2045	// if (_bErrorLog) _clearErrorLog("NC Error");
2287	-	2046
2298	-	2047	//-------------FC / NC Status Flags
		2048	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2049	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2050	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2051	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2052	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2053	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2054
		2055	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2056	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2057	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2058	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2059	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2060	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
		2061	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2062	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2063
		2064	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2065	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2066	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2067	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2068	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2069	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2070	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	2071
		2072	//Sidebar StatusSymbols
		2073	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2074	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
		2075	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
		2076
		2077	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2078	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
		2079	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
		2080
		2081	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	2082	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
		2083	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	-	2084
		2085	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2086	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
		2087	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
		2088
		2089	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	2090	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
		2091	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
		2092	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	-	2093
2324	-	2094	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	2095	}
		2096	/// <summary>
		2097	/// Navi-Ctrl WP data struct 'X'
		2098	/// called by index
		2099	/// </summary>
		2100	/// <param name="data">the received byte array to process</param>
		2101	void _processWPData(byte[] data)
		2102	{
2313	-	2103	_iWPCount = data[0];
2287	-	2104	_bGetWPCount = false;
		2105	if (data.Length >= 28)
		2106	{
		2107	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		2108	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		2109	if (_bGetWP)
		2110	{
		2111	if (data[1] == 1)
2315	-	2112	{
2333	-	2113	Dispatcher.Invoke(() =>
		2114	{
2356	-	2115	wpList.Clear();
		2116	_clearMapMarkers(typeof(CustomMarkerWP));
		2117	if (mRouteWP != null)
		2118	MainMap.Markers.Remove(mRouteWP);
		2119	if (wpActiveMarker != null)
		2120	MainMap.Markers.Remove(wpActiveMarker);
		2121	lblWPRouteDistance.Content = "0 m";
		2122	dtWaypoints.Rows.Clear();
2368	-	2123	_wpEdit = -1;_wpIndex = -1;
2318	-	2124	});
2315	-	2125	}
2287	-	2126	DataRow dr = dtWaypoints.NewRow();
		2127	dr = Waypoints.toDataRow(data, dr);
2313	-	2128	dtWaypoints.Rows.Add(dr);
2363	-	2129	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1]);
2313	-	2130	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2131	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	2132	if (data[1] == data[0])
		2133	{
		2134	_bGetWP = false;
2368	-	2135	_routeUpdate();
2287	-	2136	}
		2137
		2138	}
		2139	}
		2140	else
		2141	{
		2142	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		2143	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		2144	}
		2145	}
		2146	/// <summary>
		2147	/// OSD Menue 'L'
		2148	/// single page called by pagenumber
		2149	/// no autoupdate
		2150	/// </summary>
		2151	/// <param name="data">the received byte array to process</param>
		2152	void _processOSDSingle(byte[] data)
		2153	{
		2154	if (data.Length == 84)
		2155	{
		2156	string sMessage = "";
		2157	iOSDPage = data[0];
		2158	iOSDMax = data[1];
		2159	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		2160	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		2161	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2162	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2163	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2164	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2165	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2166	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2167
		2168	}
		2169	//else
		2170	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2171
		2172	}
		2173	/// <summary>
		2174	/// OSD Menue 'H'
		2175	/// called by keys (0x01,0x02,0x03,0x04)
		2176	/// autoupdate
		2177	/// </summary>
		2178	/// <param name="data">the received byte array to process</param>
		2179	void _processOSDAuto(byte[] data)
		2180	{
		2181	if (data.Length == 81)
		2182	{
		2183	string sMessage = "";
		2184	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2185	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2186	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2187	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2188	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2189
		2190	}
		2191	//else
		2192	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2193	}
		2194
		2195	#endregion processing received data
		2196
		2197	#region controller messages
		2198	/// <summary> send message to controller to request data
		2199	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2200	/// </summary>
		2201	/// <param name="CMDID"> the command ID </param>
		2202	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2203	private void _sendControllerMessage(char CMDID, byte address)
		2204	{
		2205	if (serialPortCtrl.Port.IsOpen)
		2206	{
		2207	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2208	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2209	serialStream.Write(bytes, 0, bytes.Length);
		2210
		2211	}
		2212	else
		2213	Log(LogMsgType.Error, "NOT CONNECTED!");
		2214	}
		2215	/// <summary> send message to controller to request data
		2216	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2217	/// </summary>
		2218	/// <param name="CMDID"> the command ID </param>
		2219	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2220	/// <param name="data"> additional data for the request</param>
		2221	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2222	{
		2223	if (serialPortCtrl.Port.IsOpen)
		2224	{
		2225	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2226	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2227	serialStream.Write(bytes, 0, bytes.Length);
		2228
		2229	}
		2230	else
		2231	Log(LogMsgType.Error, "NOT CONNECTED!");
		2232	}
		2233
		2234	/// <summary>
		2235	/// start/stop continous polling of controller values
		2236	/// </summary>
		2237	/// <param name="b">start/stop switch</param>
		2238	void _readCont(bool b)
		2239	{
		2240	bReadContinously = b;
		2241	if (bReadContinously)
		2242	{
		2243	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2244	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2245	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2246	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2247	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2248	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2249	}
		2250	else
		2251	{
		2252	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2253	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2254	_bConnErr = false;
		2255	}
		2256	_iLifeCounter = 0;
		2257	}
		2258
		2259	private void _getVersion()
		2260	{
		2261	_sendControllerMessage('v', 0);
		2262	}
		2263	/// <summary>
		2264	/// get FC version struct via NC
		2265	/// by sending '1' as data (not documented in wiki...)
		2266	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2267	/// </summary>
		2268	/// <param name="ctrl">controller number 1=FC</param>
		2269	private void _getVersion(byte ctrl)
		2270	{
		2271	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2272	}
		2273	/// <summary>
		2274	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2275	/// </summary>
		2276	private void _switchToNC()
		2277	{
		2278	if (serialPortCtrl.Port.IsOpen)
		2279	{
		2280	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2281	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2282	serialStream.Write(bytes, 0, bytes.Length);
		2283
		2284	Thread.Sleep(100);
		2285	_getVersion();
		2286	Thread.Sleep(100);
		2287	// _OSDMenue(0);
		2288	}
		2289	else
		2290	Log(LogMsgType.Error, "NOT CONNECTED!");
		2291	}
		2292	/// <summary>
		2293	/// switch to FC
		2294	/// </summary>
		2295	private void _switchToFC()
		2296	{
		2297	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2298	Thread.Sleep(100);
		2299	_getVersion();
		2300	Thread.Sleep(100);
		2301	// _OSDMenue(0);
		2302	}
		2303	/// <summary>
		2304	/// send RESET signal to FC
		2305	/// </summary>
		2306	private void _resetCtrl()
		2307	{
		2308	_sendControllerMessage('R', 1);
		2309	}
		2310	/// <summary>
		2311	/// poll the debug data (4sec subscription)
		2312	/// </summary>
		2313	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2314	private void _readDebugData(bool auto)
		2315	{
		2316	byte interval = auto ? debugInterval : (byte)0;
		2317	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2318	}
		2319	/// <summary>
		2320	/// poll the BL-CTRL status via NC (4sec subscription)
		2321	/// </summary>
		2322	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2323	private void _readBLCtrl(bool auto)
		2324	{
		2325	byte interval = auto ? blctrlInterval : (byte)0;
		2326	_sendControllerMessage('k', 0, new byte[1] { interval });
		2327	}
		2328	/// <summary>
		2329	/// poll the NC data struct (4sec subscription)
		2330	/// </summary>
		2331	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2332	private void _readNavData(bool auto)
		2333	{
		2334	byte interval = auto ? navctrlInterval : (byte)0;
		2335	_sendControllerMessage('o', 2, new byte[1] { interval });
		2336	}
		2337	/// <summary>
		2338	/// get the errortext for pending NC error
		2339	/// </summary>
		2340	private void _readNCError()
		2341	{
		2342	_sendControllerMessage('e', 2);
		2343	}
		2344	/// <summary>
		2345	/// request the Waypoint at index
		2346	/// </summary>
		2347	/// <param name="index"></param>
		2348	void _getpWP(int index)
		2349	{
		2350	if (serialPortCtrl.Port.IsOpen)
		2351	{
		2352	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2353	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2354	serialStream.Write(bytes, 0, bytes.Length);
		2355	}
		2356	else
		2357	Log(LogMsgType.Error, "NOT CONNECTED!");
		2358
		2359	}
		2360	void _getWP()
		2361	{
2335	-	2362	int iTimeout = 0;
2287	-	2363	_bGetWPCount = true;
2315	-	2364	_getpWP(1); //get the itemscount of wp
2335	-	2365	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2366	{
		2367	Thread.Sleep(10);
		2368	iTimeout++;
		2369	}
		2370	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2371	_getWPList();
		2372	}
		2373	void _getWPList()
		2374	{
		2375	_bGetWP = true;
2313	-	2376	int iTimeout=0;
		2377	for (int j = 0; j < _iWPCount; j++)
2287	-	2378	{
		2379	_getpWP(j + 1);
2313	-	2380	iTimeout = 0;
		2381	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2382	{
		2383	Thread.Sleep(1);
		2384	iTimeout++;
		2385	}
2287	-	2386	}
		2387	}
2363	-	2388	/// <summary>
		2389	/// Wrapper for _clearCopterWPList()
		2390	/// necessary, cause it is called by threadnew which does not like return values...
