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);
2408	-	772	Dispatcher.Invoke(() =>
		773	{
		774	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		775	{
		776	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		777	cWPBound.setColor(s);
		778	}
		779	});
2405	-	780	}
		781
2287	-	782	}
2347	-	783	void _setActiveWP(int iIndex)
2287	-	784	{
2347	-	785	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
		786	{
		787	Dispatcher.Invoke(() =>
		788	{
		789	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		790	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		791	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		792	MainMap.Markers.Add(wpActiveMarker);
		793	});
		794	}
		795	else
		796	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
		797
2401	-	798	Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m");
2347	-	799	}
		800	void _clearHomePos()
		801	{
2287	-	802	MainMap.Markers.Remove(home);
2405	-	803	if (cWPBound != null && cWPBound.Tag != null)
		804	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2287	-	805	}
2335	-	806	void _clearMapMarkers(Type markerType)
		807	{
		808	for (int k = 0; k < MainMap.Markers.Count;)
		809	{
		810	GMapMarker p = MainMap.Markers[k];
2340	-	811	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	812	MainMap.Markers.Remove(p);
		813	else
		814	k++;
		815	}
2287	-	816
2335	-	817	}
2369	-	818
		819	GMapMarker _findWPMarker(string name)
2368	-	820	{
		821	for (int k = 0; k < MainMap.Markers.Count;)
		822	{
		823	GMapMarker p = MainMap.Markers[k];
		824	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
2369	-	825	if (((CustomMarkerWP)p.Shape).WPText == name)
		826	return p;
2368	-	827	else
		828	k++;
		829	else
		830	k++;
		831	}
2369	-	832	return null;
2368	-	833	}
2369	-	834	void _clearWPMarker(string name)
		835	{
		836	GMapMarker p = _findWPMarker(name);
		837	if(p != null)
		838	MainMap.Markers.Remove(p);
		839	}
2368	-	840	void _renameWPMarker(string s1, string s2)
		841	{
2369	-	842	GMapMarker p = _findWPMarker(s1);
		843	if (p != null)
		844	((CustomMarkerWP)p.Shape).WPText = s2;
2368	-	845	}
2372	-	846	void _WPMarkerSetType(string text, int type)
		847	{
		848	GMapMarker p = _findWPMarker(text);
		849	if (p != null)
		850	((CustomMarkerWP)p.Shape).WPType = type;
		851	}
2369	-	852	void _repositionWPMarker(PointLatLng point, string name)
		853	{
		854	GMapMarker p = _findWPMarker(name);
		855	if (p != null)
		856	p.Position = point;
		857	}
		858
2405	-	859	void createCircle(PointLatLng center, double distance)
		860	{
		861
		862	GMapMarker it = new GMapMarker(center);
		863	it.ZIndex = -1;
		864
		865	cWPBound.Center = center;
		866	cWPBound.Bound = GMap.NET.PureProjection.GetPointFromDistance(center, distance);
		867	cWPBound.Tag = it;
		868	cWPBound.IsHitTestVisible = false;
		869	UpdateCircle(cWPBound);
		870	it.Shape = cWPBound;
		871	MainMap.Markers.Add(it);
		872	}
		873	// calculates circle radius
		874	void UpdateCircle(Circle c)
		875	{
		876	var pxCenter = MainMap.FromLatLngToLocal(c.Center);
		877	var pxBounds = MainMap.FromLatLngToLocal(c.Bound);
		878
		879	double a = (double)(pxBounds.X - pxCenter.X);
		880	double b = (double)(pxBounds.Y - pxCenter.Y);
		881	var pxCircleRadius = Math.Sqrt(a * a + b * b);
		882
		883	c.Width = c.Height = pxCircleRadius * 2;
		884	//c.Width = 55 + pxCircleRadius * 2;
		885	//c.Height = 55 + pxCircleRadius * 2;
		886	(c.Tag as GMapMarker).Offset = new System.Windows.Point(-c.Width / 2, -c.Height / 2);
		887	}
		888
2287	-	889	// access mode
		890	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		891	{
		892	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		893	MainMap.ReloadMap();
		894	}
		895	// zoom up
		896	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		897	{
		898	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		899	}
		900
		901	// zoom down
		902	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		903	{
		904	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		905	}
		906
		907	// prefetch
		908	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		909	{
		910	RectLatLng area = MainMap.SelectedArea;
		911	if (!area.IsEmpty)
		912	{
		913	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		914	{
		915	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		916
		917	if (res == MessageBoxResult.Yes)
		918	{
		919	TilePrefetcher obj = new TilePrefetcher();
		920	obj.Owner = this;
		921	obj.ShowCompleteMessage = true;
		922	obj.Start(area, i, MainMap.MapProvider, 100);
		923	}
		924	else if (res == MessageBoxResult.No)
		925	{
		926	continue;
		927	}
		928	else if (res == MessageBoxResult.Cancel)
		929	{
		930	break;
		931	}
		932	}
		933	}
		934	else
		935	{
		936	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		937	}
		938	}
		939
		940	// goto by geocoder
		941	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		942	{
		943	_goto_byGeoCoder();
		944	}
		945	// goto by geocoder
		946	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		947	{
		948	if (e.Key == System.Windows.Input.Key.Enter)
		949	_goto_byGeoCoder();
		950	}
		951	void _goto_byGeoCoder()
		952	{
		953	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		954	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		955	{
		956	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		957	}
		958	}
		959	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		960	{
		961	try
		962	{
		963	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		964	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		965
		966	MainMap.Position = new PointLatLng(lat, lng);
		967	}
		968	catch (Exception ex)
		969	{
		970	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		971	}
		972
		973	}
		974
		975	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		976	{
		977	MainMap.ReloadMap();
		978	}
		979
		980	private void MainMap_OnPositionChanged(PointLatLng point)
		981	{
		982	if (_bFollowCopter)
		983	_setCopterData(MainMap.Position);
		984	}
		985
		986	private void MainMap_OnMapZoomChanged()
		987	{
		988	if (_bFollowCopter)
		989	_setCopterData(MainMap.Position);
		990	if((int)sliderMapZoom.Value != MainMap.Zoom)
		991	sliderMapZoom.Value = MainMap.Zoom;
2405	-	992	if(cWPBound != null && cWPBound.Tag != null)
		993	UpdateCircle(cWPBound);
2287	-	994	}
		995
		996	void _setCopterData(PointLatLng p)
		997	{
		998	Dispatcher.Invoke(() =>
		999	{
		1000	copter.Position = p;
		1001	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		1002	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		1003	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		1004	});
		1005	if (home != null && MainMap.Markers.Contains(home))
		1006	{
		1007	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		1008	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		1009	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	1010
		1011	if(d*1000 < _dThresholdDistanceWarn)
		1012	{
		1013	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		1014	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		1015	{
		1016	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		1017	_bAnimDistanceActive = false;
		1018	}
		1019	}
		1020	else
		1021	{
		1022	if (_iDistanceJitter < 20)
		1023	{ _iDistanceJitter++; }
		1024	if (_iDistanceJitter == 20)
		1025	{
		1026	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		1027	{
		1028	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		1029	_bAnimDistanceActive = true;
		1030	}
		1031	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		1032	{
2398	-	1033	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\Distance.mp3");
		1034	//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		1035	//t.Start();
2291	-	1036	_bVoiceDistanceActive = true;
		1037	}
		1038	_iDistanceJitter++;
		1039	}
		1040	}
2287	-	1041	}
		1042	}
		1043
		1044	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		1045	{
		1046	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		1047	}
		1048
		1049	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1050	{
		1051	if (MainMap.Zoom != sliderMapZoom.Value)
		1052	MainMap.Zoom = (int)sliderMapZoom.Value;
		1053	}
		1054	#region Touch zooming hackattack ;)
		1055	/// <summary>
		1056	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		1057	/// </summary>
		1058	bool bFirstAccess = true;
		1059	double dDistance = 0;
		1060	int iZoom;
		1061	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1062	{
		1063	var id = e.StylusDevice.Id;
		1064	e.StylusDevice.Capture(MainMap);
		1065	if (iFirstStylusID == -1)
		1066	{
		1067	iFirstStylusID = id;
		1068	}
		1069	else
		1070	{
		1071
		1072	MainMap.CanDragMap = false;
		1073	}
		1074	}
		1075	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1076	{
		1077	MainMap.ReleaseStylusCapture();
		1078	iFirstStylusID = -1;
		1079	bFirstAccess = true;
		1080	MainMap.CanDragMap = true;
		1081	iZoom = 0;
		1082	}
		1083	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1084	{
		1085	var id = e.StylusDevice.Id;
		1086	var tp = e.GetPosition(MainMap);
		1087
		1088	// This is the first Stylus point; just record its position.
		1089	if (id == iFirstStylusID)
		1090	{
		1091	pTouch1.X = tp.X;
		1092	pTouch1.Y = tp.Y;
		1093	}
		1094	else
		1095	if (iFirstStylusID > -1)
		1096	{
		1097	pTouch2.X = tp.X;
		1098	pTouch2.Y = tp.Y;
		1099	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1100	if (!bFirstAccess)
		1101	{
		1102	if (distance > dDistance)
		1103	iZoom++;
		1104	else
		1105	if (distance < dDistance)
		1106	iZoom--;
		1107	}
		1108	if (iZoom > 30)
		1109	{
		1110	iZoom = 0;
		1111	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1112	}
		1113	if (iZoom < -30)
		1114	{
		1115	iZoom = 0;
		1116	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1117	}
		1118	dDistance = distance;
		1119	bFirstAccess = false;
		1120	}
		1121	}
		1122	#endregion Touch zooming hackattack ;)
		1123
		1124	#endregion GMap
		1125
		1126	#region settings
		1127	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1128	{
		1129	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		1130	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1131	}
		1132	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1133	{
		1134	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		1135	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1136	}
		1137	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1138	{
		1139	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1140	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1141	}
		1142	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1143	{
		1144	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1145	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1146	}
		1147	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1148	{
		1149	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1150	}
		1151	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1152	{
		1153	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1154	}
		1155	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1156	{
		1157	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1158	}
		1159	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1160	{
		1161	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1162	}
		1163
		1164	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1165	{
		1166	if (cBoxLiPoCells.SelectedIndex > -1)
		1167	{
		1168	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1169	_LipoMinMax();
		1170	}
		1171	}
		1172	void _LipoMinMax()
		1173	{
		1174	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1175	_dLipoVMin = (double)_LipoCells * 3;
		1176	pbTopVoltage.Maximum = _dLipoVMax;
		1177	pbTopVoltage.Minimum = _dLipoVMin;
		1178	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1179	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1180	}
		1181	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1182	{
		1183	if (cBoxMotors.SelectedIndex > -1)
		1184	{
		1185	_iMotors = cBoxMotors.SelectedIndex + 3;
		1186	Dispatcher.Invoke(() =>
		1187	{
		1188	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1189	GridMotors.Height = dgvMotors1.Height + 10;
		1190	});
		1191	}
		1192	}
		1193	void _setMotorGridSize()
		1194	{
		1195	if (dgvMotors1.Columns.Count > 2)
		1196	{
		1197	dgvMotors1.Columns[0].Width = 24;
		1198	dgvMotors1.Columns[1].Width = 50;
		1199	dgvMotors1.Columns[2].Width = 50;
		1200	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1201	GridMotors.Height = dgvMotors1.Height + 10;
		1202	}
		1203
		1204	}
		1205	#endregion settings
		1206
		1207	#region functions
		1208
		1209	#region logging
		1210	/// <summary> Log data to the terminal window. </summary>
		1211	/// <param name="msgtype"> The type of message to be written. </param>
		1212	/// <param name="msg"> The string containing the message to be shown. </param>
		1213	private void Log(LogMsgType msgtype, string msg)
		1214	{
		1215	Dispatcher.Invoke(() =>
		1216	{
		1217	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1218	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1219	// rtfTerminal.AppendText(msg + "\r");
		1220	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1221	tr.Text = msg;
		1222	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1223	rtfTerminal.AppendText("\r");
		1224	rtfTerminal.ScrollToEnd();
		1225	});
		1226	}
2381	-	1227	private void ErrorLog(LogMsgType msgtype, string msg , string linkURL, string linkName)
2287	-	1228	{
2381	-	1229
2287	-	1230	Dispatcher.Invoke(() =>
		1231	{
2381	-	1232	Paragraph para = new Paragraph();
		1233	para.Margin = new Thickness(0); // remove indent between paragraphs
		1234
		1235	Hyperlink link = new Hyperlink();
		1236	if (linkURL != "" && linkName != "")
		1237	{
		1238	link.IsEnabled = true;
		1239	link.Inlines.Add(linkName);
		1240	link.NavigateUri = new Uri(linkURL);
		1241	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1242	}
		1243	//msg = DateTime.Now.ToLongTimeString() + msg;
		1244	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1245	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1246	r.Foreground = new SolidColorBrush(Colors.Black);
		1247	para.Inlines.Add(r);
		1248	para.Inlines.Add(msg);
		1249	para.Inlines.Add(link);
		1250	rtfError.Document.Blocks.Add(para);
		1251	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1252	//tr.Text = msg + link;
		1253	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1254	//rtfError.AppendText("\r");
2287	-	1255	rtfError.ScrollToEnd();
		1256
2381	-	1257	//_bErrorLog = true;
2287	-	1258	});
		1259	}
		1260	/// <summary>
		1261	/// Clear the line in the errorlog window
		1262	/// containing the error string when error has ceased
		1263	/// </summary>
		1264	/// <param name="s">substring of errrormessage</param>
		1265	void _clearErrorLog(string s)
		1266	{
		1267	Dispatcher.Invoke((Action)(() =>
		1268	{
		1269	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1270	TextRange foundRange = FindTextInRange(searchRange, s);
		1271
		1272	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1273
		1274
		1275	if (iStart > -1)
		1276	{
		1277	int iLength = 0;
		1278	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1279	if (iEnd > 0)
		1280	{
		1281	iLength = iEnd + 1;
		1282	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1283	if (iHttp == iLength)
		1284	{
		1285	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1286	if (iEnd2 > iLength)
		1287	{
		1288	iLength = iEnd2 + 1;
		1289	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		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	else
		1298	{
		1299	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1300	rtfError.Selection.Text = string.Empty;
		1301	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1302	}
		1303	}
		1304	}
		1305	}));
		1306
		1307	}
		1308	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1309	{
		1310	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1311	if (offset < 0)
		1312	return null; // Not found
		1313
		1314	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1315	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1316
		1317	return result;
		1318	}
		1319	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1320	{
		1321	while (position != null)
		1322	{
		1323	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1324	{
		1325	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1326	if (characterCount <= count)
		1327	{
		1328	return position.GetPositionAtOffset(characterCount);
		1329	}
		1330
		1331	characterCount -= count;
		1332	}
		1333
		1334	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1335	if (nextContextPosition == null)
		1336	return position;
		1337
		1338	position = nextContextPosition;
		1339	}
		1340
		1341	return position;
		1342	}
		1343	#endregion logging
		1344
		1345	#region processing received data
		1346
		1347	private void processMessage(byte[] message)
		1348	{
		1349	if (message.Length > 0)
		1350	{
		1351	_iLifeCounter++;
		1352	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1353	//Log(LogMsgType.Incoming, message.Length.ToString());
		1354	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1355	char cmdID;
		1356	byte adr;
		1357	byte[] data;
		1358	byte[] tmp = null;
		1359	if (message[0] != '#')
		1360	{
		1361	int iFound = -1;
		1362	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1363	{ //so this is a workaround to not spam the log box
		1364	if (message[i] == 35)
		1365	{
		1366	iFound = i;
		1367	break;
		1368	}
		1369	}
		1370	if (iFound > 0)
		1371	{
		1372	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1373	tmp = new byte[message.Length - iFound];
		1374	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1375	}
		1376	s = s.Trim('\0', '\n', '\r');
		1377	if (s.Length > 0)
		1378	Log(LogMsgType.Normal, s);
		1379	if (tmp != null)
		1380	{
		1381	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1382	processMessage(tmp);
		1383	}
		1384	}
		1385	//Debug.Print(s);
		1386	else
		1387	{
		1388	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1389
		1390	if (adr == 255) { crcError++; }
		1391	else crcError = 0;
		1392	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1393	//display the active controller (FC / NC)
		1394	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...???
