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	}
2419	-	816	_WPisMouseCaptured = false;
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	{
2419	-	1063	if (!_WPisMouseCaptured)
2287	-	1064	{
2419	-	1065	var id = e.StylusDevice.Id;
		1066	e.StylusDevice.Capture(MainMap);
		1067	if (iFirstStylusID == -1)
		1068	{
		1069	iFirstStylusID = id;
		1070	}
		1071	else
		1072	{
2287	-	1073
2419	-	1074	MainMap.CanDragMap = false;
		1075	}
2287	-	1076	}
		1077	}
		1078	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1079	{
		1080	MainMap.ReleaseStylusCapture();
		1081	iFirstStylusID = -1;
		1082	bFirstAccess = true;
		1083	MainMap.CanDragMap = true;
		1084	iZoom = 0;
		1085	}
		1086	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1087	{
		1088	var id = e.StylusDevice.Id;
		1089	var tp = e.GetPosition(MainMap);
		1090
		1091	// This is the first Stylus point; just record its position.
		1092	if (id == iFirstStylusID)
		1093	{
		1094	pTouch1.X = tp.X;
		1095	pTouch1.Y = tp.Y;
		1096	}
		1097	else
		1098	if (iFirstStylusID > -1)
		1099	{
		1100	pTouch2.X = tp.X;
		1101	pTouch2.Y = tp.Y;
		1102	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1103	if (!bFirstAccess)
		1104	{
		1105	if (distance > dDistance)
		1106	iZoom++;
		1107	else
		1108	if (distance < dDistance)
		1109	iZoom--;
		1110	}
		1111	if (iZoom > 30)
		1112	{
		1113	iZoom = 0;
		1114	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1115	}
		1116	if (iZoom < -30)
		1117	{
		1118	iZoom = 0;
		1119	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1120	}
		1121	dDistance = distance;
		1122	bFirstAccess = false;
		1123	}
		1124	}
		1125	#endregion Touch zooming hackattack ;)
		1126
		1127	#endregion GMap
		1128
		1129	#region settings
		1130	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1131	{
		1132	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		1133	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1134	}
		1135	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1136	{
		1137	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		1138	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1139	}
		1140	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1141	{
		1142	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1143	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1144	}
		1145	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1146	{
		1147	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1148	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1149	}
		1150	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1151	{
		1152	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1153	}
		1154	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1155	{
		1156	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1157	}
		1158	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1159	{
		1160	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1161	}
		1162	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1163	{
		1164	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1165	}
		1166
		1167	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1168	{
		1169	if (cBoxLiPoCells.SelectedIndex > -1)
		1170	{
		1171	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1172	_LipoMinMax();
		1173	}
		1174	}
		1175	void _LipoMinMax()
		1176	{
		1177	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1178	_dLipoVMin = (double)_LipoCells * 3;
		1179	pbTopVoltage.Maximum = _dLipoVMax;
		1180	pbTopVoltage.Minimum = _dLipoVMin;
		1181	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1182	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1183	}
		1184	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1185	{
		1186	if (cBoxMotors.SelectedIndex > -1)
		1187	{
		1188	_iMotors = cBoxMotors.SelectedIndex + 3;
		1189	Dispatcher.Invoke(() =>
		1190	{
		1191	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1192	GridMotors.Height = dgvMotors1.Height + 10;
		1193	});
		1194	}
		1195	}
		1196	void _setMotorGridSize()
		1197	{
		1198	if (dgvMotors1.Columns.Count > 2)
		1199	{
		1200	dgvMotors1.Columns[0].Width = 24;
		1201	dgvMotors1.Columns[1].Width = 50;
		1202	dgvMotors1.Columns[2].Width = 50;
		1203	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1204	GridMotors.Height = dgvMotors1.Height + 10;
		1205	}
		1206
		1207	}
		1208	#endregion settings
		1209
		1210	#region functions
		1211
		1212	#region logging
		1213	/// <summary> Log data to the terminal window. </summary>
		1214	/// <param name="msgtype"> The type of message to be written. </param>
		1215	/// <param name="msg"> The string containing the message to be shown. </param>
		1216	private void Log(LogMsgType msgtype, string msg)
		1217	{
		1218	Dispatcher.Invoke(() =>
		1219	{
		1220	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1221	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1222	// rtfTerminal.AppendText(msg + "\r");