		2391	/// </summary>
2340	-	2392	void clearCopterWPList()
2313	-	2393	{
2340	-	2394	_clearCopterWPList();
		2395	}
2363	-	2396	/// <summary>
		2397	/// clear the WP list of the copter
		2398	/// by sending 'invalid' and index '0'
		2399	/// </summary>
		2400	/// <returns></returns>
2340	-	2401	bool _clearCopterWPList()
		2402	{
2335	-	2403	int iTimeout = 0;
2313	-	2404	if (serialPortCtrl.Port.IsOpen)
		2405	{
		2406	byte[] bData = new byte[30];
		2407	for (int i = 0; i < 30; i++)
		2408	bData[i] = 0;
		2409	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2410	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2411	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2412
2313	-	2413	_iWPCount = -1;
2340	-	2414	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2415	{
2313	-	2416	Thread.Sleep(10);
2335	-	2417	iTimeout++;
		2418	}
2313	-	2419	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2420	if (_iWPCount > -1)
2340	-	2421	return true;
		2422	else
		2423	Log(LogMsgType.Error, "Timeout while sending list!");
		2424	}
		2425	else
		2426	Log(LogMsgType.Error, "NOT CONNECTED!");
		2427
		2428	return false;
		2429	}
		2430	void _sendWPList()
		2431	{
2362	-	2432	_sendWPList(0);
		2433	}
		2434	void _sendWPList(int iStart)
		2435	{
2340	-	2436	int iTimeout = 0;
		2437	if (serialPortCtrl.Port.IsOpen)
		2438	{
		2439	if (_clearCopterWPList())
2313	-	2440	{
2362	-	2441	int k = 1;
		2442	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	2443	{
2362	-	2444	k = iStart > 0 ? k : -1;
2376	-	2445	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	2446
2335	-	2447	_iWPCount = -1;
		2448	iTimeout = 0;
		2449	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2450	{
		2451	Thread.Sleep(10);
		2452	iTimeout++;
		2453	}
		2454	if (_iWPCount == -1)
		2455	{
		2456	Log(LogMsgType.Error, "Timeout while sending list!");
		2457	break;
		2458	}
		2459	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	2460	k++;
2335	-	2461	}
2313	-	2462	}
		2463	}
		2464	else
		2465	Log(LogMsgType.Error, "NOT CONNECTED!");
		2466
		2467	}
2376	-	2468	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	2469	{
2313	-	2470
2340	-	2471	if (serialPortCtrl.Port.IsOpen)
		2472	{
		2473	byte[] bData = new byte[30];
		2474	for (int i = 0; i < 30; i++)
		2475	bData[i] = 0;
		2476	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2477	byte[] bytes;
		2478	int iVal;
		2479	double dVal;
		2480	NumberFormatInfo nfi = new NumberFormatInfo();
		2481	nfi.NumberDecimalSeparator = ",";
		2482
		2483	//longitude
		2484	dVal = Convert.ToDouble(dr[4], nfi);
		2485	iVal = (int)(dVal * Math.Pow(10, 7));
		2486	bData[0] = (byte)(iVal & 0xff);
		2487	bData[1] = (byte)((iVal >> 8) & 0xff);
		2488	bData[2] = (byte)((iVal >> 16) & 0xff);
		2489	bData[3] = (byte)(iVal >> 24);
		2490	//latitude
		2491	dVal = Convert.ToDouble(dr[3], nfi);
		2492	iVal = (int)(dVal * Math.Pow(10, 7));
		2493	bData[4] = (byte)(iVal & 0xff);
		2494	bData[5] = (byte)((iVal >> 8) & 0xff);
		2495	bData[6] = (byte)((iVal >> 16) & 0xff);
		2496	bData[7] = (byte)(iVal >> 24);
		2497	//altitude
		2498	dVal = Convert.ToDouble(dr[5], nfi);
		2499	iVal = (int)(dVal * 10);
		2500	bData[8] = (byte)(iVal & 0xff);
		2501	bData[9] = (byte)((iVal >> 8) & 0xff);
		2502	bData[10] = (byte)((iVal >> 16) & 0xff);
		2503	bData[11] = (byte)(iVal >> 24);
2376	-	2504	if(bSim)
		2505	bData[12] = 3; //Status 'SIMULATE'
2340	-	2506	//Status 'NEWDATA'
2376	-	2507	else
		2508	bData[12] = 1;
2340	-	2509	//heading
		2510	iVal = Convert.ToInt16(dr[6]);
		2511	bData[13] = (byte)(iVal & 0xff);
		2512	bData[14] = (byte)((iVal >> 8) & 0xff);
		2513	//ToleranceRadius
		2514	bData[15] = Convert.ToByte(dr[9]);
		2515	//HoldTime
		2516	bData[16] = Convert.ToByte(dr[10]);
		2517	//Event_Flag
		2518	bData[17] = Convert.ToByte(dr[13]);
		2519	//Index
2379	-	2520	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
2340	-	2521	//Type
		2522	bData[19] = Convert.ToByte(dr[1]);
		2523	//WP_EventChannelValue
		2524	bData[20] = Convert.ToByte(dr[14]);
		2525	//AltitudeRate
		2526	bData[21] = Convert.ToByte(dr[8]);
		2527	//Speed
		2528	bData[22] = Convert.ToByte(dr[7]);
		2529	//CamAngle
		2530	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2531	//Name
2362	-	2532	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		2533	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	2534	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2535	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2536	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2537	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2538	//Autotrigger
		2539	bData[28] = Convert.ToByte(dr[11]);
		2540
2356	-	2541	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	2542	serialStream.Write(bytes, 0, bytes.Length);
		2543
		2544	return true;
		2545	}
		2546
		2547	return false;
		2548	}
2287	-	2549	#region OSD-Menue
		2550
		2551	/// <summary>
		2552	/// one time query of the OSD Menue with pagenumber
		2553	/// </summary>
		2554	/// <param name="iMenue">Menue page</param>
		2555	void _OSDMenue(int iMenue)
		2556	{
		2557	if (serialPortCtrl.Port.IsOpen)
		2558	{
		2559	if (iMenue > iOSDMax)
		2560	iMenue = 0;
		2561	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2562	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2563	serialStream.Write(bytes, 0, bytes.Length);
		2564	}
		2565	else
		2566	Log(LogMsgType.Error, "NOT CONNECTED!");
		2567
		2568	}
		2569	/// <summary>
		2570	/// call the OSDMenue and start autorefresh
		2571	/// usually by sending a menuekey
		2572	/// 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)
		2573	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2574	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2575	/// </summary>
		2576	void _OSDMenueAutoRefresh()
		2577	{
		2578	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2579	}
		2580	void _OSDMenueAutoRefresh(byte key)
		2581	{
		2582	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2583	}
		2584	/// <summary>
		2585	/// initialize the OSD menue combobox
		2586	/// combox is filled by numbers from 0 to max pagenumber
		2587	/// </summary>
		2588	void _initOSDCB()
		2589	{
		2590	_bCBInit = true;
		2591	if (iOSDMax == 0)
		2592	{
		2593	_OSDMenue(0);
		2594	Thread.Sleep(10);
		2595	}
		2596	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2597	for (int i = 0; i <= iOSDMax; i++)
		2598	{
		2599	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2600	}
		2601	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2602	_bCBInit = false;
		2603	}
		2604	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2605	{
		2606	iOSDPage++;
		2607	if (iOSDPage > iOSDMax)
		2608	iOSDPage = 0;
		2609
		2610	_OSDMenue(iOSDPage);
		2611	}
		2612	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2613	{
		2614	iOSDPage--;
		2615	if (iOSDPage < 0)
		2616	iOSDPage = iOSDMax;
		2617
		2618	_OSDMenue(iOSDPage);
		2619	}
		2620	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2621	{
		2622	_OSDMenueAutoRefresh(8);
		2623	}
		2624	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2625	{
		2626	_OSDMenueAutoRefresh(4);
		2627	}
		2628	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2629	{
		2630	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2631	_OSDMenue(cbOSD.SelectedIndex);
		2632	}
		2633	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2634	{
		2635	Dispatcher.Invoke(() =>
		2636	{
		2637	TextRange tr;
		2638	if (bNew)
		2639	{
		2640	rtfOSD.SelectAll();
		2641	rtfOSD.Selection.Text = string.Empty;
		2642	}
		2643	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2644	tr.Text = msg;
		2645	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2646	// rtfOSD.AppendText("\r");
		2647	rtfOSD.ScrollToEnd();
		2648
		2649	});
		2650	}
		2651
		2652	#endregion OSD-Menue
		2653
		2654	#endregion controller messages
		2655
2398	-	2656	void _mediaPlayer(object file)
2295	-	2657	{
2405	-	2658	Monitor.TryEnter(lockObj);
		2659	try
2295	-	2660	{
2405	-	2661	if (File.Exists((string)file))
		2662	{
		2663
		2664	mediaPlayer.Open((string)file);
		2665	mediaPlayer.Play();
		2666	}
		2667
2295	-	2668	}
2405	-	2669	finally
		2670	{
		2671	Monitor.Exit(lockObj);
		2672	}
2295	-	2673	}
2310	-	2674
2362	-	2675	#region ui
2310	-	2676	/// <summary>
		2677	/// Switch between fullscreen and normal window mode
		2678	/// save & restore scaling settings
		2679	/// </summary>
		2680	/// <param name="sender"></param>
		2681	/// <param name="e"></param>
2287	-	2682	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2683	{
		2684	if (winState.isMaximized)
		2685	{
		2686	winState.Restore(this);
		2687	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2688	if(_bSaveWinStateFull)
		2689	_saveScaleSliders(true);
		2690	if(_bSaveWinStateNormal)
		2691	_setScaleSliders(false);
		2692	}
		2693	else
		2694	{
		2695	winState.Maximize(this);
		2696	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2697	if(_bSaveWinStateNormal)
		2698	_saveScaleSliders(false);
		2699	if(_bSaveWinStateFull)
		2700	_setScaleSliders(true);
		2701	}
		2702	}
		2703
		2704	/// <summary>
		2705	/// reset the scaling of all UI elements to default
		2706	/// </summary>
		2707	/// <param name="sender"></param>
		2708	/// <param name="e"></param>
		2709	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2710	{
		2711	UIScaleHorizonSlider.Value =
		2712	UIScaleLOGSlider.Value =
		2713	UIScaleMotorsSlider.Value =
		2714	UIScaleOSDSlider.Value =
		2715	UIScaleSlider.Value =
		2716	UIScaleTopSlider.Value = 1;
		2717	}
		2718	/// <summary>
		2719	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2720	/// </summary>
		2721	/// <param name="sender"></param>
		2722	/// <param name="e"></param>
		2723	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2724	{
		2725	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2726	if (GridMotors != null)
		2727	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2728	if (GridSideBar != null)
		2729	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
2401	-	2730	if (WPStatus != null)
		2731	WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom);
2287	-	2732	if (GridOSD != null)
2401	-	2733	{
		2734	if(WPStatus.Visibility == Visibility.Visible)
		2735	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2736	else
		2737	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2738	}
2287	-	2739	if (GridData != null)
		2740	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2741	if (GridWP != null)
		2742	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2743	}
2310	-	2744	/// <summary>
		2745	/// restore the saved scalings for the fullscreen/normal window mode
		2746	/// </summary>
		2747	/// <param name="bFull">the mode the window is set to</param>
2287	-	2748	void _setScaleSliders(bool bFull)
		2749	{
		2750	if(bFull)
		2751	{
		2752	UIScaleSlider.Value = scaleFullAll;
		2753	UIScaleTopSlider.Value = scaleFullTopBar;
		2754	UIScaleMotorsSlider.Value = scaleFullMotors;
		2755	UIScaleOSDSlider.Value = scaleFullOSD;
		2756	UIScaleLOGSlider.Value = scaleFullLOG;
		2757	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2758	}
		2759	else
		2760	{
		2761	UIScaleSlider.Value = scaleNormalAll;