		1395	{
		1396	_iCtrlAct = adr;
		1397	switch (adr)
		1398	{
		1399	case 1:
		1400	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2381	-	1401	// Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1402	// Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
2287	-	1403	// _setFieldsNA(); //display fields NA for FC
		1404	break;
		1405	case 2:
		1406	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1407	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1408	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1409	break;
		1410	//case 3:
		1411	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1412	// break;
		1413	//case 4:
		1414	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1415	// break;
		1416	default:
		1417	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1418	break;
		1419	}
		1420	// _loadLabelNames();
		1421	}
		1422	// else
		1423	// Debug.Print("Address == 0?");
		1424
		1425	if (data != null && data.Length > 0)
		1426	{
		1427	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1428	s = s.Trim('\0', '\n');
		1429
		1430	switch (cmdID)
		1431	{
		1432	//case 'A': //Label names
		1433	// _processLabelNames(s);
		1434	// break;
		1435
		1436	case 'D': //Debug data
		1437	_processDebugVals(adr, data);
		1438	break;
		1439
		1440	case 'V': //Version
		1441	_processVersion(adr, data);
		1442	break;
		1443
		1444	case 'K'://BL-CTRL data
		1445	_processBLCtrl(data);
		1446	break;
		1447
		1448	case 'O': //NC Data
		1449	_processNCData(data);
		1450	break;
		1451
2381	-	1452	//case 'E': //NC error-string
		1453	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1454	// break;
2287	-	1455
		1456	case 'L': //OSD Menue (called by pagenumber)
		1457	_processOSDSingle(data);
		1458	break;
		1459
		1460	case 'H': //OSD Menue (with autoupdate - called by Key)
		1461	_processOSDAuto(data);
		1462	break;
		1463
		1464	case 'X': //Waypoint data
		1465	_processWPData(data);
		1466	break;
		1467
2313	-	1468	case 'W': //return new Waypoint items count after sending waypoint to copter
		1469	_iWPCount = data[0];
		1470	break;
2287	-	1471	//default:
		1472	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1473	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1474	// break;
		1475	}
		1476	}
		1477	//else
		1478	//{
		1479	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1480	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1481	//}
		1482	}
		1483	}
		1484	}
		1485	/// <summary>
		1486	/// Analog label names 'A'
		1487	/// each label name is returned as a single string
		1488	/// and added to string array sAnalogLabel[]
		1489	/// and the datatable dtAnalog
		1490	/// </summary>
		1491	/// <param name="s">the label name</param>
		1492	void _processLabelNames(string s)
		1493	{
		1494	//if (iLableIndex < 32)
		1495	//{
		1496	// sAnalogLabel[iLableIndex] = s;
		1497	// if (dtAnalog.Rows.Count < 32)
		1498	// dtAnalog.Rows.Add(s, "");
		1499	// else
		1500	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1501
		1502	// // _getAnalogLabels(iLableIndex + 1);
		1503	//}
		1504	//Debug.Print(s);
		1505	}
		1506	/// <summary>
		1507	/// Debug values 'D'
		1508	/// </summary>
		1509	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1510	/// <param name="data">the received byte array to process</param>
		1511	void _processDebugVals(byte adr, byte[] data)
		1512	{
		1513	if (data.Length == 66)
		1514	{
2324	-	1515
2287	-	1516	double v;
		1517	int index = 0;
		1518	Int16 i16 = 0;
		1519	double dTemp = 0;
		1520	for (int i = 2; i < 66; i += 2)
		1521	{
		1522	i16 = data[i + 1];
		1523	i16 = (Int16)(i16 << 8);
		1524	iAnalogData[index] = data[i] + i16;
		1525	sAnalogData[index] = (data[i] + i16).ToString();
		1526	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1527
		1528	if (adr == 2) //NC
		1529	{
		1530	switch (index)
		1531	{
		1532	case 0: //pitch (German: nick)
		1533	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1534	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1535	break;
		1536	case 1: //roll
		1537	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1538	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1539	break;
		1540	case 4: //altitude
		1541	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1542	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2324	-	1543	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1544	break;
		1545	case 7: //Voltage
		1546	v = (double)iAnalogData[index] / (double)10;
		1547	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1548	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1549	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1550	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1551	{
		1552	if (v == _dVoltLast)
		1553	if(_iVoltJitter < 20) _iVoltJitter++;
		1554	else
		1555	{
		1556	_iVoltJitter = 0;
		1557	_dVoltLast = v;
		1558	}
		1559	if (_iVoltJitter == 20)
		1560	{
		1561	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1562
		1563	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1564	{
		1565	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1566	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1567	{
		1568	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1569	_bCritAnimVoltActive = true;
		1570	}
		1571	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1572	{
2398	-	1573	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3");
		1574	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1575	//t.Start();
2287	-	1576	_bCritVoiceVoltActive = true;
		1577	}
		1578	}
		1579	else
		1580	{
		1581	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1582	{
		1583	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1584	_bCritAnimVoltActive = false;
		1585	}
		1586	_bCritVoiceVoltActive = false;
		1587
2291	-	1588	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1589	{
2398	-	1590	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3");
		1591	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1592	//t.Start();
2291	-	1593	_bWarnVoiceVoltActive = true;
2287	-	1594	}
		1595	}
		1596	}
		1597	}
		1598	else
		1599	{
		1600	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1601	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1602	{
		1603	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1604	_bCritAnimVoltActive = false;
		1605	}
		1606	_bCritVoiceVoltActive = false;
2291	-	1607	_bWarnVoiceVoltActive = false;
2287	-	1608	_iVoltJitter = 0;
		1609	}
		1610	break;
		1611	case 8: // Current
		1612	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1613	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1614	break;
		1615	case 10: //heading
2291	-	1616	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2399	-	1617	if (!_Simulate) //use NavData for simulation
		1618	{
		1619	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1620	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		1621	}
2287	-	1622	break;
		1623	case 12: // SPI error
2291	-	1624	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1625	break;
		1626	case 14: //i2c error
2291	-	1627	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1628	break;
		1629	case 20: //Earthmagnet field
2291	-	1630	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1631	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1632
		1633	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1634	{
		1635	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1636	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1637	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1638	{
		1639	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1640	_bAnimMagneticFieldActive = false;
		1641	}
		1642	}
		1643	else
		1644	{
		1645	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1646	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1647	{
		1648	if (_iMagneticFieldJitter < 20)
		1649	_iMagneticFieldJitter++;
		1650	}
		1651	else
		1652	{
		1653	_iMagneticFieldJitter = 0;
		1654	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1655	}
		1656	if(_iMagneticFieldJitter == 20)
		1657	{
		1658	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1659	{
		1660	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1661	_bAnimMagneticFieldActive = true;
		1662	}
		1663	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1664	{
2398	-	1665	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1666	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1667	//t.Start();
2291	-	1668	_bVoiceMagneticFieldActive = true;
		1669	}
		1670	}
		1671	}
2287	-	1672	break;
		1673	case 21: //GroundSpeed
		1674	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2399	-	1675	if (!_Simulate)
		1676	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2287	-	1677	break;
2291	-	1678
		1679	///******** needs testing --> not sure what position this is *************
2287	-	1680	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1681	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1682	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1683	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1684	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1685	dTemp = Math.Sqrt(dTemp) / (double)10;
		1686	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1687	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1688	break;
2291	-	1689
2287	-	1690	case 31: //Sats used
		1691	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1692	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1693	break;
		1694	}
		1695	}
		1696	index++;
		1697	}
		1698	}
		1699	else
		1700	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1701	}
		1702	/// <summary>
		1703	/// Version string 'V'
		1704	/// </summary>
		1705	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1706	/// <param name="data">the received byte array to process</param>
		1707	void _processVersion(byte adr, byte[] data)
		1708	{
		1709	if (data.Length == 12)
		1710	{
		1711	if (!check_HWError)
		1712	{
		1713	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1714	string sVersion = "";
		1715	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1716	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1717	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1718	Log(LogMsgType.Incoming, sVersion);
		1719	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1720	Log(LogMsgType.Incoming, sVersion);
		1721	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1722	}
		1723	if (data[5] > 0) //error0
		1724	{
		1725	if (adr == 1)
2381	-	1726	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(),"","");
2287	-	1727	if (adr == 2)
2381	-	1728	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(),"","");
2287	-	1729	}
		1730	if (data[6] > 0) //error1
		1731	{
		1732	if (adr == 1)
2381	-	1733	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(),"","");
2287	-	1734	if (adr == 2)
2381	-	1735	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(),"",""); //@moment NC has only one error field
2287	-	1736	}
2381	-	1737	//if ((data[5] + data[6] == 0) && _bErrorLog)
		1738	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
2287	-	1739
		1740	}
		1741	check_HWError = false;
		1742	}
		1743	/// <summary>
		1744	/// BL-Ctrl data 'K'
		1745	/// for FC you have to use a customized firmware
		1746	/// </summary>
		1747	/// <param name="data">the received byte array to process</param>
		1748	void _processBLCtrl(byte[] data)
		1749	{
		1750	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1751	{
		1752	bool bAvailable = false;
		1753	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1754	{
		1755
		1756	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1757	bAvailable = true;
		1758	else
		1759	bAvailable = false;
		1760
		1761	if (data[i] < _iMotors)
		1762	{
		1763	if (bAvailable)
		1764	{
2315	-	1765	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1766	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1767	}
		1768	else
		1769	{
2315	-	1770	dtMotors.Rows[data[i]].SetField(1, "NA");
		1771	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1772	}
		1773	}
		1774	//if (data[i] > 3 && data[i] < 8)
		1775	//{
		1776	// if (bAvailable)
		1777	// {
		1778	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1779	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1780	// }
		1781	// else
		1782	// {
		1783	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1784	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1785	// }
		1786	//}
		1787	}
		1788	}
		1789	}
		1790	/// <summary>
		1791	/// Navi-Ctrl data 'O'
		1792	/// GPS-Position, capacatiy, flying time...