		2762	UIScaleTopSlider.Value = scaleNormalTopBar;
		2763	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2764	UIScaleOSDSlider.Value = scaleNormalOSD;
		2765	UIScaleLOGSlider.Value = scaleNormalLOG;
		2766	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2767	}
		2768	}
		2769
2310	-	2770	/// <summary>
		2771	/// save the scalings for the actual window mode
		2772	/// </summary>
		2773	/// <param name="bFull">the actual window mode</param>
2287	-	2774	void _saveScaleSliders(bool bFull)
		2775	{
		2776
		2777	if (bFull)
		2778	{
		2779	scaleFullAll = UIScaleSlider.Value;
		2780	scaleFullTopBar = UIScaleTopSlider.Value;
		2781	scaleFullMotors = UIScaleMotorsSlider.Value;
		2782	scaleFullOSD = UIScaleOSDSlider.Value;
		2783	scaleFullLOG = UIScaleLOGSlider.Value;
		2784	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2785	}
		2786	else
		2787	{
		2788	scaleNormalAll = UIScaleSlider.Value;
		2789	scaleNormalTopBar = UIScaleTopSlider.Value;
		2790	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2791	scaleNormalOSD = UIScaleOSDSlider.Value;
		2792	scaleNormalLOG = UIScaleLOGSlider.Value;
		2793	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2794	}
		2795	}
2362	-	2796	#endregion ui
2287	-	2797
		2798	/// <summary>
		2799	/// read settings from ini-file
		2800	/// </summary>
		2801	void _readIni()
		2802	{
		2803	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2804	_writeIni();
		2805	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2806	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2807	try
		2808	{
2287	-	2809
2312	-	2810	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2811	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2812	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2813	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2814	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2815	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2816	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2817	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2818
2312	-	2819	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2820	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2821	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2822	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2823	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2824	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2825	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2826	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2827
2312	-	2828	sVal = ini.IniReadValue("topBar", "voltage");
		2829	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2830	sVal = ini.IniReadValue("topBar", "capacity");
		2831	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2832	sVal = ini.IniReadValue("topBar", "current");
		2833	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2834	sVal = ini.IniReadValue("topBar", "flightTime");
		2835	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2836	sVal = ini.IniReadValue("topBar", "distanceHP");
		2837	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2838	sVal = ini.IniReadValue("topBar", "height");
		2839	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2840	sVal = ini.IniReadValue("topBar", "speed");
		2841	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2842	sVal = ini.IniReadValue("topBar", "magneticField");
		2843	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2844	sVal = ini.IniReadValue("topBar", "satellites");
		2845	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2846	sVal = ini.IniReadValue("topBar", "rc");
		2847	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2848
2312	-	2849	sVal = ini.IniReadValue("style", "saveFullScreen");
		2850	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2851	sVal = ini.IniReadValue("style", "saveNormalState");
		2852	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2853
2312	-	2854	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2855	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2856	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2857	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2858	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2859	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2860	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2861	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2862	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2863	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2864	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2865	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2866
2312	-	2867	sVal = ini.IniReadValue("style", "scaleFullAll");
		2868	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2869	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2870	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2871	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2872	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2873	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2874	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2875	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2876	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2877	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2878	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2879
2312	-	2880	sVal = ini.IniReadValue("general", "LiPoCells");
		2881	_LipoCells = Convert.ToInt16(sVal);
		2882	sVal = ini.IniReadValue("general", "Motors");
		2883	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2884
2312	-	2885	sVal = ini.IniReadValue("map", "followMe");
		2886	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2887	sVal = ini.IniReadValue("map", "AutoSetHome");
		2888	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2889	sVal = ini.IniReadValue("map", "GPXLog");
		2890	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2891
2312	-	2892	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2893	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2894	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2895	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2896	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2897	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2898	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2899	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2900	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2901	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2902	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2903	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2904	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2905	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2906	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2907	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2908	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2909	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2910	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2911	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2912	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2913	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2914
		2915	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2916	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2917	sVal = ini.IniReadValue("waypoints", "poicolor");
		2918	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2919	sVal = ini.IniReadValue("waypoints", "fscolor");
		2920	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2921	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2922	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2385	-	2923	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		2924	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
2379	-	2925	sVal = ini.IniReadValue("waypoints", "landingcolor");
		2926	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	2927	sVal = ini.IniReadValue("waypoints", "routecolor");
		2928	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		2929	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		2930	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2349	-	2931
		2932	for (int i = 0; i < 12; i++)
		2933	{
		2934	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		2935	if (sVal != "")
		2936	serChan[i] = Convert.ToInt16(sVal);
		2937	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		2938	if (sVal != "")
		2939	serChanTitle[i] = sVal;
		2940	for (int y = 0; i < 4 && y < 3; y++)
		2941	{
		2942	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		2943	if (sVal != "")
		2944	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		2945	}
		2946	}
		2947
2312	-	2948	}
		2949	catch (Exception e)
		2950	{
2287	-	2951
2312	-	2952	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2953	}
		2954
2287	-	2955	}
		2956
		2957	/// <summary>
		2958	/// save settings to ini-file
		2959	/// </summary>
		2960	void _writeIni()
		2961	{
		2962
		2963	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2964	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2965
2312	-	2966	try
		2967	{
2287	-	2968
2312	-	2969	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2970	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2971	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2972	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2973
2312	-	2974	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2975	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2976	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2977	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2978
2312	-	2979	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2980	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2981
2312	-	2982	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2983	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	2984	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	2985
2312	-	2986	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2987	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2988	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2989	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2990	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2991	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2992	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2993	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2994	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2995	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2996
2312	-	2997	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2998	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2999
2312	-	3000	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		3001	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		3002	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		3003	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		3004	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		3005	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	3006
2312	-	3007	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		3008	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		3009	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		3010	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		3011	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		3012	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	3013
2312	-	3014	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		3015
		3016	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		3017	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		3018	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		3019	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		3020	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		3021	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		3022	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		3023	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		3024	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		3025	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		3026	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	3027
		3028	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		3029	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		3030	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		3031	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2385	-	3032	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
2379	-	3033	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
2328	-	3034	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		3035	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2349	-	3036
		3037	for (int i = 0; i < 12; i++)
		3038	{
		3039	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		3040	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		3041	for (int y = 0; i < 4 && y < 3; y++)
		3042	{
		3043	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		3044	}
		3045	}
		3046
2312	-	3047	}
		3048	catch (Exception e)
		3049	{
		3050
		3051	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);
		3052	}
2287	-	3053	}
2350	-	3054
2349	-	3055	#region serial channels
		3056	/// <summary>
		3057	/// Sending the serial channel values
		3058	/// </summary>
		3059	void _sendSerialData()
		3060	{
		3061	byte[] serData = new byte[12];
		3062	for (int i = 0; i < 12; i++)
		3063	{
		3064	serData[i] = unchecked((byte)(serChan[i] - 127));
		3065	}
		3066	_sendControllerMessage('y', 1, serData);
		3067	}
		3068	/// <summary>
		3069	/// init the controls for displaying
		3070	/// and setting serial control channels
		3071	/// </summary>
		3072	void _initSerialCtrl()
		3073	{
		3074	SerChan1ScaleSlider.Value = serChan[0];
		3075	textBoxSerial1.Text = serChanTitle[0];
		3076	SerChan2ScaleSlider.Value = serChan[1];
		3077	textBoxSerial2.Text = serChanTitle[1];
2350	-	3078	SerChan3ScaleSlider.Value = serChan[2];
		3079	textBoxSerial3.Text = serChanTitle[2];
2349	-	3080	//SerChan4ScaleSlider.Value = serChan[3];
		3081	//textBoxSerial4.Text = serChanTitle[3];
		3082	//trckbarSerial5.Value = serChan[4];
		3083	//textBoxSerial5.Text = serChanTitle[4];
		3084	//trckbarSerial6.Value = serChan[5];
		3085	//textBoxSerial6.Text = serChanTitle[5];
		3086	//trckbarSerial7.Value = serChan[6];
		3087	//textBoxSerial7.Text = serChanTitle[6];
		3088	//trckbarSerial8.Value = serChan[7];
		3089	//textBoxSerial8.Text = serChanTitle[7];
2312	-	3090
2349	-	3091	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		3092	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		3093	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		3094	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		3095	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		3096	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	3097	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		3098	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		3099	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	3100	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		3101	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		3102	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		3103	}
		3104	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3105	{
		3106	if (!_init)
		3107	{
		3108	serChan[0] = (int)SerChan1ScaleSlider.Value;
		3109	_sendSerialData();
		3110	}
		3111	}
		3112	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		3113	{
		3114	if (!_init)
		3115	{
		3116	serChanTitle[0] = textBoxSerial1.Text;
		3117	}
		3118	}
		3119	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		3120	{
		3121	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		3122	{
		3123	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		3124	}
		3125	}
		3126	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		3127	{
		3128	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		3129	{
		3130	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		3131	}
		3132	}
		3133	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		3134	{
		3135	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		3136	{
		3137	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		3138	}
		3139	}
		3140	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		3141	{
		3142	if (textBoxSerial1_val1.Text.Length > 0)
		3143	{
		3144	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		3145	}
		3146	}
		3147	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		3148	{
		3149	SerChan1ScaleSlider.Value = 0;
		3150	}
		3151	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		3152	{
		3153	SerChan1ScaleSlider.Value = 127;
		3154	}
		3155	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		3156	{
		3157	SerChan1ScaleSlider.Value = 254;
		3158	}
		3159	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		3160	{
		3161	if (textBoxSerial1_val2.Text.Length > 0)
		3162	{
		3163	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		3164	}
		3165	}
		3166	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		3167	{
		3168	if (textBoxSerial1_val3.Text.Length > 0)
		3169	{
		3170	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		3171	}
		3172	}
		3173
		3174	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3175	{
		3176	if (!_init)
		3177	{
		3178	serChan[1] = (int)SerChan2ScaleSlider.Value;
		3179	_sendSerialData();
		3180	}
		3181	}
		3182	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		3183	{
		3184	if (!_init)
		3185	{
		3186	serChanTitle[1] = textBoxSerial2.Text;
		3187	}
		3188	}
		3189	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		3190	{
		3191	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		3192	{
		3193	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		3194	}
		3195	}
		3196	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		3197	{
		3198	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		3199	{
		3200	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		3201	}
		3202	}
		3203	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		3204	{
		3205	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		3206	{
		3207	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3208	}
		3209	}
		3210	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3211	{
		3212	SerChan2ScaleSlider.Value = 0;
		3213	}
		3214	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3215	{
		3216	SerChan2ScaleSlider.Value = 127;
		3217	}
		3218	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3219	{
		3220	SerChan2ScaleSlider.Value = 254;
		3221	}
		3222	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3223	{
		3224	if (textBoxSerial2_val1.Text.Length > 0)
		3225	{
		3226	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3227	}
		3228	}
		3229	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3230	{
		3231	if (textBoxSerial2_val2.Text.Length > 0)
		3232	{
		3233	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3234	}
		3235	}
		3236	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3237	{
		3238	if (textBoxSerial2_val3.Text.Length > 0)
		3239	{
		3240	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3241	}
		3242	}
2350	-	3243
		3244	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3245	{
		3246	if (!_init)
		3247	{
		3248	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3249	_sendSerialData();
		3250	}
		3251	}
		3252	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3253	{
		3254	if (!_init)
		3255	{
		3256	serChanTitle[2] = textBoxSerial3.Text;
		3257	}
		3258	}
		3259	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3260	{
		3261	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3262	{
		3263	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3264	}
		3265	}
		3266	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3267	{
		3268	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3269	{
		3270	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3271	}
		3272	}
		3273	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3274	{
		3275	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3276	{
		3277	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3278	}
		3279	}
		3280	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3281	{
		3282	SerChan3ScaleSlider.Value = 0;
		3283	}
		3284	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3285	{
		3286	SerChan3ScaleSlider.Value = 127;
		3287	}
		3288	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3289	{
		3290	SerChan3ScaleSlider.Value = 254;
		3291	}
		3292	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3293	{
		3294	if (textBoxSerial3_val1.Text.Length > 0)
		3295	{
		3296	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3297	}
		3298	}
		3299	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3300	{
		3301	if (textBoxSerial3_val2.Text.Length > 0)
		3302	{
		3303	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3304	}
		3305	}
		3306	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3307	{
		3308	if (textBoxSerial3_val3.Text.Length > 0)
		3309	{
		3310	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3311	}
		3312	}
2349	-	3313	/// <summary>
		3314	/// checks the input of a textbox
		3315	/// for valid data
		3316	/// in this case values 0-254
		3317	/// </summary>
		3318	/// <param name="sender"></param>
		3319	/// <param name="e"></param>
		3320	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3321	{
		3322	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3323	e.Handled = true;
		3324	else
		3325	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3326	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3327	e.Handled = true;
		3328	else
		3329	{
		3330	int i = -1;
		3331	switch (((TextBox)sender).Name)
		3332	{
		3333	case "textBoxSerial1_val1":
		3334	i = 0;
		3335	break;
		3336	case "textBoxSerial1_val2":
		3337	i = 1;
		3338	break;
		3339	case "textBoxSerial1_val3":
		3340	i = 2;
		3341	break;
		3342	case "textBoxSerial2_val1":
		3343	i = 3;
		3344	break;
		3345	case "textBoxSerial2_val2":
		3346	i = 4;
		3347	break;
		3348	case "textBoxSerial2_val3":
		3349	i = 5;
		3350	break;
		3351	case "textBoxSerial3_val1":
		3352	i = 6;
		3353	break;
		3354	case "textBoxSerial3_val2":
		3355	i = 7;
		3356	break;
		3357	case "textBoxSerial3_val3":
		3358	i = 8;
		3359	break;
		3360	case "textBoxSerial4_val1":
		3361	i = 9;
		3362	break;
		3363	case "textBoxSerial4_val2":
		3364	i = 10;
		3365	break;
		3366	case "textBoxSerial4_val3":
		3367	i = 11;
		3368	break;
		3369	}
		3370	if (i > -1)