		1793	/// </summary>
		1794	/// <param name="data">the received byte array to process</param>
		1795	void _processNCData(byte[] data)
		1796	{
		1797	int i_32, i_16, iVal;
		1798	double d;
		1799	i_32 = data[4];
		1800	iVal = i_32 << 24;
		1801	i_32 = data[3];
		1802	iVal += i_32 << 16;
		1803	i_32 = data[2];
		1804	iVal += i_32 << 8;
		1805	iVal += data[1];
		1806	d = (double)iVal / Math.Pow(10, 7);
2324	-	1807	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1808
2287	-	1809	PointLatLng p = new PointLatLng();
		1810
		1811	p.Lng = d;
		1812	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1813	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1814
		1815	i_32 = data[8];
		1816	iVal = i_32 << 24;
		1817	i_32 = data[7];
		1818	iVal += i_32 << 16;
		1819	i_32 = data[6];
		1820	iVal += i_32 << 8;
		1821	iVal += data[5];
		1822	d = (double)iVal / Math.Pow(10, 7);
2324	-	1823	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1824	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1825	p.Lat = d;
2399	-	1826
2291	-	1827	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1828	{
		1829	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1830	if(_bAutoHome && !_bFirstSatFix)
		1831	{
		1832	if (_iFirstSatFix < 3)
		1833	_iFirstSatFix++;
		1834	else
		1835	{
		1836	_bFirstSatFix = true;
2347	-	1837	Dispatcher.Invoke(() => _setHomePos());
2295	-	1838	}
		1839	}
2291	-	1840	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1841	{
		1842	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1843	_bAnimSatFixActive = false;
		1844	}
		1845	if (!_bFollowCopter)
		1846	{
		1847	_setCopterData(p);
		1848	if (!MainMap.ViewArea.Contains(p))
		1849	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1850
2291	-	1851	}
		1852	else
2287	-	1853	Dispatcher.Invoke(() => MainMap.Position = p);
		1854	}
		1855	else
2291	-	1856	{
		1857	if(_bSatFix)
		1858	{
		1859	if (data[50] == _iSatsLast)
		1860	{
		1861	if (_iSatsJitter < 20) _iSatsJitter++;
		1862	}
		1863	else
		1864	{
		1865	_iSatsJitter = 0;
		1866	_iSatsLast = data[50];
		1867	}
2287	-	1868
2291	-	1869	if (_iSatsJitter == 20)
		1870	{
		1871	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1872	{
		1873	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1874	_bAnimSatFixActive = true;
		1875	}
		1876	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1877	{
2405	-	1878	_bVoiceSatFixActive = true;
2398	-	1879	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		1880	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		1881	//th.Start();
2291	-	1882	}
		1883
		1884	_bSatFix = false;
		1885	}
		1886	}
		1887	}
		1888
2399	-	1889	//Distance to next WP
2287	-	1890	i_16 = data[28];
		1891	i_16 = (Int16)(i_16 << 8);
		1892	iVal = data[27] + i_16;
2399	-	1893	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		1894	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
2401	-	1895	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	1896
		1897	i_16 = data[45];
		1898	i_16 = (Int16)(i_16 << 8);
		1899	iVal = data[44] + i_16;
		1900	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1901	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1902
		1903	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2355	-	1904	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2401	-	1905	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString()));
2399	-	1906	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
2342	-	1907	{
2347	-	1908	_setActiveWP(data[48]-1);
2355	-	1909	if((data[67] & 2) == 2)
		1910	Dispatcher.Invoke(() => {
		1911	DataGridRow row;
		1912	if (_wpIndex > -1)
		1913	{
		1914	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1915	row.Background = new SolidColorBrush(Colors.Transparent);
		1916	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1917	row.BorderThickness = new Thickness(0);
		1918	}
		1919	_wpIndex = data[48] - 1;
		1920	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
2366	-	1921	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		1922	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	1923	row.BorderThickness = new Thickness(2);
		1924	dgvWP.UpdateLayout();
		1925	});
2347	-	1926	_wpIndex = data[48]-1;
2342	-	1927	}
2347	-	1928	else
		1929	{
		1930	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	1931	{
2347	-	1932	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	1933	Dispatcher.Invoke(() =>
		1934	{
		1935	DataGridRow row;
2368	-	1936	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	1937	{
		1938	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1939	row.Background = new SolidColorBrush(Colors.Transparent);
		1940	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1941	row.BorderThickness = new Thickness(0);
		1942	_wpIndex = -1;
		1943	}
		1944	});
		1945
		1946	}
2347	-	1947	}
2342	-	1948
2287	-	1949	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	1950	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2401	-	1951	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	1952	_wpCount = data[49];
2287	-	1953	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1954
		1955	//--------------- Capacity used ------------------------
		1956	i_16 = data[81];
		1957	i_16 = (Int16)(i_16 << 8);
		1958	iVal = data[80] + i_16;
		1959	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1960	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1961
2398	-	1962	//--------------- Ground speed ------------------------
		1963	i_16 = data[59];
		1964	i_16 = (Int16)(i_16 << 8);
		1965	iVal = data[58] + i_16;
2399	-	1966	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		1967	if(_Simulate)
		1968	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
2398	-	1969
		1970	//--------------- Heading north ------------------------
		1971	i_16 = data[61];
		1972	i_16 = (Int16)(i_16 << 8);
		1973	iVal = data[60] + i_16;
		1974	Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
		1975
		1976	//--------------- Heading compass ------------------------
		1977	i_16 = data[63];
		1978	i_16 = (Int16)(i_16 << 8);
		1979	iVal = data[62] + i_16;
		1980	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
2399	-	1981	if (_Simulate)
		1982	{
		1983	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		1984	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		1985	}
2287	-	1986	//--------------- Flying time ------------------------
		1987	i_16 = data[56];
		1988	i_16 = (Int16)(i_16 << 8);
		1989	iVal = data[55] + i_16;
		1990	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1991	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1992	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1993	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1994
		1995	//--------------- RC quality ------------------------
		1996	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1997	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1998
2291	-	1999	if(data[66] > _iThresholdRC)
		2000	{
		2001	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2002	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2003	{
		2004	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2005	_bAnimRCLevelActive = false;
		2006	}
		2007	}
		2008	else
		2009	{
		2010	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2011	if (_iRCLevelJitter == 20)
		2012	{
		2013	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2014	{
		2015	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2016	_bAnimRCLevelActive = true;
		2017	}
		2018	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2019	{
2405	-	2020	_bVoiceRCLevelActive = true;
2398	-	2021	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2022	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2023	//th.Start();
2291	-	2024	}
		2025	_iRCLevelJitter++;
		2026	}
		2027	}
		2028
2405	-	2029	//Waypoint max range (by license)
		2030	if(dWPMaxRange != (double)data[70])
		2031	{
		2032	dWPMaxRange = (double)data[70];
		2033	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2034	{
		2035	if (cWPBound != null && cWPBound.Tag != null)
		2036	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2037
		2038	createCircle(home.Position, dWPMaxRange);
2408	-	2039	Dispatcher.Invoke(() =>
		2040	{
		2041	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2042	{
		2043	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2044	cWPBound.setColor(s);
		2045	}
		2046	});
2405	-	2047	}
		2048	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m"));
		2049	}
2399	-	2050	//Target hold time
		2051	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
2401	-	2052	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s"));
2399	-	2053
2287	-	2054	//--------------- NC Error ------------------------
		2055	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		2056	if (data[69] > 0)
		2057	_readNCError();
		2058	if (data[69] > 0 & data[69] < 44)
2381	-	2059	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		2060	//else
		2061	// if (_bErrorLog) _clearErrorLog("NC Error");
2287	-	2062
2298	-	2063	//-------------FC / NC Status Flags
		2064	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2065	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2066	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2067	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2068	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2069	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2070
		2071	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2072	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2073	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2074	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2075	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2076	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
		2077	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2078	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2079
		2080	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2081	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2082	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2083	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2084	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2085	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2086	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	2087
		2088	//Sidebar StatusSymbols
		2089	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2090	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
		2091	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
		2092
		2093	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2094	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
		2095	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
		2096
		2097	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	2098	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
		2099	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	-	2100
		2101	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2102	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
		2103	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
		2104
		2105	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	2106	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
		2107	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
		2108	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	-	2109
2324	-	2110	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	2111	}
		2112	/// <summary>
		2113	/// Navi-Ctrl WP data struct 'X'
		2114	/// called by index
		2115	/// </summary>
		2116	/// <param name="data">the received byte array to process</param>
		2117	void _processWPData(byte[] data)
		2118	{
2313	-	2119	_iWPCount = data[0];
2287	-	2120	_bGetWPCount = false;
		2121	if (data.Length >= 28)
		2122	{
		2123	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		2124	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		2125	if (_bGetWP)
		2126	{
		2127	if (data[1] == 1)
2315	-	2128	{
2333	-	2129	Dispatcher.Invoke(() =>
		2130	{
2356	-	2131	wpList.Clear();
		2132	_clearMapMarkers(typeof(CustomMarkerWP));
		2133	if (mRouteWP != null)
		2134	MainMap.Markers.Remove(mRouteWP);
		2135	if (wpActiveMarker != null)
		2136	MainMap.Markers.Remove(wpActiveMarker);
		2137	lblWPRouteDistance.Content = "0 m";
		2138	dtWaypoints.Rows.Clear();
2368	-	2139	_wpEdit = -1;_wpIndex = -1;
2318	-	2140	});
2315	-	2141	}
2287	-	2142	DataRow dr = dtWaypoints.NewRow();
		2143	dr = Waypoints.toDataRow(data, dr);
2313	-	2144	dtWaypoints.Rows.Add(dr);
2363	-	2145	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1]);
2313	-	2146	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2147	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	2148	if (data[1] == data[0])
		2149	{
		2150	_bGetWP = false;
2368	-	2151	_routeUpdate();
2287	-	2152	}
		2153
		2154	}
		2155	}
		2156	else
		2157	{
		2158	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		2159	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		2160	}
		2161	}
		2162	/// <summary>
		2163	/// OSD Menue 'L'
		2164	/// single page called by pagenumber
		2165	/// no autoupdate
		2166	/// </summary>
		2167	/// <param name="data">the received byte array to process</param>
		2168	void _processOSDSingle(byte[] data)
		2169	{
		2170	if (data.Length == 84)
		2171	{
		2172	string sMessage = "";
		2173	iOSDPage = data[0];
		2174	iOSDMax = data[1];
		2175	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		2176	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		2177	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2178	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2179	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2180	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2181	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2182	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2183
		2184	}
		2185	//else
		2186	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2187
		2188	}
		2189	/// <summary>
		2190	/// OSD Menue 'H'
		2191	/// called by keys (0x01,0x02,0x03,0x04)
		2192	/// autoupdate
		2193	/// </summary>
		2194	/// <param name="data">the received byte array to process</param>
		2195	void _processOSDAuto(byte[] data)
		2196	{
		2197	if (data.Length == 81)
		2198	{
		2199	string sMessage = "";
		2200	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2201	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2202	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2203	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2204	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2205
		2206	}
		2207	//else
		2208	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2209	}
		2210
		2211	#endregion processing received data
		2212
		2213	#region controller messages
		2214	/// <summary> send message to controller to request data
		2215	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2216	/// </summary>
		2217	/// <param name="CMDID"> the command ID </param>
		2218	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2219	private void _sendControllerMessage(char CMDID, byte address)
		2220	{
		2221	if (serialPortCtrl.Port.IsOpen)
		2222	{
		2223	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2224	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2225	serialStream.Write(bytes, 0, bytes.Length);
		2226
		2227	}
		2228	else
		2229	Log(LogMsgType.Error, "NOT CONNECTED!");
		2230	}
		2231	/// <summary> send message to controller to request data
		2232	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2233	/// </summary>
		2234	/// <param name="CMDID"> the command ID </param>
		2235	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2236	/// <param name="data"> additional data for the request</param>
		2237	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2238	{
		2239	if (serialPortCtrl.Port.IsOpen)
		2240	{
		2241	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2242	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2243	serialStream.Write(bytes, 0, bytes.Length);
		2244
		2245	}
		2246	else
		2247	Log(LogMsgType.Error, "NOT CONNECTED!");
		2248	}
		2249
		2250	/// <summary>
		2251	/// start/stop continous polling of controller values
		2252	/// </summary>
		2253	/// <param name="b">start/stop switch</param>
		2254	void _readCont(bool b)
		2255	{
		2256	bReadContinously = b;
		2257	if (bReadContinously)
		2258	{
		2259	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2260	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2261	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2262	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2263	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2264	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2265	}
		2266	else
		2267	{
		2268	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2269	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2270	_bConnErr = false;
		2271	}
		2272	_iLifeCounter = 0;
		2273	}
		2274
		2275	private void _getVersion()
		2276	{
		2277	_sendControllerMessage('v', 0);
		2278	}
		2279	/// <summary>
		2280	/// get FC version struct via NC
		2281	/// by sending '1' as data (not documented in wiki...)