		3371	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3372	}
		3373	}
		3374
		3375	#endregion serial channels
2315	-	3376	#region WP
2312	-	3377	void _readWPLFile()
		3378	{
		3379	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3380	fd.Filter = "Waypointlists \| *.wpl";
		3381	fd.Multiselect = false;
		3382	if (fd.ShowDialog().Value)
		3383	{
		3384	string file = fd.SafeFileName;
		3385	IniFile ini = new IniFile(fd.SafeFileName);
		3386	ini.path = fd.FileName;
		3387
		3388	try
		3389	{
		3390	string sVal = ini.IniReadValue("General", "FileVersion");
		3391	if (sVal == "")
		3392	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3393	else
		3394	{
		3395	if (Convert.ToInt16(sVal) < 3)
		3396	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3397	else
		3398	{
		3399	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3400	if (sVal == "")
		3401	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3402	else
		3403	{
		3404	int wpnum = Convert.ToInt16(sVal);
		3405	string wp;
		3406	int i;
2313	-	3407	NumberFormatInfo nfi = new NumberFormatInfo();
		3408	nfi.NumberDecimalSeparator = ".";
2312	-	3409	dtWaypoints.Rows.Clear();
2368	-	3410	_wpEdit = -1;_wpIndex = -1;
2327	-	3411	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	3412	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	3413	wpList.Clear();
		3414	if (mRouteWP != null)
		3415	MainMap.Markers.Remove(mRouteWP);
2363	-	3416	//if (wpActiveMarker != null)
		3417	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	3418	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3419
2312	-	3420	for (int k = 1; k <= wpnum; k++)
		3421	{
		3422	DataRow dr = dtWaypoints.NewRow();
		3423	dr.ItemArray = new object[16];
		3424	object[] o = new object[16];
		3425	i = 0;
		3426	wp = "Point" + k.ToString();
		3427	o[i] = k;
		3428	i++;
		3429	sVal = ini.IniReadValue(wp, "Type");
		3430	if (sVal != "")
2315	-	3431	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3432	i++;
		3433	sVal = ini.IniReadValue(wp, "Prefix");
		3434	if (sVal != "")
2350	-	3435	o[i] = sVal + k.ToString();
		3436	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3437	i++;
2313	-	3438	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3439	if (sVal != "")
2313	-	3440	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3441	i++;
2313	-	3442	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3443	if (sVal != "")
2313	-	3444	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3445	i++;
		3446	sVal = ini.IniReadValue(wp, "Altitude");
		3447	if (sVal != "")
2313	-	3448	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3449	i++;
		3450	sVal = ini.IniReadValue(wp, "Heading");
		3451	if (sVal != "")
		3452	o[i] = Convert.ToInt16(sVal);
		3453	i++;
		3454	sVal = ini.IniReadValue(wp, "Speed");
		3455	if (sVal != "")
2315	-	3456	o[i] = Convert.ToInt16(sVal);
2312	-	3457	i++;
		3458	sVal = ini.IniReadValue(wp, "ClimbRate");
		3459	if (sVal != "")
		3460	o[i] = Convert.ToInt16(sVal);
		3461	i++;
		3462	sVal = ini.IniReadValue(wp, "Radius");
		3463	if (sVal != "")
		3464	o[i] = Convert.ToInt16(sVal);
		3465	i++;
		3466	sVal = ini.IniReadValue(wp, "DelayTime");
		3467	if (sVal != "")
		3468	o[i] = Convert.ToInt16(sVal);
		3469	i++;
		3470	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3471	if (sVal != "")
		3472	o[i] = Convert.ToInt16(sVal); ;
		3473	i++;
		3474	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3475	if (sVal != "")
2313	-	3476	o[i] = Convert.ToInt16(sVal);
2312	-	3477	i++;
		3478	o[i] = 0;
		3479	i++;
		3480	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3481	if (sVal != "")
		3482	o[i] = Convert.ToInt16(sVal);
		3483	i++;
		3484	o[i] = "New";
		3485
		3486	dr.ItemArray = o;
		3487	dtWaypoints.Rows.Add(dr);
2363	-	3488	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1]);
2315	-	3489
2312	-	3490	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3491	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3492	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3493	Thread.Sleep(10);
		3494	}
2359	-	3495	_routeUpdate();
2312	-	3496	}
		3497	}
		3498	}
		3499
		3500	}
		3501	catch (Exception e)
		3502	{
		3503
		3504	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		3505	}
		3506
		3507	}
		3508	}
2350	-	3509	void _saveWPLFile()
		3510	{
		3511	if (dtWaypoints.Rows.Count > 0)
		3512	{
		3513	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		3514	fd.Filter = "Waypointlists \| *.wpl";
		3515	fd.AddExtension = true;
		3516	if (fd.ShowDialog().Value)
		3517	{
		3518	string file = fd.SafeFileName;
		3519	IniFile ini = new IniFile(fd.SafeFileName);
		3520	ini.path = fd.FileName;
		3521	NumberFormatInfo nfi = new NumberFormatInfo();
		3522	nfi.NumberDecimalSeparator = ".";
		3523
		3524	try
		3525	{
		3526	ini.IniWriteValue("General", "FileVersion", "3");
		3527	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		3528	ini.IniWriteValue("General", "Mapfile", "");
		3529	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		3530	{
		3531	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		3532	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		3533	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		3534	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		3535	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		3536	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		3537	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		3538	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		3539	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		3540	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		3541	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		3542	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));
		3543	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		3544	}
		3545	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		3546	}
		3547	catch { }
		3548	}
		3549	}
		3550	else
		3551	MessageBox.Show("Nothing to save...");
		3552	}
		3553	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		3554	{
		3555	_saveWPLFile();
		3556	}
		3557	/// <summary>
		3558	/// set the selected color for the route
		3559	/// </summary>
		3560	/// <param name="color"></param>
		3561	/// <returns></returns>
2328	-	3562	Brush _getBrush(string color)
		3563	{
		3564	switch (color)
		3565	{
		3566	case "red":
		3567	return Brushes.Red;
		3568	case "green":
		3569	return Brushes.Lime;
		3570	case "blue":
		3571	return Brushes.Aqua;
		3572	case "pink":
		3573	return Brushes.Magenta;
		3574	case "yellow":
		3575	return Brushes.Yellow;
		3576	default:
		3577	return Brushes.Magenta;
		3578	}
		3579	}
2359	-	3580	void _routeUpdate()
		3581	{
		3582	Dispatcher.Invoke(() =>
		3583	{
		3584	if (comboBoxRouteColor.SelectionBoxItem != null)
		3585	{
		3586	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3587	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3588	}
		3589	else
		3590	mRouteWP = new GMapRoute(wpList, null);
		3591
		3592	if (_bShowWPRoute)
2368	-	3593	MainMap.Markers.Add(mRouteWP);
2359	-	3594	});
		3595
		3596	MapRoute mr = new MapRoute(wpList, "WPList");
		3597	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		3598	}
2363	-	3599	GMapMarker _createWP(PointLatLng p, string name, int type)
		3600	{
		3601	GMapMarker wpMarker = new GMapMarker(p);
2385	-	3602	Dispatcher.Invoke(()=>
		3603	{
		3604	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
		3605	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		3606	wpMarker.ZIndex = 100;
		3607	_setMarkerColor(wpMarker, type);
		3608	MainMap.Markers.Add(wpMarker);
		3609	if (type == 0 \|\| type == 3)
		3610	wpList.Add(p);
		3611	});
2363	-	3612	return wpMarker;
		3613	}
2315	-	3614	void _setMarkerColor(GMapMarker wpMarker,int iType)
		3615	{
2369	-	3616	if(wpMarker != null)
2315	-	3617	Dispatcher.Invoke(() =>
		3618	{
		3619	switch (iType)
		3620	{
		3621	case 0:
		3622	if (comboBoxWPColor.SelectionBoxItem != null)
		3623	{
		3624	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3625	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3626	}
		3627	else
2372	-	3628	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	3629	break;
		3630	case 1:
		3631	if (comboBoxPOIColor.SelectionBoxItem != null)
		3632	{
		3633	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3634	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3635	}
		3636	else
2372	-	3637	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	3638	break;
		3639	case 2:
		3640	if (comboBoxFSColor.SelectionBoxItem != null)
		3641	{
		3642	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3643	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3644	}
		3645	else
		3646	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3647	break;
2372	-	3648	case 3:
		3649	if (comboBoxLandingColor.SelectionBoxItem != null)
		3650	{
		3651	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		3652	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3653	}
		3654	else
		3655	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		3656	break;
2315	-	3657	default:
		3658	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3659	break;
		3660	}
		3661	});
2312	-	3662
2315	-	3663	}
2372	-	3664	void _MarkerColorSelection(object sender,int type)
		3665	{
2315	-	3666	Dispatcher.Invoke(() =>
		3667	{
2372	-	3668	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	3669	{
		3670	for (int k = 0; k < MainMap.Markers.Count; k++)
		3671	{
		3672	GMapMarker p = MainMap.Markers[k];
2372	-	3673	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	3674	{
2372	-	3675	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	3676	{
2372	-	3677	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	3678	((CustomMarkerWP)(p.Shape)).setColor(s);
		3679	}
		3680	}
		3681	}
		3682	}
		3683	});
2287	-	3684	}
2379	-	3685	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	3686	{
2376	-	3687	_MarkerColorSelection(sender, 0);
		3688	}
		3689	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		3690	{
		3691	_MarkerColorSelection(sender, 1);
		3692	}
		3693	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		3694	{
		3695	_MarkerColorSelection(sender, 2);
		3696	}
		3697	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		3698	{
		3699	_MarkerColorSelection(sender,3);
		3700	}
2385	-	3701	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
2376	-	3702	{
2318	-	3703	Dispatcher.Invoke(() => {
		3704	if (comboBoxCopterColor.SelectionBoxItem != null)
		3705	{
		3706	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	3707	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	3708	}
		3709	else
2385	-	3710	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
2318	-	3711	});
		3712	}
2385	-	3713	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		3714	{
		3715	Dispatcher.Invoke(() => {
		3716	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		3717	{
		3718	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		3719	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		3720	}
		3721	else
		3722	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		3723	});
		3724	}
2328	-	3725	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3726	{
		3727	Dispatcher.Invoke(() =>
		3728	{
		3729	if (comboBoxRouteColor.SelectionBoxItem != null)
		3730	{
		3731	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3732	MainMap.Markers.Remove(mRouteWP);
		3733	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3734	if (_bShowWPRoute)
		3735	MainMap.Markers.Add(mRouteWP);
		3736	}
		3737	});
		3738	}
		3739	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3740	{
		3741	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3742	if (_bShowWPRoute)
		3743	{
		3744	if (mRouteWP != null)
		3745	MainMap.Markers.Add(mRouteWP);
		3746	}
		3747	else
		3748	{
		3749	if (mRouteWP != null)
		3750	MainMap.Markers.Remove(mRouteWP);
		3751	}
		3752	}
2315	-	3753	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3754	{
2315	-	3755	_readWPLFile();
2287	-	3756	}
2335	-	3757	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3758	{
		3759	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	3760	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	3761	wpList.Clear();
		3762	if (mRouteWP != null)
		3763	MainMap.Markers.Remove(mRouteWP);
2347	-	3764	//if (wpActiveMarker != null)
		3765	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	3766	dtWaypoints.Rows.Clear();
2356	-	3767	_wpEdit = -1;
2368	-	3768	_wpIndex = -1;
2335	-	3769	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3770	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3771	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3772	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3773	}
2340	-	3774	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3775	{
		3776	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3777	t.Start();
		3778	}
2355	-	3779	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	3780	{
		3781	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3782	{
2372	-	3783	if (_wpCount > 0)
2376	-	3784	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	3785	else
2376	-	3786	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	3787
2372	-	3788	//int index = dgvWP.SelectedIndex;
		3789	//Thread t = new Thread(() => _sendWPList(index));
		3790	//t.Start();
2354	-	3791
		3792	Dispatcher.Invoke(() => {
		3793	DataGridRow row;
2368	-	3794	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	3795	{
2368	-	3796	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	3797	row.Background = new SolidColorBrush(Colors.Transparent);
		3798	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3799	row.BorderThickness = new Thickness(0);
2376	-	3800	dgvWP.UpdateLayout();
2354	-	3801	}
2376	-	3802	//_wpEdit = dgvWP.SelectedIndex;
		3803	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3804	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		3805	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		3806	//row.BorderThickness = new Thickness(2);
2354	-	3807	});
2340	-	3808	}
		3809	}
2385	-	3810	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		3811	{
		3812	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3813	{
		3814
		3815	object[] o = new object[16];
		3816	o[0] = dgvWP.SelectedIndex + 1;
		3817	o[1] = cbWPEditType.SelectedIndex;
		3818	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3819	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3820	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		3821	o[5] = tbWPEditAlt.Text;
		3822	switch (cbWPEditHeading.SelectedIndex)
		3823	{
		3824	case 0:
		3825	o[6] = "0";
		3826	break;
		3827	case 1:
		3828	o[6] = "-" + tbWPEditHeading.Text;
		3829	break;
		3830	case 2:
		3831	o[6] = tbWPEditHeading.Text;
		3832	break;
		3833	}
		3834	switch (cbWPEditSpeed.SelectedIndex)
		3835	{
		3836	case 0:
		3837	o[7] = "0";
		3838	break;
		3839	case 1:
		3840	o[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3841	break;
		3842	case 2:
		3843	o[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3844	break;
		3845	}
		3846	switch (cbWPEditClimbrate.SelectedIndex)
		3847	{
		3848	case 0:
		3849	o[8] = "255";
		3850	break;
		3851	case 1:
		3852	o[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		3853	break;
		3854	}
		3855	o[9] = tbWPEditRadius.Text;
		3856	o[10] = tbWPEditHoldtime.Text;
		3857	o[11] = tbWPEditAutoTrigger.Text;
		3858	switch (cbWPEditCamAngle.SelectedIndex)
		3859	{
		3860	case 0:
		3861	o[12] = "0";
		3862	break;
		3863	case 1:
		3864	o[12] = "255";
		3865	break;
		3866	case 2:
		3867	o[12] = tbWPEditCamAngle.Text;
		3868	break;
		3869	}
		3870	o[13] = 0;
		3871	o[14] = tbWPEditOut1.Text;
		3872	DataRow dr = dtWaypoints.NewRow();
		3873	dr.ItemArray = o;
		3874
		3875	if (_wpCount > 0)
		3876	_sendWayPoint(dr, -1, 'w', false);
		3877	else
		3878	_sendWayPoint(dr, 1, 'w', false);
2399	-	3879
		3880	if(_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count)
		3881	_sendWayPoint(dtWaypoints.Rows[_wpIndex], _wpIndex + 1, 's', false);
2385	-	3882	}
		3883	}
2376	-	3884	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		3885	{
		3886	_Simulate = !_Simulate;
		3887	if (dtWaypoints.Rows.Count > 0)
		3888	{
		3889	DataRow dr = dtWaypoints.Rows[0];
		3890	dr[13] = _Simulate ? 3 : 0;
2379	-	3891	_sendWayPoint(dr, 0, 's', true);
2381	-	3892	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
2376	-	3893	}
		3894	}
2355	-	3895	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		3896	{
2359	-	3897	_dgvWPselectEditRow();
		3898	}
		3899	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		3900	{
		3901	}
		3902	void _dgvWPselectEditRow()
		3903	{
2355	-	3904	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3905	{
2368	-	3906	Dispatcher.Invoke(() => {
2355	-	3907	DataGridRow row;
2368	-	3908	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	3909	{
		3910	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3911	row.Background = new SolidColorBrush(Colors.Transparent);
		3912	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3913	row.BorderThickness = new Thickness(0);
		3914	}
		3915	_wpEdit = dgvWP.SelectedIndex;
		3916	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3917	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		3918	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		3919	row.BorderThickness = new Thickness(2);
		3920	dgvWP.UpdateLayout();
2340	-	3921
2355	-	3922	_setWPEditFields(_wpEdit);
		3923	});
		3924	}
		3925	}
		3926	void _setWPEditFields(int index)
		3927	{
		3928	int iVal;
		3929	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		3930	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		3931	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		3932	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		3933	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		3934	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		3935	if (iVal == 0)
		3936	{
		3937	cbWPEditHeading.SelectedIndex = 0;
		3938	tbWPEditHeading.Text = " - - -";
		3939	tbWPEditHeading.IsReadOnly = true;
		3940	}
		3941	if (iVal > 0 && iVal < 360)
		3942	{
		3943	cbWPEditHeading.SelectedIndex = 2;
		3944	tbWPEditHeading.Text = iVal.ToString();
		3945	tbWPEditHeading.IsReadOnly = false;
		3946	}
		3947	if (iVal < 0)
		3948	{
		3949	cbWPEditHeading.SelectedIndex = 1;
		3950	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		3951	tbWPEditHeading.IsReadOnly = false;
		3952	}
		3953	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		3954	if (iVal == 0)
		3955	{
		3956	cbWPEditSpeed.SelectedIndex = 0;
		3957	tbWPEditSpeed.Text = "MAX";
		3958	tbWPEditSpeed.IsReadOnly = true;
		3959	}
		3960	if (iVal > 0 && iVal < 248)
		3961	{
		3962	cbWPEditSpeed.SelectedIndex = 1;
		3963	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		3964	tbWPEditSpeed.IsReadOnly = false;
		3965	}
		3966	if (iVal > 247)
		3967	{
		3968	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		3969	tbWPEditSpeed.Text = "";
		3970	tbWPEditSpeed.IsReadOnly = true;
		3971	}
		3972	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		3973	if (iVal == 255)
		3974	{
		3975	cbWPEditClimbrate.SelectedIndex = 0;
		3976	tbWPEditClimbrate.Text = "AUTO";
		3977	tbWPEditClimbrate.IsReadOnly = true;
		3978	}
		3979	else
		3980	{
		3981	cbWPEditClimbrate.SelectedIndex = 1;
		3982	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		3983	tbWPEditClimbrate.IsReadOnly = false;
		3984	}
		3985	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		3986	tbWPEditRadius.Text = iVal.ToString();
		3987	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		3988	tbWPEditHoldtime.Text = iVal.ToString();
		3989	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		3990	tbWPEditAutoTrigger.Text = iVal.ToString();
		3991	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		3992	if (iVal == 0)
		3993	{
		3994	cbWPEditCamAngle.SelectedIndex = 0;
		3995	tbWPEditCamAngle.Text = " - - - ";
		3996	tbWPEditCamAngle.IsReadOnly = true;
		3997	}
		3998	if (iVal < 0 \| iVal == 255)
		3999	{
		4000	cbWPEditCamAngle.SelectedIndex = 1;
		4001	tbWPEditCamAngle.Text = "AUTO";
		4002	tbWPEditCamAngle.IsReadOnly = true;
		4003	}
		4004	if (iVal > 0 & iVal < 255)
		4005	{
		4006	cbWPEditCamAngle.SelectedIndex = 2;
		4007	tbWPEditCamAngle.Text = iVal.ToString();
		4008	tbWPEditCamAngle.IsReadOnly = false;
		4009	}
		4010	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		4011	tbWPEditOut1.Text = iVal.ToString();
		4012
		4013	}
		4014
2361	-	4015	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		4016	{
2363	-	4017	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4018	{
2369	-	4019	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	4020	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		4021	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		4022	int i = wpList.IndexOf(pOld);
2363	-	4023	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		4024	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4025	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4026	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	4027	if (i > -1)
		4028	{
		4029	if((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		4030	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		4031	else
		4032	wpList.Remove(pOld);
		4033	}
		4034	else
		4035	{
		4036	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		4037	{
		4038	int found = 0;
		4039	for (int k = 0; k < dgvWP.SelectedIndex; k++)
		4040	if ((int)dtWaypoints.Rows[k][1] == 0)
		4041	found++;
		4042	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		4043	}
		4044	}
2363	-	4045	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		4046	switch (cbWPEditHeading.SelectedIndex)
		4047	{
		4048	case 0:
		4049	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		4050	break;
		4051	case 1:
		4052	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		4053	break;
		4054	case 2:
		4055	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		4056	break;
		4057	}
		4058	switch (cbWPEditSpeed.SelectedIndex)
		4059	{
		4060	case 0:
		4061	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		4062	break;
		4063	case 1:
		4064	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4065	break;
		4066	case 2:
		4067	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4068	break;
		4069	}
		4070	switch (cbWPEditClimbrate.SelectedIndex)
		4071	{
		4072	case 0:
		4073	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		4074	break;