		2282	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2283	/// </summary>
		2284	/// <param name="ctrl">controller number 1=FC</param>
		2285	private void _getVersion(byte ctrl)
		2286	{
		2287	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2288	}
		2289	/// <summary>
		2290	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2291	/// </summary>
		2292	private void _switchToNC()
		2293	{
		2294	if (serialPortCtrl.Port.IsOpen)
		2295	{
		2296	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2297	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2298	serialStream.Write(bytes, 0, bytes.Length);
		2299
		2300	Thread.Sleep(100);
		2301	_getVersion();
		2302	Thread.Sleep(100);
		2303	// _OSDMenue(0);
		2304	}
		2305	else
		2306	Log(LogMsgType.Error, "NOT CONNECTED!");
		2307	}
		2308	/// <summary>
		2309	/// switch to FC
		2310	/// </summary>
		2311	private void _switchToFC()
		2312	{
		2313	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2314	Thread.Sleep(100);
		2315	_getVersion();
		2316	Thread.Sleep(100);
		2317	// _OSDMenue(0);
		2318	}
		2319	/// <summary>
		2320	/// send RESET signal to FC
		2321	/// </summary>
		2322	private void _resetCtrl()
		2323	{
		2324	_sendControllerMessage('R', 1);
		2325	}
		2326	/// <summary>
		2327	/// poll the debug data (4sec subscription)
		2328	/// </summary>
		2329	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2330	private void _readDebugData(bool auto)
		2331	{
		2332	byte interval = auto ? debugInterval : (byte)0;
		2333	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2334	}
		2335	/// <summary>
		2336	/// poll the BL-CTRL status via NC (4sec subscription)
		2337	/// </summary>
		2338	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2339	private void _readBLCtrl(bool auto)
		2340	{
		2341	byte interval = auto ? blctrlInterval : (byte)0;
		2342	_sendControllerMessage('k', 0, new byte[1] { interval });
		2343	}
		2344	/// <summary>
		2345	/// poll the NC data struct (4sec subscription)
		2346	/// </summary>
		2347	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2348	private void _readNavData(bool auto)
		2349	{
		2350	byte interval = auto ? navctrlInterval : (byte)0;
		2351	_sendControllerMessage('o', 2, new byte[1] { interval });
		2352	}
		2353	/// <summary>
		2354	/// get the errortext for pending NC error
		2355	/// </summary>
		2356	private void _readNCError()
		2357	{
		2358	_sendControllerMessage('e', 2);
		2359	}
		2360	/// <summary>
		2361	/// request the Waypoint at index
		2362	/// </summary>
		2363	/// <param name="index"></param>
		2364	void _getpWP(int index)
		2365	{
		2366	if (serialPortCtrl.Port.IsOpen)
		2367	{
		2368	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2369	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2370	serialStream.Write(bytes, 0, bytes.Length);
		2371	}
		2372	else
		2373	Log(LogMsgType.Error, "NOT CONNECTED!");
		2374
		2375	}
		2376	void _getWP()
		2377	{
2335	-	2378	int iTimeout = 0;
2287	-	2379	_bGetWPCount = true;
2315	-	2380	_getpWP(1); //get the itemscount of wp
2335	-	2381	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2382	{
		2383	Thread.Sleep(10);
		2384	iTimeout++;
		2385	}
		2386	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2387	_getWPList();
		2388	}
		2389	void _getWPList()
		2390	{
		2391	_bGetWP = true;
2313	-	2392	int iTimeout=0;
		2393	for (int j = 0; j < _iWPCount; j++)
2287	-	2394	{
		2395	_getpWP(j + 1);
2313	-	2396	iTimeout = 0;
		2397	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2398	{
		2399	Thread.Sleep(1);
		2400	iTimeout++;
		2401	}
2287	-	2402	}
		2403	}
2363	-	2404	/// <summary>
		2405	/// Wrapper for _clearCopterWPList()
		2406	/// necessary, cause it is called by threadnew which does not like return values...
		2407	/// </summary>
2340	-	2408	void clearCopterWPList()
2313	-	2409	{
2340	-	2410	_clearCopterWPList();
		2411	}
2363	-	2412	/// <summary>
		2413	/// clear the WP list of the copter
		2414	/// by sending 'invalid' and index '0'
		2415	/// </summary>
		2416	/// <returns></returns>
2340	-	2417	bool _clearCopterWPList()
		2418	{
2335	-	2419	int iTimeout = 0;
2313	-	2420	if (serialPortCtrl.Port.IsOpen)
		2421	{
		2422	byte[] bData = new byte[30];
		2423	for (int i = 0; i < 30; i++)
		2424	bData[i] = 0;
		2425	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2426	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2427	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2428
2313	-	2429	_iWPCount = -1;
2340	-	2430	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2431	{
2313	-	2432	Thread.Sleep(10);
2335	-	2433	iTimeout++;
		2434	}
2313	-	2435	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2436	if (_iWPCount > -1)
2340	-	2437	return true;
		2438	else
		2439	Log(LogMsgType.Error, "Timeout while sending list!");
		2440	}
		2441	else
		2442	Log(LogMsgType.Error, "NOT CONNECTED!");
		2443
		2444	return false;
		2445	}
		2446	void _sendWPList()
		2447	{
2362	-	2448	_sendWPList(0);
		2449	}
		2450	void _sendWPList(int iStart)
		2451	{
2340	-	2452	int iTimeout = 0;
		2453	if (serialPortCtrl.Port.IsOpen)
		2454	{
		2455	if (_clearCopterWPList())
2313	-	2456	{
2362	-	2457	int k = 1;
		2458	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	2459	{
2362	-	2460	k = iStart > 0 ? k : -1;
2376	-	2461	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	2462
2335	-	2463	_iWPCount = -1;
		2464	iTimeout = 0;
		2465	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2466	{
		2467	Thread.Sleep(10);
		2468	iTimeout++;
		2469	}
		2470	if (_iWPCount == -1)
		2471	{
		2472	Log(LogMsgType.Error, "Timeout while sending list!");
		2473	break;
		2474	}
		2475	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	2476	k++;
2335	-	2477	}
2313	-	2478	}
		2479	}
		2480	else
		2481	Log(LogMsgType.Error, "NOT CONNECTED!");
		2482
		2483	}
2376	-	2484	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	2485	{
2313	-	2486
2340	-	2487	if (serialPortCtrl.Port.IsOpen)
		2488	{
		2489	byte[] bData = new byte[30];
		2490	for (int i = 0; i < 30; i++)
		2491	bData[i] = 0;
		2492	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2493	byte[] bytes;
		2494	int iVal;
		2495	double dVal;
		2496	NumberFormatInfo nfi = new NumberFormatInfo();
		2497	nfi.NumberDecimalSeparator = ",";
		2498
		2499	//longitude
		2500	dVal = Convert.ToDouble(dr[4], nfi);
		2501	iVal = (int)(dVal * Math.Pow(10, 7));
		2502	bData[0] = (byte)(iVal & 0xff);
		2503	bData[1] = (byte)((iVal >> 8) & 0xff);
		2504	bData[2] = (byte)((iVal >> 16) & 0xff);
		2505	bData[3] = (byte)(iVal >> 24);
		2506	//latitude
		2507	dVal = Convert.ToDouble(dr[3], nfi);
		2508	iVal = (int)(dVal * Math.Pow(10, 7));
		2509	bData[4] = (byte)(iVal & 0xff);
		2510	bData[5] = (byte)((iVal >> 8) & 0xff);
		2511	bData[6] = (byte)((iVal >> 16) & 0xff);
		2512	bData[7] = (byte)(iVal >> 24);
		2513	//altitude
		2514	dVal = Convert.ToDouble(dr[5], nfi);
		2515	iVal = (int)(dVal * 10);
		2516	bData[8] = (byte)(iVal & 0xff);
		2517	bData[9] = (byte)((iVal >> 8) & 0xff);
		2518	bData[10] = (byte)((iVal >> 16) & 0xff);
		2519	bData[11] = (byte)(iVal >> 24);
2376	-	2520	if(bSim)
		2521	bData[12] = 3; //Status 'SIMULATE'
2340	-	2522	//Status 'NEWDATA'
2376	-	2523	else
		2524	bData[12] = 1;
2340	-	2525	//heading
		2526	iVal = Convert.ToInt16(dr[6]);
		2527	bData[13] = (byte)(iVal & 0xff);
		2528	bData[14] = (byte)((iVal >> 8) & 0xff);
		2529	//ToleranceRadius
		2530	bData[15] = Convert.ToByte(dr[9]);
		2531	//HoldTime
		2532	bData[16] = Convert.ToByte(dr[10]);
		2533	//Event_Flag
		2534	bData[17] = Convert.ToByte(dr[13]);
		2535	//Index
2379	-	2536	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
2340	-	2537	//Type
		2538	bData[19] = Convert.ToByte(dr[1]);
		2539	//WP_EventChannelValue
		2540	bData[20] = Convert.ToByte(dr[14]);
		2541	//AltitudeRate
		2542	bData[21] = Convert.ToByte(dr[8]);
		2543	//Speed
		2544	bData[22] = Convert.ToByte(dr[7]);
		2545	//CamAngle
		2546	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2547	//Name
2362	-	2548	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		2549	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	2550	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2551	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2552	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2553	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2554	//Autotrigger
		2555	bData[28] = Convert.ToByte(dr[11]);
		2556
2356	-	2557	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	2558	serialStream.Write(bytes, 0, bytes.Length);
		2559
		2560	return true;
		2561	}
		2562
		2563	return false;
		2564	}
2287	-	2565	#region OSD-Menue
		2566
		2567	/// <summary>
		2568	/// one time query of the OSD Menue with pagenumber
		2569	/// </summary>
		2570	/// <param name="iMenue">Menue page</param>
		2571	void _OSDMenue(int iMenue)
		2572	{
		2573	if (serialPortCtrl.Port.IsOpen)
		2574	{
		2575	if (iMenue > iOSDMax)
		2576	iMenue = 0;
		2577	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2578	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2579	serialStream.Write(bytes, 0, bytes.Length);
		2580	}
		2581	else
		2582	Log(LogMsgType.Error, "NOT CONNECTED!");
		2583
		2584	}
		2585	/// <summary>
		2586	/// call the OSDMenue and start autorefresh
		2587	/// usually by sending a menuekey
		2588	/// 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)
		2589	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2590	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2591	/// </summary>
		2592	void _OSDMenueAutoRefresh()
		2593	{
		2594	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2595	}
		2596	void _OSDMenueAutoRefresh(byte key)
		2597	{
		2598	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2599	}
		2600	/// <summary>
		2601	/// initialize the OSD menue combobox
		2602	/// combox is filled by numbers from 0 to max pagenumber
		2603	/// </summary>
		2604	void _initOSDCB()
		2605	{
		2606	_bCBInit = true;
		2607	if (iOSDMax == 0)
		2608	{
		2609	_OSDMenue(0);
		2610	Thread.Sleep(10);
		2611	}
		2612	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2613	for (int i = 0; i <= iOSDMax; i++)
		2614	{
		2615	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2616	}
		2617	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2618	_bCBInit = false;
		2619	}
		2620	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2621	{
		2622	iOSDPage++;
		2623	if (iOSDPage > iOSDMax)
		2624	iOSDPage = 0;
		2625
		2626	_OSDMenue(iOSDPage);
		2627	}
		2628	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2629	{
		2630	iOSDPage--;
		2631	if (iOSDPage < 0)
		2632	iOSDPage = iOSDMax;
		2633
		2634	_OSDMenue(iOSDPage);
		2635	}
		2636	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2637	{
		2638	_OSDMenueAutoRefresh(8);
		2639	}
		2640	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2641	{
		2642	_OSDMenueAutoRefresh(4);
		2643	}
		2644	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2645	{
		2646	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2647	_OSDMenue(cbOSD.SelectedIndex);
		2648	}
		2649	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2650	{
		2651	Dispatcher.Invoke(() =>
		2652	{
		2653	TextRange tr;
		2654	if (bNew)
		2655	{
		2656	rtfOSD.SelectAll();
		2657	rtfOSD.Selection.Text = string.Empty;
		2658	}
		2659	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2660	tr.Text = msg;
		2661	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2662	// rtfOSD.AppendText("\r");
		2663	rtfOSD.ScrollToEnd();
		2664
		2665	});
		2666	}
		2667
		2668	#endregion OSD-Menue
		2669
		2670	#endregion controller messages
		2671
2398	-	2672	void _mediaPlayer(object file)
2295	-	2673	{
2405	-	2674	Monitor.TryEnter(lockObj);
		2675	try
2295	-	2676	{
2405	-	2677	if (File.Exists((string)file))
		2678	{
		2679
		2680	mediaPlayer.Open((string)file);
		2681	mediaPlayer.Play();
		2682	}
		2683
2295	-	2684	}
2405	-	2685	finally
		2686	{
		2687	Monitor.Exit(lockObj);
		2688	}
2295	-	2689	}
2310	-	2690
2362	-	2691	#region ui
2310	-	2692	/// <summary>
		2693	/// Switch between fullscreen and normal window mode
		2694	/// save & restore scaling settings
		2695	/// </summary>
		2696	/// <param name="sender"></param>
		2697	/// <param name="e"></param>
2287	-	2698	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2699	{
		2700	if (winState.isMaximized)
		2701	{
		2702	winState.Restore(this);
		2703	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2704	if(_bSaveWinStateFull)
		2705	_saveScaleSliders(true);
		2706	if(_bSaveWinStateNormal)
		2707	_setScaleSliders(false);
		2708	}
		2709	else
		2710	{
		2711	winState.Maximize(this);
		2712	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2713	if(_bSaveWinStateNormal)
		2714	_saveScaleSliders(false);
		2715	if(_bSaveWinStateFull)
		2716	_setScaleSliders(true);
		2717	}
		2718	}
		2719
		2720	/// <summary>
		2721	/// reset the scaling of all UI elements to default
		2722	/// </summary>
		2723	/// <param name="sender"></param>
		2724	/// <param name="e"></param>
		2725	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2726	{
		2727	UIScaleHorizonSlider.Value =
		2728	UIScaleLOGSlider.Value =
		2729	UIScaleMotorsSlider.Value =
		2730	UIScaleOSDSlider.Value =
		2731	UIScaleSlider.Value =
		2732	UIScaleTopSlider.Value = 1;
		2733	}
		2734	/// <summary>
		2735	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2736	/// </summary>
		2737	/// <param name="sender"></param>
		2738	/// <param name="e"></param>
		2739	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2740	{
		2741	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2742	if (GridMotors != null)
		2743	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2744	if (GridSideBar != null)
		2745	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
2401	-	2746	if (WPStatus != null)
		2747	WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom);
2287	-	2748	if (GridOSD != null)
2401	-	2749	{
		2750	if(WPStatus.Visibility == Visibility.Visible)
		2751	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2752	else
		2753	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2754	}
2287	-	2755	if (GridData != null)
		2756	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2757	if (GridWP != null)
		2758	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2759	}
2310	-	2760	/// <summary>
		2761	/// restore the saved scalings for the fullscreen/normal window mode
		2762	/// </summary>
		2763	/// <param name="bFull">the mode the window is set to</param>
2287	-	2764	void _setScaleSliders(bool bFull)
		2765	{
		2766	if(bFull)
		2767	{
		2768	UIScaleSlider.Value = scaleFullAll;
		2769	UIScaleTopSlider.Value = scaleFullTopBar;
		2770	UIScaleMotorsSlider.Value = scaleFullMotors;
		2771	UIScaleOSDSlider.Value = scaleFullOSD;
		2772	UIScaleLOGSlider.Value = scaleFullLOG;
		2773	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2774	}
		2775	else
		2776	{
		2777	UIScaleSlider.Value = scaleNormalAll;
		2778	UIScaleTopSlider.Value = scaleNormalTopBar;
		2779	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2780	UIScaleOSDSlider.Value = scaleNormalOSD;
		2781	UIScaleLOGSlider.Value = scaleNormalLOG;
		2782	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2783	}
		2784	}
		2785
2310	-	2786	/// <summary>
		2787	/// save the scalings for the actual window mode
		2788	/// </summary>
		2789	/// <param name="bFull">the actual window mode</param>
2287	-	2790	void _saveScaleSliders(bool bFull)
		2791	{
		2792
		2793	if (bFull)
		2794	{
		2795	scaleFullAll = UIScaleSlider.Value;
		2796	scaleFullTopBar = UIScaleTopSlider.Value;
		2797	scaleFullMotors = UIScaleMotorsSlider.Value;
		2798	scaleFullOSD = UIScaleOSDSlider.Value;
		2799	scaleFullLOG = UIScaleLOGSlider.Value;
		2800	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2801	}
		2802	else
		2803	{
		2804	scaleNormalAll = UIScaleSlider.Value;
		2805	scaleNormalTopBar = UIScaleTopSlider.Value;
		2806	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2807	scaleNormalOSD = UIScaleOSDSlider.Value;
		2808	scaleNormalLOG = UIScaleLOGSlider.Value;
		2809	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2810	}
		2811	}
2362	-	2812	#endregion ui
2287	-	2813
		2814	/// <summary>
		2815	/// read settings from ini-file
		2816	/// </summary>
		2817	void _readIni()
		2818	{
		2819	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2820	_writeIni();
		2821	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2822	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2823	try
		2824	{
2287	-	2825
2312	-	2826	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2827	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2828	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2829	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2830	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2831	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2832	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2833	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2834
2312	-	2835	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2836	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2837	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2838	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2839	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2840	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2841	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2842	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2843
2312	-	2844	sVal = ini.IniReadValue("topBar", "voltage");
		2845	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2846	sVal = ini.IniReadValue("topBar", "capacity");
		2847	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2848	sVal = ini.IniReadValue("topBar", "current");
		2849	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2850	sVal = ini.IniReadValue("topBar", "flightTime");
		2851	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2852	sVal = ini.IniReadValue("topBar", "distanceHP");
		2853	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2854	sVal = ini.IniReadValue("topBar", "height");
		2855	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2856	sVal = ini.IniReadValue("topBar", "speed");
		2857	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2858	sVal = ini.IniReadValue("topBar", "magneticField");
		2859	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2860	sVal = ini.IniReadValue("topBar", "satellites");
		2861	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2862	sVal = ini.IniReadValue("topBar", "rc");
		2863	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2864
2312	-	2865	sVal = ini.IniReadValue("style", "saveFullScreen");
		2866	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2867	sVal = ini.IniReadValue("style", "saveNormalState");
		2868	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2869
2312	-	2870	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2871	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2872	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2873	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2874	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2875	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2876	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2877	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2878	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2879	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2880	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2881	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2882
2312	-	2883	sVal = ini.IniReadValue("style", "scaleFullAll");
		2884	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2885	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2886	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2887	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2888	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2889	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2890	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2891	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2892	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2893	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2894	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2895
2312	-	2896	sVal = ini.IniReadValue("general", "LiPoCells");
		2897	_LipoCells = Convert.ToInt16(sVal);
		2898	sVal = ini.IniReadValue("general", "Motors");
		2899	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2900
2312	-	2901	sVal = ini.IniReadValue("map", "followMe");
		2902	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2903	sVal = ini.IniReadValue("map", "AutoSetHome");
		2904	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2905	sVal = ini.IniReadValue("map", "GPXLog");
		2906	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2907
2312	-	2908	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2909	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2910	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2911	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2912	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2913	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2914	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2915	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2916	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2917	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2918	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2919	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2920	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2921	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2922	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2923	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2924	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2925	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2926	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2927	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2928	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2929	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2930
		2931	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2932	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2933	sVal = ini.IniReadValue("waypoints", "poicolor");
		2934	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2935	sVal = ini.IniReadValue("waypoints", "fscolor");
		2936	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2937	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2938	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2385	-	2939	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		2940	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
2379	-	2941	sVal = ini.IniReadValue("waypoints", "landingcolor");
		2942	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	2943	sVal = ini.IniReadValue("waypoints", "routecolor");
		2944	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		2945	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		2946	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2408	-	2947	sVal = ini.IniReadValue("waypoints", "showWPMaxRange");
		2948	if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal);
		2949	sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor");
		2950	if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal);
2349	-	2951
		2952	for (int i = 0; i < 12; i++)
		2953	{
		2954	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		2955	if (sVal != "")
		2956	serChan[i] = Convert.ToInt16(sVal);
		2957	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		2958	if (sVal != "")
		2959	serChanTitle[i] = sVal;
		2960	for (int y = 0; i < 4 && y < 3; y++)
		2961	{
		2962	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		2963	if (sVal != "")
		2964	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		2965	}
		2966	}
		2967
2312	-	2968	}
		2969	catch (Exception e)
		2970	{
2287	-	2971
2312	-	2972	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2973	}
		2974
2287	-	2975	}
		2976
		2977	/// <summary>
		2978	/// save settings to ini-file
		2979	/// </summary>
		2980	void _writeIni()
		2981	{
		2982
		2983	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2984	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2985
2312	-	2986	try
		2987	{
2287	-	2988
2312	-	2989	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2990	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2991	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2992	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2993
2312	-	2994	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2995	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2996	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2997	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2998
2312	-	2999	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		3000	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	3001
2312	-	3002	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		3003	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	3004	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	3005
2312	-	3006	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		3007	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		3008	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		3009	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		3010	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		3011	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		3012	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		3013	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		3014	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		3015	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	3016
2312	-	3017	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		3018	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	3019
2312	-	3020	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		3021	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		3022	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		3023	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		3024	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		3025	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	3026
2312	-	3027	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		3028	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		3029	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		3030	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		3031	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		3032	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	3033
2312	-	3034	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		3035
		3036	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		3037	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		3038	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		3039	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		3040	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		3041	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		3042	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		3043	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		3044	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		3045	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		3046	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	3047
		3048	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		3049	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		3050	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		3051	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2385	-	3052	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
2379	-	3053	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
2328	-	3054	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		3055	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2408	-	3056	ini.IniWriteValue("waypoints", "showWPMaxRange", ((bool)checkBoxShowWPMaxRange.IsChecked).ToString());
		3057	ini.IniWriteValue("waypoints", "WPMaxRangecolor", comboBoxWPMaxRangeColor.SelectedIndex.ToString());
2349	-	3058
		3059	for (int i = 0; i < 12; i++)
		3060	{
		3061	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		3062	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		3063	for (int y = 0; i < 4 && y < 3; y++)
		3064	{
		3065	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		3066	}
		3067	}
		3068
2312	-	3069	}
		3070	catch (Exception e)
		3071	{
		3072
		3073	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);
		3074	}
2287	-	3075	}
2350	-	3076
2349	-	3077	#region serial channels
		3078	/// <summary>
		3079	/// Sending the serial channel values
		3080	/// </summary>
		3081	void _sendSerialData()
		3082	{
		3083	byte[] serData = new byte[12];
		3084	for (int i = 0; i < 12; i++)
		3085	{
		3086	serData[i] = unchecked((byte)(serChan[i] - 127));
		3087	}
		3088	_sendControllerMessage('y', 1, serData);
		3089	}
		3090	/// <summary>
		3091	/// init the controls for displaying
		3092	/// and setting serial control channels
		3093	/// </summary>
		3094	void _initSerialCtrl()
		3095	{
		3096	SerChan1ScaleSlider.Value = serChan[0];
		3097	textBoxSerial1.Text = serChanTitle[0];
		3098	SerChan2ScaleSlider.Value = serChan[1];
		3099	textBoxSerial2.Text = serChanTitle[1];
2350	-	3100	SerChan3ScaleSlider.Value = serChan[2];
		3101	textBoxSerial3.Text = serChanTitle[2];
2349	-	3102	//SerChan4ScaleSlider.Value = serChan[3];
		3103	//textBoxSerial4.Text = serChanTitle[3];
		3104	//trckbarSerial5.Value = serChan[4];
		3105	//textBoxSerial5.Text = serChanTitle[4];
		3106	//trckbarSerial6.Value = serChan[5];
		3107	//textBoxSerial6.Text = serChanTitle[5];
		3108	//trckbarSerial7.Value = serChan[6];
		3109	//textBoxSerial7.Text = serChanTitle[6];
		3110	//trckbarSerial8.Value = serChan[7];
		3111	//textBoxSerial8.Text = serChanTitle[7];
2312	-	3112
2349	-	3113	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		3114	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		3115	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		3116	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		3117	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		3118	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	3119	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		3120	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		3121	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	3122	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		3123	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		3124	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		3125	}
		3126	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3127	{
		3128	if (!_init)
		3129	{
		3130	serChan[0] = (int)SerChan1ScaleSlider.Value;
		3131	_sendSerialData();
		3132	}
		3133	}
		3134	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		3135	{
		3136	if (!_init)
		3137	{
		3138	serChanTitle[0] = textBoxSerial1.Text;
		3139	}
		3140	}
		3141	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		3142	{
		3143	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		3144	{
		3145	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		3146	}
		3147	}
		3148	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		3149	{
		3150	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		3151	{
		3152	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		3153	}
		3154	}
		3155	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		3156	{
		3157	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		3158	{
		3159	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		3160	}
		3161	}
		3162	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		3163	{
		3164	if (textBoxSerial1_val1.Text.Length > 0)
		3165	{