		4075	case 1:
		4076	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		4077	break;
		4078	}
		4079	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		4080	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		4081	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		4082	switch (cbWPEditCamAngle.SelectedIndex)
		4083	{
		4084	case 0:
		4085	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		4086	break;
		4087	case 1:
		4088	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		4089	break;
		4090	case 2:
		4091	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		4092	break;
		4093	}
		4094	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	4095
2369	-	4096	// _clearMapMarkers(typeof(CustomMarkerWP));
		4097	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		4098	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	4099	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	4100	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	4101	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	4102	// wpList.Clear();
2363	-	4103	if (mRouteWP != null)
		4104	MainMap.Markers.Remove(mRouteWP);
		4105
2369	-	4106	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		4107	//{
		4108	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		4109	//}
2363	-	4110	_routeUpdate();
		4111	dgvWP.Items.Refresh();
		4112
		4113	}
		4114
2361	-	4115	}
		4116	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		4117	{
2368	-	4118	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4119	{
		4120	int index = dgvWP.SelectedIndex;
		4121	Dispatcher.Invoke(() => {
		4122	DataGridRow row;
		4123	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		4124	{
		4125	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4126	row.Background = new SolidColorBrush(Colors.Transparent);
		4127	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4128	row.BorderThickness = new Thickness(0);
		4129	}
2372	-	4130	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	4131	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
		4132	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	4133	if (wpActiveMarker != null)
		4134	MainMap.Markers.Remove(wpActiveMarker);
2368	-	4135	dtWaypoints.Rows[index].Delete();
		4136	_wpIndex = -1;
		4137	_wpEdit = -1;
		4138	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		4139	{
		4140	dtWaypoints.Rows[i][0] = i + 1;
		4141	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		4142	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		4143	_renameWPMarker(s1, s2);
		4144	dtWaypoints.Rows[i][2] = s2;
		4145	}
		4146	lblWPCount.Content = dtWaypoints.Rows.Count;
		4147	if (mRouteWP != null)
		4148	MainMap.Markers.Remove(mRouteWP);
		4149	_routeUpdate();
2361	-	4150
2368	-	4151	dgvWP.UpdateLayout();
		4152	});
		4153	}
2361	-	4154	}
2366	-	4155	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		4156	{
		4157	_wpWEdit(sender);
		4158	}
2361	-	4159	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		4160	{
2366	-	4161	_wpWEdit(sender);
		4162	}
2369	-	4163	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		4164	{
		4165	_wpWEdit(sender);
		4166	}
2366	-	4167	void _wpWEdit(object sender)
		4168	{
2369	-	4169	// if (!((TextBox)sender).IsReadOnly)
2361	-	4170	{
		4171	KeyPad.Keypad k = new KeyPad.Keypad(this);
		4172
2363	-	4173	switch (((TextBox)sender).Name)
		4174	{
		4175	case "tbWPEditLat":
		4176	k.Title = "Latitude";
		4177	k.LENGTH = 17;
		4178	k.MAX = 359.9;
		4179	break;
		4180	case "tbWPEditLon":
		4181	k.Title = "Longitude";
		4182	k.LENGTH = 17;
		4183	k.MAX = 359.9;
		4184	break;
		4185	case "tbWPEditAlt":
		4186	k.Title = "Altitude";
		4187	k.LENGTH = 3;
		4188	k.MAX = 254;
		4189	k.disableDecimal();
		4190	break;
		4191	case "tbWPEditHeading":
		4192	k.Title = "Heading";
		4193	k.LENGTH = 3;
		4194	k.MAX = 359;
		4195	k.MIN = 1;
		4196	k.disableDecimal();
		4197	break;
		4198	case "tbWPEditSpeed":
		4199	k.Title = "Speed";
		4200	k.LENGTH = 4;
		4201	k.MAX = 24.7;
		4202	k.MIN = 0.1;
		4203	break;
		4204	case "tbWPEditClimbrate":
		4205	k.Title = "Climbrate";
		4206	k.LENGTH = 4;
		4207	k.MAX = 25.4;
		4208	k.MIN = 0.1;
		4209	break;
		4210	case "tbWPEditRadius":
		4211	k.Title = "Radius";
		4212	k.LENGTH = 3;
		4213	k.MAX = 254;
		4214	k.disableDecimal();
		4215	break;
		4216	case "tbWPEditHoldtime":
		4217	k.Title = "Holdtime";
		4218	k.LENGTH = 3;
		4219	k.MAX = 254;
		4220	break;
		4221	case "tbWPEditAutoTrigger":
		4222	k.Title = "Autotrigger";
		4223	k.LENGTH = 3;
		4224	k.MAX = 254;
		4225	k.disableDecimal();
		4226	break;
		4227	case "tbWPEditCamAngle":
		4228	k.Title = "Camera angle";
		4229	k.LENGTH = 3;
		4230	k.MAX = 254;
		4231	k.MIN = 1;
		4232	k.disableDecimal();
		4233	break;
		4234	case "tbWPEditOut1":
		4235	k.Title = "OUT1 timer interval";
		4236	k.LENGTH = 3;
		4237	k.MAX = 254;
		4238	k.disableDecimal();
		4239	break;
		4240	}
		4241	k.Result = ((TextBox)sender).Text;
2366	-	4242	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	4243	((TextBox)sender).Text = k.Result;
2361	-	4244	}
2366	-	4245
2361	-	4246	}
		4247	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	4248	{
2359	-	4249	object[] o = new object[16];
2356	-	4250
2359	-	4251	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		4252	o[1] = 0;
		4253	// cbWPEditType.SelectedIndex = 0;
		4254	// tbWPEditPrefix.Text = "P";
		4255	o[2] = "P" + o[0].ToString();
		4256	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4257	o[3] = copter.Position.Lat;
		4258	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4259	o[4] = copter.Position.Lng;
		4260	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		4261	o[5] = iAnalogData[4].ToString();
2356	-	4262
2359	-	4263	// cbWPEditHeading.SelectedIndex = 2;
		4264	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		4265	// tbWPEditHeading.IsReadOnly = false;
2356	-	4266
2359	-	4267	// cbWPEditSpeed.SelectedIndex = 1;
		4268	// tbWPEditSpeed.Text = "5.0";
		4269	// tbWPEditSpeed.IsReadOnly = false;
2372	-	4270	o[7] = "10";
2356	-	4271
2359	-	4272	// cbWPEditClimbrate.SelectedIndex = 1;
		4273	// tbWPEditClimbrate.Text = "5.0";
		4274	// tbWPEditClimbrate.IsReadOnly = false;
2372	-	4275	o[8] = "10";
2356	-	4276
2359	-	4277	// tbWPEditRadius.Text = "10";
2372	-	4278	o[9] = "5";
2359	-	4279	// tbWPEditHoldtime.Text = "5";
		4280	o[10] = "5";
		4281	// tbWPEditAutoTrigger.Text = "0";
		4282	o[11] = "0";
		4283	// cbWPEditCamAngle.SelectedIndex = 1;
		4284	// tbWPEditCamAngle.Text = "AUTO";
		4285	// tbWPEditCamAngle.IsReadOnly = true;
		4286	o[12] = "255";
2356	-	4287
2359	-	4288	o[13] = "0";
		4289	// tbWPEditOut1.Text = "0";
		4290	o[14] = "0";
		4291	o[15] = "0";
		4292
		4293	dtWaypoints.Rows.Add(o);
2368	-	4294	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1]);
2359	-	4295	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4296	if (mRouteWP != null)
		4297	MainMap.Markers.Remove(mRouteWP);
		4298	_routeUpdate();
		4299	Dispatcher.Invoke(() => {
		4300	dgvWP.Items.Refresh();
		4301	dgvWP.SelectedIndex = (int)o[0] -1;
		4302	dgvWP.UpdateLayout();
		4303	_dgvWPselectEditRow();
		4304	});
2356	-	4305	}
2405	-	4306	private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e)
		4307	{
		4308	if (WPStatus.Visibility == Visibility.Visible)
		4309	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		4310	else
		4311	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		4312	}
		4313	private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e)
		4314	{
		4315	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		4316	{
		4317	if (cWPBound != null && cWPBound.Tag != null)
		4318	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2356	-	4319
2405	-	4320	createCircle(home.Position, dWPMaxRange);
		4321	}
		4322	if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null))
		4323	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		4324	}
2315	-	4325	#endregion WP
2324	-	4326	#region GPX
		4327	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		4328	{
		4329	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		4330	}
		4331	void _gpxAdd(double lat,double lon, int elevation)
		4332	{
		4333	DataRow dr = dtGPX.NewRow();
		4334	dr[0] = dtGPX.Rows.Count - 1;
		4335	dr[1] = lat;
		4336	dr[2] = lon;
		4337	dr[3] = elevation;
		4338	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		4339	dtGPX.Rows.Add(dr);
		4340	}
		4341	void _saveGPXLog()
		4342	{
		4343	if (!Directory.Exists("GPXLog"))
		4344	Directory.CreateDirectory("GPXLog");
		4345	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		4346	XmlTextWriter myXmlTextWriter = null;
		4347	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		4348	NumberFormatInfo nfi = new NumberFormatInfo();
		4349	nfi.NumberDecimalSeparator = ".";
2315	-	4350
2324	-	4351	try
		4352	{
		4353	myXmlTextWriter.Formatting = Formatting.Indented;
		4354
		4355	myXmlTextWriter.WriteStartDocument();
		4356
		4357	myXmlTextWriter.WriteStartElement("gpx");
		4358
		4359	myXmlTextWriter.WriteAttributeString("version", "1.0");
		4360	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		4361	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		4362	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		4363	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		4364
		4365	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		4366
		4367	myXmlTextWriter.WriteStartElement("trk");
		4368	myXmlTextWriter.WriteStartElement("trkseg");
		4369	for(int i = 0; i< dtGPX.Rows.Count;i++)
		4370	{
		4371	myXmlTextWriter.WriteStartElement("trkpt");
		4372	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		4373	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		4374	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		4375	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		4376	myXmlTextWriter.WriteEndElement();
		4377	}
		4378	myXmlTextWriter.WriteEndElement();
		4379	myXmlTextWriter.WriteEndElement();
		4380	myXmlTextWriter.WriteEndElement();
		4381	}
		4382	catch (Exception e)
		4383	{
		4384	Console.WriteLine("Exception: {0}", e.ToString());
		4385	}
		4386	finally
		4387	{
		4388	if (myXmlTextWriter != null)
		4389	{
		4390	myXmlTextWriter.Close();
		4391	}
		4392	}
		4393	}
2356	-	4394
2385	-	4395
2324	-	4396	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		4397	{
		4398	_loadGPXLog();
		4399	}
2327	-	4400	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		4401	{
		4402	_clearMapMarkers(typeof(GMapRoute));
		4403	}
2324	-	4404	void _loadGPXLog()
		4405	{
		4406
		4407	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4408	fd.Filter = "GPX-Logfile \| *.gpx";
		4409	fd.Multiselect = false;
		4410	if (fd.ShowDialog().Value)
		4411	{
		4412	string file = fd.FileName;
		4413	try
		4414	{
		4415	XDocument gpxDoc = XDocument.Load(file);
		4416	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		4417
		4418	NumberFormatInfo nfi = new NumberFormatInfo();
		4419	nfi.NumberDecimalSeparator = ".";
		4420
		4421	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		4422	select new
		4423	{
		4424	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		4425	Segs = (
		4426	from trackpoint in track.Descendants(gpx + "trkpt")