		3166	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		3167	}
		3168	}
		3169	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		3170	{
		3171	SerChan1ScaleSlider.Value = 0;
		3172	}
		3173	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		3174	{
		3175	SerChan1ScaleSlider.Value = 127;
		3176	}
		3177	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		3178	{
		3179	SerChan1ScaleSlider.Value = 254;
		3180	}
		3181	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		3182	{
		3183	if (textBoxSerial1_val2.Text.Length > 0)
		3184	{
		3185	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		3186	}
		3187	}
		3188	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		3189	{
		3190	if (textBoxSerial1_val3.Text.Length > 0)
		3191	{
		3192	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		3193	}
		3194	}
		3195
		3196	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3197	{
		3198	if (!_init)
		3199	{
		3200	serChan[1] = (int)SerChan2ScaleSlider.Value;
		3201	_sendSerialData();
		3202	}
		3203	}
		3204	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		3205	{
		3206	if (!_init)
		3207	{
		3208	serChanTitle[1] = textBoxSerial2.Text;
		3209	}
		3210	}
		3211	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		3212	{
		3213	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		3214	{
		3215	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		3216	}
		3217	}
		3218	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		3219	{
		3220	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		3221	{
		3222	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		3223	}
		3224	}
		3225	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		3226	{
		3227	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		3228	{
		3229	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3230	}
		3231	}
		3232	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3233	{
		3234	SerChan2ScaleSlider.Value = 0;
		3235	}
		3236	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3237	{
		3238	SerChan2ScaleSlider.Value = 127;
		3239	}
		3240	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3241	{
		3242	SerChan2ScaleSlider.Value = 254;
		3243	}
		3244	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3245	{
		3246	if (textBoxSerial2_val1.Text.Length > 0)
		3247	{
		3248	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3249	}
		3250	}
		3251	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3252	{
		3253	if (textBoxSerial2_val2.Text.Length > 0)
		3254	{
		3255	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3256	}
		3257	}
		3258	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3259	{
		3260	if (textBoxSerial2_val3.Text.Length > 0)
		3261	{
		3262	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3263	}
		3264	}
2350	-	3265
		3266	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3267	{
		3268	if (!_init)
		3269	{
		3270	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3271	_sendSerialData();
		3272	}
		3273	}
		3274	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3275	{
		3276	if (!_init)
		3277	{
		3278	serChanTitle[2] = textBoxSerial3.Text;
		3279	}
		3280	}
		3281	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3282	{
		3283	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3284	{
		3285	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3286	}
		3287	}
		3288	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3289	{
		3290	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3291	{
		3292	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3293	}
		3294	}
		3295	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3296	{
		3297	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3298	{
		3299	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3300	}
		3301	}
		3302	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3303	{
		3304	SerChan3ScaleSlider.Value = 0;
		3305	}
		3306	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3307	{
		3308	SerChan3ScaleSlider.Value = 127;
		3309	}
		3310	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3311	{
		3312	SerChan3ScaleSlider.Value = 254;
		3313	}
		3314	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3315	{
		3316	if (textBoxSerial3_val1.Text.Length > 0)
		3317	{
		3318	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3319	}
		3320	}
		3321	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3322	{
		3323	if (textBoxSerial3_val2.Text.Length > 0)
		3324	{
		3325	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3326	}
		3327	}
		3328	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3329	{
		3330	if (textBoxSerial3_val3.Text.Length > 0)
		3331	{
		3332	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3333	}
		3334	}
2349	-	3335	/// <summary>
		3336	/// checks the input of a textbox
		3337	/// for valid data
		3338	/// in this case values 0-254
		3339	/// </summary>
		3340	/// <param name="sender"></param>
		3341	/// <param name="e"></param>
		3342	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3343	{
		3344	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3345	e.Handled = true;
		3346	else
		3347	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3348	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3349	e.Handled = true;
		3350	else
		3351	{
		3352	int i = -1;
		3353	switch (((TextBox)sender).Name)
		3354	{
		3355	case "textBoxSerial1_val1":
		3356	i = 0;
		3357	break;
		3358	case "textBoxSerial1_val2":
		3359	i = 1;
		3360	break;
		3361	case "textBoxSerial1_val3":
		3362	i = 2;
		3363	break;
		3364	case "textBoxSerial2_val1":
		3365	i = 3;
		3366	break;
		3367	case "textBoxSerial2_val2":
		3368	i = 4;
		3369	break;
		3370	case "textBoxSerial2_val3":
		3371	i = 5;
		3372	break;
		3373	case "textBoxSerial3_val1":
		3374	i = 6;
		3375	break;
		3376	case "textBoxSerial3_val2":
		3377	i = 7;
		3378	break;
		3379	case "textBoxSerial3_val3":
		3380	i = 8;
		3381	break;
		3382	case "textBoxSerial4_val1":
		3383	i = 9;
		3384	break;
		3385	case "textBoxSerial4_val2":
		3386	i = 10;
		3387	break;
		3388	case "textBoxSerial4_val3":
		3389	i = 11;
		3390	break;
		3391	}
		3392	if (i > -1)
		3393	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3394	}
		3395	}
		3396
		3397	#endregion serial channels
2315	-	3398	#region WP
2312	-	3399	void _readWPLFile()
		3400	{
		3401	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3402	fd.Filter = "Waypointlists \| *.wpl";
		3403	fd.Multiselect = false;
		3404	if (fd.ShowDialog().Value)
		3405	{
		3406	string file = fd.SafeFileName;
		3407	IniFile ini = new IniFile(fd.SafeFileName);
		3408	ini.path = fd.FileName;
		3409
		3410	try
		3411	{
		3412	string sVal = ini.IniReadValue("General", "FileVersion");
		3413	if (sVal == "")
		3414	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3415	else
		3416	{
		3417	if (Convert.ToInt16(sVal) < 3)
		3418	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3419	else
		3420	{
		3421	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3422	if (sVal == "")
		3423	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3424	else
		3425	{
		3426	int wpnum = Convert.ToInt16(sVal);
		3427	string wp;
		3428	int i;
2313	-	3429	NumberFormatInfo nfi = new NumberFormatInfo();
		3430	nfi.NumberDecimalSeparator = ".";
2312	-	3431	dtWaypoints.Rows.Clear();
2368	-	3432	_wpEdit = -1;_wpIndex = -1;
2327	-	3433	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	3434	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	3435	wpList.Clear();
		3436	if (mRouteWP != null)
		3437	MainMap.Markers.Remove(mRouteWP);
2363	-	3438	//if (wpActiveMarker != null)
		3439	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	3440	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3441
2312	-	3442	for (int k = 1; k <= wpnum; k++)
		3443	{
		3444	DataRow dr = dtWaypoints.NewRow();
		3445	dr.ItemArray = new object[16];
		3446	object[] o = new object[16];
		3447	i = 0;
		3448	wp = "Point" + k.ToString();
		3449	o[i] = k;
		3450	i++;
		3451	sVal = ini.IniReadValue(wp, "Type");
		3452	if (sVal != "")
2315	-	3453	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3454	i++;
		3455	sVal = ini.IniReadValue(wp, "Prefix");
		3456	if (sVal != "")
2350	-	3457	o[i] = sVal + k.ToString();
		3458	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3459	i++;
2313	-	3460	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3461	if (sVal != "")
2313	-	3462	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3463	i++;
2313	-	3464	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3465	if (sVal != "")
2313	-	3466	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3467	i++;
		3468	sVal = ini.IniReadValue(wp, "Altitude");
		3469	if (sVal != "")
2313	-	3470	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3471	i++;
		3472	sVal = ini.IniReadValue(wp, "Heading");
		3473	if (sVal != "")
		3474	o[i] = Convert.ToInt16(sVal);
		3475	i++;
		3476	sVal = ini.IniReadValue(wp, "Speed");
		3477	if (sVal != "")
2315	-	3478	o[i] = Convert.ToInt16(sVal);
2312	-	3479	i++;
		3480	sVal = ini.IniReadValue(wp, "ClimbRate");
		3481	if (sVal != "")
		3482	o[i] = Convert.ToInt16(sVal);
		3483	i++;
		3484	sVal = ini.IniReadValue(wp, "Radius");
		3485	if (sVal != "")
		3486	o[i] = Convert.ToInt16(sVal);
		3487	i++;
		3488	sVal = ini.IniReadValue(wp, "DelayTime");
		3489	if (sVal != "")
		3490	o[i] = Convert.ToInt16(sVal);
		3491	i++;
		3492	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3493	if (sVal != "")
		3494	o[i] = Convert.ToInt16(sVal); ;
		3495	i++;
		3496	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3497	if (sVal != "")
2313	-	3498	o[i] = Convert.ToInt16(sVal);
2312	-	3499	i++;
		3500	o[i] = 0;
		3501	i++;
		3502	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3503	if (sVal != "")
		3504	o[i] = Convert.ToInt16(sVal);
		3505	i++;
		3506	o[i] = "New";
		3507
		3508	dr.ItemArray = o;
		3509	dtWaypoints.Rows.Add(dr);
2363	-	3510	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1]);
2315	-	3511
2312	-	3512	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3513	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3514	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3515	Thread.Sleep(10);
		3516	}
2359	-	3517	_routeUpdate();
2312	-	3518	}
		3519	}
		3520	}
		3521
		3522	}
		3523	catch (Exception e)
		3524	{
		3525
		3526	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		3527	}
		3528
		3529	}
		3530	}
2350	-	3531	void _saveWPLFile()
		3532	{
		3533	if (dtWaypoints.Rows.Count > 0)
		3534	{
		3535	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		3536	fd.Filter = "Waypointlists \| *.wpl";
		3537	fd.AddExtension = true;
		3538	if (fd.ShowDialog().Value)
		3539	{
		3540	string file = fd.SafeFileName;
		3541	IniFile ini = new IniFile(fd.SafeFileName);
		3542	ini.path = fd.FileName;
		3543	NumberFormatInfo nfi = new NumberFormatInfo();
		3544	nfi.NumberDecimalSeparator = ".";
		3545
		3546	try
		3547	{
		3548	ini.IniWriteValue("General", "FileVersion", "3");
		3549	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		3550	ini.IniWriteValue("General", "Mapfile", "");
		3551	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		3552	{
		3553	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		3554	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		3555	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		3556	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		3557	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		3558	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		3559	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		3560	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		3561	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		3562	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		3563	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		3564	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));
		3565	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		3566	}
		3567	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		3568	}
		3569	catch { }
		3570	}
		3571	}
		3572	else
		3573	MessageBox.Show("Nothing to save...");
		3574	}
		3575	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		3576	{
		3577	_saveWPLFile();
		3578	}
		3579	/// <summary>
		3580	/// set the selected color for the route
		3581	/// </summary>
		3582	/// <param name="color"></param>
		3583	/// <returns></returns>
2328	-	3584	Brush _getBrush(string color)
		3585	{
		3586	switch (color)
		3587	{
		3588	case "red":
		3589	return Brushes.Red;
		3590	case "green":
		3591	return Brushes.Lime;
		3592	case "blue":
		3593	return Brushes.Aqua;
		3594	case "pink":
		3595	return Brushes.Magenta;
		3596	case "yellow":
		3597	return Brushes.Yellow;
		3598	default:
		3599	return Brushes.Magenta;
		3600	}
		3601	}
2359	-	3602	void _routeUpdate()
		3603	{
		3604	Dispatcher.Invoke(() =>
		3605	{
		3606	if (comboBoxRouteColor.SelectionBoxItem != null)
		3607	{
		3608	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3609	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3610	}
		3611	else
		3612	mRouteWP = new GMapRoute(wpList, null);
		3613
		3614	if (_bShowWPRoute)
2368	-	3615	MainMap.Markers.Add(mRouteWP);
2359	-	3616	});
		3617
		3618	MapRoute mr = new MapRoute(wpList, "WPList");
		3619	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		3620	}
2363	-	3621	GMapMarker _createWP(PointLatLng p, string name, int type)
		3622	{
		3623	GMapMarker wpMarker = new GMapMarker(p);
2385	-	3624	Dispatcher.Invoke(()=>
		3625	{
		3626	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
		3627	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		3628	wpMarker.ZIndex = 100;
		3629	_setMarkerColor(wpMarker, type);
		3630	MainMap.Markers.Add(wpMarker);
		3631	if (type == 0 \|\| type == 3)
		3632	wpList.Add(p);
		3633	});
2363	-	3634	return wpMarker;
		3635	}
2315	-	3636	void _setMarkerColor(GMapMarker wpMarker,int iType)
		3637	{
2369	-	3638	if(wpMarker != null)
2315	-	3639	Dispatcher.Invoke(() =>
		3640	{
		3641	switch (iType)
		3642	{
		3643	case 0:
		3644	if (comboBoxWPColor.SelectionBoxItem != null)
		3645	{
		3646	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3647	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3648	}
		3649	else
2372	-	3650	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	3651	break;
		3652	case 1:
		3653	if (comboBoxPOIColor.SelectionBoxItem != null)
		3654	{
		3655	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3656	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3657	}
		3658	else
2372	-	3659	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	3660	break;
		3661	case 2:
		3662	if (comboBoxFSColor.SelectionBoxItem != null)
		3663	{
		3664	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3665	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3666	}
		3667	else
		3668	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3669	break;
2372	-	3670	case 3:
		3671	if (comboBoxLandingColor.SelectionBoxItem != null)
		3672	{
		3673	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		3674	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3675	}
		3676	else
		3677	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		3678	break;
2315	-	3679	default:
		3680	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3681	break;
		3682	}
		3683	});
2312	-	3684
2315	-	3685	}
2372	-	3686	void _MarkerColorSelection(object sender,int type)
		3687	{
2315	-	3688	Dispatcher.Invoke(() =>
		3689	{
2372	-	3690	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	3691	{
		3692	for (int k = 0; k < MainMap.Markers.Count; k++)
		3693	{
		3694	GMapMarker p = MainMap.Markers[k];
2372	-	3695	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	3696	{
2372	-	3697	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	3698	{
2372	-	3699	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	3700	((CustomMarkerWP)(p.Shape)).setColor(s);