		4427	select new
		4428	{
		4429	Latitude = trackpoint.Attribute("lat").Value,
		4430	Longitude = trackpoint.Attribute("lon").Value,
		4431	Elevation = trackpoint.Element(gpx + "ele") != null ?
		4432	trackpoint.Element(gpx + "ele").Value : null,
		4433	Time = trackpoint.Element(gpx + "time") != null ?
		4434	trackpoint.Element(gpx + "time").Value : null
		4435	}
		4436	)
		4437	};
		4438
		4439	List<PointLatLng> wpl = new List<PointLatLng>();
		4440	foreach(var trk in tracks)
		4441	{
		4442	foreach(var trkseg in trk.Segs)
		4443	{
		4444	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		4445	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		4446	}
		4447
		4448	}
		4449	if(wpl.Count() > 0)
		4450	{
2327	-	4451	_clearMapMarkers(typeof(GMapRoute));
2324	-	4452	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	4453	Dispatcher.Invoke(() =>
		4454	{
		4455	GMapRoute mRoute;
		4456	if (comboBoxRouteColor.SelectionBoxItem != null)
		4457	{
		4458	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	4459	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	4460	}
		4461	else
2366	-	4462	mRoute = new GMapRoute(wpl, null);
2324	-	4463
2328	-	4464	MainMap.Markers.Add(mRoute);
		4465	});
2324	-	4466	}
		4467
		4468	}
		4469	catch (Exception e)
		4470	{
		4471	Console.WriteLine("Exception: {0}", e.ToString());
		4472	}
		4473	}
		4474	}
		4475	#endregion GPX
2315	-	4476	#endregion functions
2287	-	4477	}
2315	-	4478	/// <summary>
		4479	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		4480	/// </summary>
2313	-	4481	public class waypointsConverter : IValueConverter
		4482	{
		4483	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		4484	{
		4485	if (value != null)
		4486	{
		4487	switch ((string)parameter)
		4488	{
		4489	case "Latitude":
		4490	return value.ToString() + " °";
		4491	case "Longitude":
		4492	return value.ToString() + " °";
		4493	case "Radius":
		4494	return value.ToString() + " m";
		4495	case "Altitude":
		4496	return value.ToString() + " m";
		4497	case "ClimbRate":
		4498	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		4499	case "DelayTime":
		4500	return value.ToString() + " s";
		4501	case "Heading":
		4502	return Waypoints.Heading(System.Convert.ToInt32(value));
		4503	case "Speed":
		4504	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		4505	case "CamAngle":
		4506	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		4507	case "Type":
		4508	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		4509	case "AutoTrigger":
		4510	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		4511	case "Status":
2355	-	4512	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	4513	}
		4514
		4515	return value.ToString();
		4516	}
		4517	else return value;
		4518	}
		4519
		4520	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		4521	{
		4522	throw new NotImplementedException();
		4523	}
		4524	}
		4525
2287	-	4526	public class IniFile
		4527	{
		4528	public string path;
		4529
		4530	[DllImport("kernel32")]
		4531	private static extern long WritePrivateProfileString(string section,
		4532	string key, string val, string filePath);
		4533
		4534	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		4535	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		4536	uint nSize, string lpFileName);
		4537
		4538	[DllImport("kernel32")]
		4539	private static extern int GetPrivateProfileString(string section,
		4540	string key, string def, StringBuilder retVal,
		4541	int size, string filePath);
		4542
		4543	public IniFile(string INIPath)
		4544	{
		4545	path = INIPath;
		4546	}
		4547
		4548	public void IniWriteValue(string Section, string Key, string Value)
		4549	{
		4550	WritePrivateProfileString(Section, Key, Value, this.path);
		4551	}
		4552
		4553	public string IniReadValue(string Section, string Key)
		4554	{
		4555	StringBuilder temp = new StringBuilder(255);
		4556	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		4557	return temp.ToString();
		4558	}
		4559	//Ini_sections auslesen in String-Array
		4560	public string[] IniSectionNames()
		4561	{
		4562
		4563	// uint MAX_BUFFER = 32767;
		4564	uint MAX_BUFFER = 8388608;
		4565	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		4566	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		4567	if (bytesReturned == 0)
		4568	{
		4569	Marshal.FreeCoTaskMem(pReturnedString);
		4570	return null;
		4571	}
		4572	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		4573	Marshal.FreeCoTaskMem(pReturnedString);
		4574	//use of Substring below removes terminating null for split
		4575	return local.Substring(0, local.Length - 1).Split('\0');
		4576
		4577
		4578	}
		4579	}
		4580
		4581	/// <summary>
		4582	/// Selected Win AI Function Calls
		4583	/// </summary>
		4584	public class WinApi
		4585	{
		4586	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		4587	public static extern int GetSystemMetrics(int which);
		4588	[DllImport("user32.dll")]
		4589	public static extern void
		4590	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		4591	int X, int Y, int width, int height, uint flags);
		4592
		4593	private const int SM_CXSCREEN = 0;
		4594	private const int SM_CYSCREEN = 1;
		4595	private static IntPtr HWND_TOP = IntPtr.Zero;
		4596	private const int SWP_SHOWWINDOW = 64; // 0x0040
		4597
		4598	public static int ScreenX
		4599	{
		4600	get { return GetSystemMetrics(SM_CXSCREEN); }
		4601	}
		4602
		4603	public static int ScreenY
		4604	{
		4605	get { return GetSystemMetrics(SM_CYSCREEN); }
		4606	}
		4607
		4608	public static void SetWinFullScreen(IntPtr hwnd)
		4609	{
		4610	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		4611	}
		4612	}
		4613	/// <summary>
		4614	/// Class used to preserve / restore state of the window
		4615	/// </summary>
		4616	public class WinState
		4617	{
		4618	private WindowState winState;
		4619	private WindowStyle brdStyle;
		4620	private bool topMost;
		4621	private Rect restore;
		4622	private bool IsMaximized = false;
		4623
		4624	public bool isMaximized
		4625	{
		4626	get { return IsMaximized; }
		4627	}
		4628	public void Maximize(Window targetForm)
		4629	{
		4630	if (!IsMaximized)
		4631	{
		4632	IsMaximized = true;
		4633	Save(targetForm);
		4634	targetForm.WindowState = WindowState.Maximized;
		4635	targetForm.WindowStyle = WindowStyle.None;
		4636	targetForm.Topmost = true;
		4637	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		4638	}
		4639	}
		4640
		4641	public void Save(Window targetForm)
		4642	{
		4643	winState = targetForm.WindowState;
		4644	brdStyle = targetForm.WindowStyle;
		4645	topMost = targetForm.Topmost;
		4646	restore = targetForm.RestoreBounds;
		4647	}
		4648	public void Restore(Window targetForm)
		4649	{
		4650	targetForm.WindowState = winState;
		4651	targetForm.WindowStyle = brdStyle;
		4652	targetForm.Topmost = topMost;
		4653
		4654	targetForm.Left = restore.Left;
		4655	targetForm.Top = restore.Top;
		4656	targetForm.Height = restore.Height;
		4657	targetForm.Width = restore.Width;
		4658	IsMaximized = false;
		4659	}
		4660	}
		4661
		4662	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2405 - Rev