		3701	}
		3702	}
		3703	}
		3704	}
		3705	});
2287	-	3706	}
2379	-	3707	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	3708	{
2376	-	3709	_MarkerColorSelection(sender, 0);
		3710	}
		3711	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		3712	{
		3713	_MarkerColorSelection(sender, 1);
		3714	}
		3715	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		3716	{
		3717	_MarkerColorSelection(sender, 2);
		3718	}
		3719	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		3720	{
		3721	_MarkerColorSelection(sender,3);
		3722	}
2385	-	3723	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
2376	-	3724	{
2318	-	3725	Dispatcher.Invoke(() => {
		3726	if (comboBoxCopterColor.SelectionBoxItem != null)
		3727	{
		3728	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	3729	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	3730	}
		3731	else
2385	-	3732	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
2318	-	3733	});
		3734	}
2385	-	3735	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		3736	{
		3737	Dispatcher.Invoke(() => {
		3738	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		3739	{
		3740	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		3741	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		3742	}
		3743	else
		3744	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		3745	});
		3746	}
2328	-	3747	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3748	{
		3749	Dispatcher.Invoke(() =>
		3750	{
		3751	if (comboBoxRouteColor.SelectionBoxItem != null)
		3752	{
		3753	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3754	MainMap.Markers.Remove(mRouteWP);
		3755	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3756	if (_bShowWPRoute)
		3757	MainMap.Markers.Add(mRouteWP);
		3758	}
		3759	});
		3760	}
2408	-	3761	private void comboBoxWPMaxRangeColor_DropDownClosed(object sender, EventArgs e)
		3762	{
		3763	Dispatcher.Invoke(() =>
		3764	{
		3765	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		3766	{
		3767	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		3768	{
		3769	if (cWPBound != null && cWPBound.Tag != null)
		3770	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		3771
		3772	createCircle(home.Position, dWPMaxRange);
		3773	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		3774	cWPBound.setColor(s);
		3775
		3776	}
		3777	}
		3778	});
		3779
		3780	}
2328	-	3781	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3782	{
		3783	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3784	if (_bShowWPRoute)
		3785	{
		3786	if (mRouteWP != null)
		3787	MainMap.Markers.Add(mRouteWP);
		3788	}
		3789	else
		3790	{
		3791	if (mRouteWP != null)
		3792	MainMap.Markers.Remove(mRouteWP);
		3793	}
		3794	}
2315	-	3795	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3796	{
2315	-	3797	_readWPLFile();
2287	-	3798	}
2335	-	3799	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3800	{
		3801	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	3802	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	3803	wpList.Clear();
		3804	if (mRouteWP != null)
		3805	MainMap.Markers.Remove(mRouteWP);
2347	-	3806	//if (wpActiveMarker != null)
		3807	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	3808	dtWaypoints.Rows.Clear();
2356	-	3809	_wpEdit = -1;
2368	-	3810	_wpIndex = -1;
2335	-	3811	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3812	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3813	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3814	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3815	}
2340	-	3816	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3817	{
		3818	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3819	t.Start();
		3820	}
2355	-	3821	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	3822	{
		3823	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3824	{
2372	-	3825	if (_wpCount > 0)
2376	-	3826	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	3827	else
2376	-	3828	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	3829
2372	-	3830	//int index = dgvWP.SelectedIndex;
		3831	//Thread t = new Thread(() => _sendWPList(index));
		3832	//t.Start();
2354	-	3833
		3834	Dispatcher.Invoke(() => {
		3835	DataGridRow row;
2368	-	3836	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	3837	{
2368	-	3838	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	3839	row.Background = new SolidColorBrush(Colors.Transparent);
		3840	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3841	row.BorderThickness = new Thickness(0);
2376	-	3842	dgvWP.UpdateLayout();
2354	-	3843	}
2376	-	3844	//_wpEdit = dgvWP.SelectedIndex;
		3845	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3846	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		3847	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		3848	//row.BorderThickness = new Thickness(2);
2354	-	3849	});
2340	-	3850	}
		3851	}
2385	-	3852	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		3853	{
		3854	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3855	{
		3856
		3857	object[] o = new object[16];
		3858	o[0] = dgvWP.SelectedIndex + 1;
		3859	o[1] = cbWPEditType.SelectedIndex;
		3860	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3861	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3862	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		3863	o[5] = tbWPEditAlt.Text;
		3864	switch (cbWPEditHeading.SelectedIndex)
		3865	{
		3866	case 0:
		3867	o[6] = "0";
		3868	break;
		3869	case 1:
		3870	o[6] = "-" + tbWPEditHeading.Text;
		3871	break;
		3872	case 2:
		3873	o[6] = tbWPEditHeading.Text;
		3874	break;
		3875	}
		3876	switch (cbWPEditSpeed.SelectedIndex)
		3877	{
		3878	case 0:
		3879	o[7] = "0";
		3880	break;
		3881	case 1:
		3882	o[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3883	break;
		3884	case 2:
		3885	o[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3886	break;
		3887	}
		3888	switch (cbWPEditClimbrate.SelectedIndex)
		3889	{
		3890	case 0:
		3891	o[8] = "255";
		3892	break;
		3893	case 1:
		3894	o[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		3895	break;
		3896	}
		3897	o[9] = tbWPEditRadius.Text;
		3898	o[10] = tbWPEditHoldtime.Text;
		3899	o[11] = tbWPEditAutoTrigger.Text;
		3900	switch (cbWPEditCamAngle.SelectedIndex)
		3901	{
		3902	case 0:
		3903	o[12] = "0";
		3904	break;
		3905	case 1:
		3906	o[12] = "255";
		3907	break;
		3908	case 2:
		3909	o[12] = tbWPEditCamAngle.Text;
		3910	break;
		3911	}
		3912	o[13] = 0;
		3913	o[14] = tbWPEditOut1.Text;
		3914	DataRow dr = dtWaypoints.NewRow();
		3915	dr.ItemArray = o;
		3916
		3917	if (_wpCount > 0)
		3918	_sendWayPoint(dr, -1, 'w', false);
		3919	else
		3920	_sendWayPoint(dr, 1, 'w', false);
2399	-	3921
		3922	if(_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count)
		3923	_sendWayPoint(dtWaypoints.Rows[_wpIndex], _wpIndex + 1, 's', false);
2385	-	3924	}
		3925	}
2376	-	3926	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		3927	{
		3928	_Simulate = !_Simulate;
		3929	if (dtWaypoints.Rows.Count > 0)
		3930	{
		3931	DataRow dr = dtWaypoints.Rows[0];
		3932	dr[13] = _Simulate ? 3 : 0;
2379	-	3933	_sendWayPoint(dr, 0, 's', true);
2381	-	3934	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
2376	-	3935	}
		3936	}
2355	-	3937	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		3938	{
2359	-	3939	_dgvWPselectEditRow();
		3940	}
		3941	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		3942	{
		3943	}
		3944	void _dgvWPselectEditRow()
		3945	{
2355	-	3946	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3947	{
2368	-	3948	Dispatcher.Invoke(() => {
2355	-	3949	DataGridRow row;
2368	-	3950	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	3951	{
		3952	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3953	row.Background = new SolidColorBrush(Colors.Transparent);
		3954	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3955	row.BorderThickness = new Thickness(0);
		3956	}
		3957	_wpEdit = dgvWP.SelectedIndex;
		3958	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3959	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		3960	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		3961	row.BorderThickness = new Thickness(2);
		3962	dgvWP.UpdateLayout();
2340	-	3963
2355	-	3964	_setWPEditFields(_wpEdit);
		3965	});
		3966	}
		3967	}
		3968	void _setWPEditFields(int index)
		3969	{
		3970	int iVal;
		3971	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		3972	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		3973	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		3974	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		3975	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		3976	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		3977	if (iVal == 0)
		3978	{
		3979	cbWPEditHeading.SelectedIndex = 0;
		3980	tbWPEditHeading.Text = " - - -";
		3981	tbWPEditHeading.IsReadOnly = true;
		3982	}
		3983	if (iVal > 0 && iVal < 360)
		3984	{
		3985	cbWPEditHeading.SelectedIndex = 2;
		3986	tbWPEditHeading.Text = iVal.ToString();
		3987	tbWPEditHeading.IsReadOnly = false;
		3988	}
		3989	if (iVal < 0)
		3990	{
		3991	cbWPEditHeading.SelectedIndex = 1;
		3992	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		3993	tbWPEditHeading.IsReadOnly = false;
		3994	}
		3995	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		3996	if (iVal == 0)
		3997	{
		3998	cbWPEditSpeed.SelectedIndex = 0;
		3999	tbWPEditSpeed.Text = "MAX";
		4000	tbWPEditSpeed.IsReadOnly = true;
		4001	}
		4002	if (iVal > 0 && iVal < 248)
		4003	{
		4004	cbWPEditSpeed.SelectedIndex = 1;
		4005	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		4006	tbWPEditSpeed.IsReadOnly = false;
		4007	}
		4008	if (iVal > 247)
		4009	{
		4010	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		4011	tbWPEditSpeed.Text = "";
		4012	tbWPEditSpeed.IsReadOnly = true;
		4013	}
		4014	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		4015	if (iVal == 255)
		4016	{
		4017	cbWPEditClimbrate.SelectedIndex = 0;
		4018	tbWPEditClimbrate.Text = "AUTO";
		4019	tbWPEditClimbrate.IsReadOnly = true;
		4020	}
		4021	else
		4022	{
		4023	cbWPEditClimbrate.SelectedIndex = 1;
		4024	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		4025	tbWPEditClimbrate.IsReadOnly = false;
		4026	}
		4027	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		4028	tbWPEditRadius.Text = iVal.ToString();
		4029	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		4030	tbWPEditHoldtime.Text = iVal.ToString();
		4031	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		4032	tbWPEditAutoTrigger.Text = iVal.ToString();
		4033	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		4034	if (iVal == 0)
		4035	{
		4036	cbWPEditCamAngle.SelectedIndex = 0;
		4037	tbWPEditCamAngle.Text = " - - - ";
		4038	tbWPEditCamAngle.IsReadOnly = true;
		4039	}
		4040	if (iVal < 0 \| iVal == 255)
		4041	{
		4042	cbWPEditCamAngle.SelectedIndex = 1;
		4043	tbWPEditCamAngle.Text = "AUTO";
		4044	tbWPEditCamAngle.IsReadOnly = true;
		4045	}
		4046	if (iVal > 0 & iVal < 255)
		4047	{
		4048	cbWPEditCamAngle.SelectedIndex = 2;
		4049	tbWPEditCamAngle.Text = iVal.ToString();
		4050	tbWPEditCamAngle.IsReadOnly = false;
		4051	}
		4052	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		4053	tbWPEditOut1.Text = iVal.ToString();
		4054
		4055	}
		4056
2361	-	4057	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		4058	{
2363	-	4059	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4060	{
2369	-	4061	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	4062	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		4063	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		4064	int i = wpList.IndexOf(pOld);
2363	-	4065	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		4066	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4067	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4068	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	4069	if (i > -1)
		4070	{
		4071	if((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		4072	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		4073	else
		4074	wpList.Remove(pOld);
		4075	}
		4076	else
		4077	{
		4078	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		4079	{
		4080	int found = 0;
		4081	for (int k = 0; k < dgvWP.SelectedIndex; k++)
		4082	if ((int)dtWaypoints.Rows[k][1] == 0)
		4083	found++;
		4084	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		4085	}
		4086	}
2363	-	4087	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		4088	switch (cbWPEditHeading.SelectedIndex)
		4089	{
		4090	case 0:
		4091	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		4092	break;
		4093	case 1:
		4094	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		4095	break;
		4096	case 2:
		4097	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		4098	break;
		4099	}
		4100	switch (cbWPEditSpeed.SelectedIndex)
		4101	{
		4102	case 0:
		4103	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		4104	break;
		4105	case 1:
		4106	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4107	break;
		4108	case 2:
		4109	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4110	break;
		4111	}
		4112	switch (cbWPEditClimbrate.SelectedIndex)
		4113	{
		4114	case 0:
		4115	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		4116	break;
		4117	case 1:
		4118	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		4119	break;
		4120	}
		4121	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		4122	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		4123	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		4124	switch (cbWPEditCamAngle.SelectedIndex)
		4125	{
		4126	case 0:
		4127	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		4128	break;
		4129	case 1:
		4130	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		4131	break;
		4132	case 2:
		4133	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		4134	break;
		4135	}
		4136	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	4137
2369	-	4138	// _clearMapMarkers(typeof(CustomMarkerWP));
		4139	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		4140	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	4141	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	4142	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	4143	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	4144	// wpList.Clear();
2363	-	4145	if (mRouteWP != null)
		4146	MainMap.Markers.Remove(mRouteWP);
		4147
2369	-	4148	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		4149	//{
		4150	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		4151	//}
2363	-	4152	_routeUpdate();
		4153	dgvWP.Items.Refresh();
		4154
		4155	}
		4156
2361	-	4157	}
		4158	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		4159	{
2368	-	4160	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4161	{
		4162	int index = dgvWP.SelectedIndex;
		4163	Dispatcher.Invoke(() => {
		4164	DataGridRow row;
		4165	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		4166	{
		4167	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4168	row.Background = new SolidColorBrush(Colors.Transparent);
		4169	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4170	row.BorderThickness = new Thickness(0);
		4171	}
2372	-	4172	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	4173	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
		4174	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	4175	if (wpActiveMarker != null)
		4176	MainMap.Markers.Remove(wpActiveMarker);
2368	-	4177	dtWaypoints.Rows[index].Delete();
		4178	_wpIndex = -1;
		4179	_wpEdit = -1;
		4180	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		4181	{
		4182	dtWaypoints.Rows[i][0] = i + 1;
		4183	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		4184	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		4185	_renameWPMarker(s1, s2);
		4186	dtWaypoints.Rows[i][2] = s2;
		4187	}
		4188	lblWPCount.Content = dtWaypoints.Rows.Count;
		4189	if (mRouteWP != null)
		4190	MainMap.Markers.Remove(mRouteWP);
		4191	_routeUpdate();
2361	-	4192
2368	-	4193	dgvWP.UpdateLayout();
		4194	});
		4195	}
2361	-	4196	}
2366	-	4197	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		4198	{
		4199	_wpWEdit(sender);
		4200	}
2361	-	4201	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		4202	{
2366	-	4203	_wpWEdit(sender);
		4204	}
2369	-	4205	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		4206	{
		4207	_wpWEdit(sender);
		4208	}
2366	-	4209	void _wpWEdit(object sender)
		4210	{
2369	-	4211	// if (!((TextBox)sender).IsReadOnly)
2361	-	4212	{
		4213	KeyPad.Keypad k = new KeyPad.Keypad(this);
		4214
2363	-	4215	switch (((TextBox)sender).Name)
		4216	{
		4217	case "tbWPEditLat":
		4218	k.Title = "Latitude";
		4219	k.LENGTH = 17;
		4220	k.MAX = 359.9;
		4221	break;
		4222	case "tbWPEditLon":
		4223	k.Title = "Longitude";
		4224	k.LENGTH = 17;
		4225	k.MAX = 359.9;
		4226	break;
		4227	case "tbWPEditAlt":
		4228	k.Title = "Altitude";
		4229	k.LENGTH = 3;
		4230	k.MAX = 254;
		4231	k.disableDecimal();
		4232	break;
		4233	case "tbWPEditHeading":
		4234	k.Title = "Heading";
		4235	k.LENGTH = 3;
		4236	k.MAX = 359;
		4237	k.MIN = 1;
		4238	k.disableDecimal();
		4239	break;
		4240	case "tbWPEditSpeed":
		4241	k.Title = "Speed";
		4242	k.LENGTH = 4;
		4243	k.MAX = 24.7;
		4244	k.MIN = 0.1;
		4245	break;
		4246	case "tbWPEditClimbrate":
		4247	k.Title = "Climbrate";
		4248	k.LENGTH = 4;
		4249	k.MAX = 25.4;
		4250	k.MIN = 0.1;
		4251	break;
		4252	case "tbWPEditRadius":
		4253	k.Title = "Radius";
		4254	k.LENGTH = 3;
		4255	k.MAX = 254;
		4256	k.disableDecimal();
		4257	break;
		4258	case "tbWPEditHoldtime":
		4259	k.Title = "Holdtime";
		4260	k.LENGTH = 3;
		4261	k.MAX = 254;
		4262	break;
		4263	case "tbWPEditAutoTrigger":
		4264	k.Title = "Autotrigger";
		4265	k.LENGTH = 3;
		4266	k.MAX = 254;
		4267	k.disableDecimal();
		4268	break;
		4269	case "tbWPEditCamAngle":
		4270	k.Title = "Camera angle";
		4271	k.LENGTH = 3;
		4272	k.MAX = 254;
		4273	k.MIN = 1;
		4274	k.disableDecimal();
		4275	break;
		4276	case "tbWPEditOut1":
		4277	k.Title = "OUT1 timer interval";
		4278	k.LENGTH = 3;
		4279	k.MAX = 254;
		4280	k.disableDecimal();
		4281	break;
		4282	}
		4283	k.Result = ((TextBox)sender).Text;
2366	-	4284	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	4285	((TextBox)sender).Text = k.Result;
2361	-	4286	}
2366	-	4287
2361	-	4288	}
		4289	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	4290	{
2359	-	4291	object[] o = new object[16];
2356	-	4292
2359	-	4293	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		4294	o[1] = 0;
		4295	// cbWPEditType.SelectedIndex = 0;
		4296	// tbWPEditPrefix.Text = "P";
		4297	o[2] = "P" + o[0].ToString();
		4298	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4299	o[3] = copter.Position.Lat;
		4300	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4301	o[4] = copter.Position.Lng;
		4302	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		4303	o[5] = iAnalogData[4].ToString();
2356	-	4304
2359	-	4305	// cbWPEditHeading.SelectedIndex = 2;
		4306	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		4307	// tbWPEditHeading.IsReadOnly = false;
2356	-	4308
2359	-	4309	// cbWPEditSpeed.SelectedIndex = 1;
		4310	// tbWPEditSpeed.Text = "5.0";
		4311	// tbWPEditSpeed.IsReadOnly = false;
2372	-	4312	o[7] = "10";
2356	-	4313
2359	-	4314	// cbWPEditClimbrate.SelectedIndex = 1;
		4315	// tbWPEditClimbrate.Text = "5.0";
		4316	// tbWPEditClimbrate.IsReadOnly = false;
2372	-	4317	o[8] = "10";
2356	-	4318
2359	-	4319	// tbWPEditRadius.Text = "10";
2372	-	4320	o[9] = "5";
2359	-	4321	// tbWPEditHoldtime.Text = "5";
		4322	o[10] = "5";
		4323	// tbWPEditAutoTrigger.Text = "0";
		4324	o[11] = "0";
		4325	// cbWPEditCamAngle.SelectedIndex = 1;
		4326	// tbWPEditCamAngle.Text = "AUTO";
		4327	// tbWPEditCamAngle.IsReadOnly = true;
		4328	o[12] = "255";
2356	-	4329
2359	-	4330	o[13] = "0";
		4331	// tbWPEditOut1.Text = "0";
		4332	o[14] = "0";
		4333	o[15] = "0";
		4334
		4335	dtWaypoints.Rows.Add(o);
2368	-	4336	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1]);
2359	-	4337	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4338	if (mRouteWP != null)
		4339	MainMap.Markers.Remove(mRouteWP);
		4340	_routeUpdate();
		4341	Dispatcher.Invoke(() => {
		4342	dgvWP.Items.Refresh();
		4343	dgvWP.SelectedIndex = (int)o[0] -1;
		4344	dgvWP.UpdateLayout();
		4345	_dgvWPselectEditRow();
		4346	});
2356	-	4347	}
2405	-	4348	private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e)
		4349	{
		4350	if (WPStatus.Visibility == Visibility.Visible)
		4351	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		4352	else
		4353	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		4354	}
		4355	private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e)
		4356	{
		4357	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		4358	{
		4359	if (cWPBound != null && cWPBound.Tag != null)
		4360	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2356	-	4361
2408	-	4362	createCircle(home.Position, dWPMaxRange);
		4363	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		4364	cWPBound.setColor(s);
		4365
2405	-	4366	}
2408	-	4367
2405	-	4368	if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null))
		4369	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		4370	}
2315	-	4371	#endregion WP
2324	-	4372	#region GPX
		4373	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		4374	{
		4375	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		4376	}
		4377	void _gpxAdd(double lat,double lon, int elevation)
		4378	{
		4379	DataRow dr = dtGPX.NewRow();
		4380	dr[0] = dtGPX.Rows.Count - 1;
		4381	dr[1] = lat;
		4382	dr[2] = lon;
		4383	dr[3] = elevation;
		4384	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		4385	dtGPX.Rows.Add(dr);
		4386	}
		4387	void _saveGPXLog()
		4388	{
		4389	if (!Directory.Exists("GPXLog"))
		4390	Directory.CreateDirectory("GPXLog");
		4391	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		4392	XmlTextWriter myXmlTextWriter = null;
		4393	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		4394	NumberFormatInfo nfi = new NumberFormatInfo();
		4395	nfi.NumberDecimalSeparator = ".";
2315	-	4396
2324	-	4397	try
		4398	{
		4399	myXmlTextWriter.Formatting = Formatting.Indented;
		4400
		4401	myXmlTextWriter.WriteStartDocument();
		4402
		4403	myXmlTextWriter.WriteStartElement("gpx");
		4404
		4405	myXmlTextWriter.WriteAttributeString("version", "1.0");
		4406	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		4407	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		4408	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		4409	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		4410
		4411	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		4412
		4413	myXmlTextWriter.WriteStartElement("trk");
		4414	myXmlTextWriter.WriteStartElement("trkseg");
		4415	for(int i = 0; i< dtGPX.Rows.Count;i++)
		4416	{
		4417	myXmlTextWriter.WriteStartElement("trkpt");
		4418	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		4419	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		4420	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		4421	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		4422	myXmlTextWriter.WriteEndElement();
		4423	}
		4424	myXmlTextWriter.WriteEndElement();
		4425	myXmlTextWriter.WriteEndElement();
		4426	myXmlTextWriter.WriteEndElement();
		4427	}
		4428	catch (Exception e)
		4429	{
		4430	Console.WriteLine("Exception: {0}", e.ToString());
		4431	}
		4432	finally
		4433	{
		4434	if (myXmlTextWriter != null)
		4435	{
		4436	myXmlTextWriter.Close();
		4437	}
		4438	}
		4439	}
		4440	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		4441	{
		4442	_loadGPXLog();
		4443	}
2327	-	4444	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		4445	{
		4446	_clearMapMarkers(typeof(GMapRoute));
		4447	}
2324	-	4448	void _loadGPXLog()
		4449	{
		4450
		4451	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4452	fd.Filter = "GPX-Logfile \| *.gpx";
		4453	fd.Multiselect = false;
		4454	if (fd.ShowDialog().Value)
		4455	{
		4456	string file = fd.FileName;
		4457	try
		4458	{
		4459	XDocument gpxDoc = XDocument.Load(file);
		4460	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		4461
		4462	NumberFormatInfo nfi = new NumberFormatInfo();
		4463	nfi.NumberDecimalSeparator = ".";
		4464
		4465	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		4466	select new
		4467	{
		4468	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		4469	Segs = (
		4470	from trackpoint in track.Descendants(gpx + "trkpt")
		4471	select new
		4472	{
		4473	Latitude = trackpoint.Attribute("lat").Value,
		4474	Longitude = trackpoint.Attribute("lon").Value,
		4475	Elevation = trackpoint.Element(gpx + "ele") != null ?
		4476	trackpoint.Element(gpx + "ele").Value : null,
		4477	Time = trackpoint.Element(gpx + "time") != null ?
		4478	trackpoint.Element(gpx + "time").Value : null
		4479	}
		4480	)
		4481	};
		4482
		4483	List<PointLatLng> wpl = new List<PointLatLng>();
		4484	foreach(var trk in tracks)
		4485	{
		4486	foreach(var trkseg in trk.Segs)
		4487	{
		4488	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		4489	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		4490	}
		4491
		4492	}
		4493	if(wpl.Count() > 0)
		4494	{
2327	-	4495	_clearMapMarkers(typeof(GMapRoute));
2324	-	4496	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	4497	Dispatcher.Invoke(() =>
		4498	{
		4499	GMapRoute mRoute;
		4500	if (comboBoxRouteColor.SelectionBoxItem != null)
		4501	{
		4502	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	4503	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	4504	}
		4505	else
2366	-	4506	mRoute = new GMapRoute(wpl, null);
2324	-	4507
2328	-	4508	MainMap.Markers.Add(mRoute);
		4509	});
2324	-	4510	}
		4511
		4512	}
		4513	catch (Exception e)
		4514	{
		4515	Console.WriteLine("Exception: {0}", e.ToString());
		4516	}
		4517	}
		4518	}
		4519	#endregion GPX
2315	-	4520	#endregion functions
2287	-	4521	}
2315	-	4522	/// <summary>
		4523	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		4524	/// </summary>
2313	-	4525	public class waypointsConverter : IValueConverter
		4526	{
		4527	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		4528	{
		4529	if (value != null)
		4530	{
		4531	switch ((string)parameter)
		4532	{
		4533	case "Latitude":
		4534	return value.ToString() + " °";
		4535	case "Longitude":
		4536	return value.ToString() + " °";
		4537	case "Radius":
		4538	return value.ToString() + " m";
		4539	case "Altitude":
		4540	return value.ToString() + " m";
		4541	case "ClimbRate":
		4542	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		4543	case "DelayTime":
		4544	return value.ToString() + " s";
		4545	case "Heading":
		4546	return Waypoints.Heading(System.Convert.ToInt32(value));
		4547	case "Speed":
		4548	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		4549	case "CamAngle":
		4550	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		4551	case "Type":
		4552	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		4553	case "AutoTrigger":
		4554	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		4555	case "Status":
2355	-	4556	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	4557	}
		4558
		4559	return value.ToString();
		4560	}
		4561	else return value;
		4562	}
		4563
		4564	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		4565	{
		4566	throw new NotImplementedException();
		4567	}
		4568	}
		4569
2287	-	4570	public class IniFile
		4571	{
		4572	public string path;
		4573
		4574	[DllImport("kernel32")]
		4575	private static extern long WritePrivateProfileString(string section,
		4576	string key, string val, string filePath);
		4577
		4578	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		4579	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		4580	uint nSize, string lpFileName);
		4581
		4582	[DllImport("kernel32")]
		4583	private static extern int GetPrivateProfileString(string section,
		4584	string key, string def, StringBuilder retVal,
		4585	int size, string filePath);
		4586
		4587	public IniFile(string INIPath)
		4588	{
		4589	path = INIPath;
		4590	}
		4591
		4592	public void IniWriteValue(string Section, string Key, string Value)
		4593	{
		4594	WritePrivateProfileString(Section, Key, Value, this.path);
		4595	}
		4596
		4597	public string IniReadValue(string Section, string Key)
		4598	{
		4599	StringBuilder temp = new StringBuilder(255);
		4600	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		4601	return temp.ToString();
		4602	}
		4603	//Ini_sections auslesen in String-Array
		4604	public string[] IniSectionNames()
		4605	{
		4606
		4607	// uint MAX_BUFFER = 32767;
		4608	uint MAX_BUFFER = 8388608;
		4609	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		4610	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		4611	if (bytesReturned == 0)
		4612	{
		4613	Marshal.FreeCoTaskMem(pReturnedString);
		4614	return null;
		4615	}
		4616	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		4617	Marshal.FreeCoTaskMem(pReturnedString);
		4618	//use of Substring below removes terminating null for split
		4619	return local.Substring(0, local.Length - 1).Split('\0');
		4620
		4621
		4622	}
		4623	}
		4624
		4625	/// <summary>
		4626	/// Selected Win AI Function Calls
		4627	/// </summary>
		4628	public class WinApi
		4629	{
		4630	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		4631	public static extern int GetSystemMetrics(int which);
		4632	[DllImport("user32.dll")]
		4633	public static extern void
		4634	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		4635	int X, int Y, int width, int height, uint flags);
		4636
		4637	private const int SM_CXSCREEN = 0;
		4638	private const int SM_CYSCREEN = 1;
		4639	private static IntPtr HWND_TOP = IntPtr.Zero;
		4640	private const int SWP_SHOWWINDOW = 64; // 0x0040
		4641
		4642	public static int ScreenX
		4643	{
		4644	get { return GetSystemMetrics(SM_CXSCREEN); }
		4645	}
		4646
		4647	public static int ScreenY
		4648	{
		4649	get { return GetSystemMetrics(SM_CYSCREEN); }
		4650	}
		4651
		4652	public static void SetWinFullScreen(IntPtr hwnd)
		4653	{
		4654	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		4655	}
		4656	}
		4657	/// <summary>
		4658	/// Class used to preserve / restore state of the window
		4659	/// </summary>
		4660	public class WinState
		4661	{
		4662	private WindowState winState;
		4663	private WindowStyle brdStyle;
		4664	private bool topMost;
		4665	private Rect restore;
		4666	private bool IsMaximized = false;
		4667
		4668	public bool isMaximized
		4669	{
		4670	get { return IsMaximized; }
		4671	}
		4672	public void Maximize(Window targetForm)
		4673	{
		4674	if (!IsMaximized)
		4675	{
		4676	IsMaximized = true;
		4677	Save(targetForm);
		4678	targetForm.WindowState = WindowState.Maximized;
		4679	targetForm.WindowStyle = WindowStyle.None;
		4680	targetForm.Topmost = true;
		4681	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		4682	}
		4683	}
		4684
		4685	public void Save(Window targetForm)
		4686	{
		4687	winState = targetForm.WindowState;
		4688	brdStyle = targetForm.WindowStyle;
		4689	topMost = targetForm.Topmost;
		4690	restore = targetForm.RestoreBounds;
		4691	}
		4692	public void Restore(Window targetForm)
		4693	{
		4694	targetForm.WindowState = winState;
		4695	targetForm.WindowStyle = brdStyle;
		4696	targetForm.Topmost = topMost;
		4697
		4698	targetForm.Left = restore.Left;
		4699	targetForm.Top = restore.Top;
		4700	targetForm.Height = restore.Height;
		4701	targetForm.Width = restore.Width;
		4702	IsMaximized = false;
		4703	}
		4704	}
		4705
		4706	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2411 - Rev