		1223	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1224	tr.Text = msg;
		1225	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1226	rtfTerminal.AppendText("\r");
		1227	rtfTerminal.ScrollToEnd();
		1228	});
		1229	}
2381	-	1230	private void ErrorLog(LogMsgType msgtype, string msg , string linkURL, string linkName)
2287	-	1231	{
2381	-	1232
2287	-	1233	Dispatcher.Invoke(() =>
		1234	{
2381	-	1235	Paragraph para = new Paragraph();
		1236	para.Margin = new Thickness(0); // remove indent between paragraphs
		1237
		1238	Hyperlink link = new Hyperlink();
		1239	if (linkURL != "" && linkName != "")
		1240	{
		1241	link.IsEnabled = true;
		1242	link.Inlines.Add(linkName);
		1243	link.NavigateUri = new Uri(linkURL);
		1244	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1245	}
		1246	//msg = DateTime.Now.ToLongTimeString() + msg;
		1247	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1248	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1249	r.Foreground = new SolidColorBrush(Colors.Black);
		1250	para.Inlines.Add(r);
		1251	para.Inlines.Add(msg);
		1252	para.Inlines.Add(link);
		1253	rtfError.Document.Blocks.Add(para);
		1254	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1255	//tr.Text = msg + link;
		1256	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1257	//rtfError.AppendText("\r");
2287	-	1258	rtfError.ScrollToEnd();
		1259
2381	-	1260	//_bErrorLog = true;
2287	-	1261	});
		1262	}
		1263	/// <summary>
		1264	/// Clear the line in the errorlog window
		1265	/// containing the error string when error has ceased
		1266	/// </summary>
		1267	/// <param name="s">substring of errrormessage</param>
		1268	void _clearErrorLog(string s)
		1269	{
		1270	Dispatcher.Invoke((Action)(() =>
		1271	{
		1272	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1273	TextRange foundRange = FindTextInRange(searchRange, s);
		1274
		1275	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1276
		1277
		1278	if (iStart > -1)
		1279	{
		1280	int iLength = 0;
		1281	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1282	if (iEnd > 0)
		1283	{
		1284	iLength = iEnd + 1;
		1285	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1286	if (iHttp == iLength)
		1287	{
		1288	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1289	if (iEnd2 > iLength)
		1290	{
		1291	iLength = iEnd2 + 1;
		1292	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1293
		1294	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1295	rtfError.Selection.Text = string.Empty;
		1296	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1297	}
		1298
		1299	}
		1300	else
		1301	{
		1302	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1303	rtfError.Selection.Text = string.Empty;
		1304	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1305	}
		1306	}
		1307	}
		1308	}));
		1309
		1310	}
		1311	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1312	{
		1313	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1314	if (offset < 0)
		1315	return null; // Not found
		1316
		1317	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1318	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1319
		1320	return result;
		1321	}
		1322	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1323	{
		1324	while (position != null)
		1325	{
		1326	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1327	{
		1328	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1329	if (characterCount <= count)
		1330	{
		1331	return position.GetPositionAtOffset(characterCount);
		1332	}
		1333
		1334	characterCount -= count;
		1335	}
		1336
		1337	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1338	if (nextContextPosition == null)
		1339	return position;
		1340
		1341	position = nextContextPosition;
		1342	}
		1343
		1344	return position;
		1345	}
		1346	#endregion logging
		1347
		1348	#region processing received data
		1349
		1350	private void processMessage(byte[] message)
		1351	{
		1352	if (message.Length > 0)
		1353	{
		1354	_iLifeCounter++;
		1355	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1356	//Log(LogMsgType.Incoming, message.Length.ToString());
		1357	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1358	char cmdID;
		1359	byte adr;
		1360	byte[] data;
		1361	byte[] tmp = null;
		1362	if (message[0] != '#')
		1363	{
		1364	int iFound = -1;
		1365	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1366	{ //so this is a workaround to not spam the log box
		1367	if (message[i] == 35)
		1368	{
		1369	iFound = i;
		1370	break;
		1371	}
		1372	}
		1373	if (iFound > 0)
		1374	{
		1375	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1376	tmp = new byte[message.Length - iFound];
		1377	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1378	}
		1379	s = s.Trim('\0', '\n', '\r');
		1380	if (s.Length > 0)
		1381	Log(LogMsgType.Normal, s);
		1382	if (tmp != null)
		1383	{
		1384	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1385	processMessage(tmp);
		1386	}
		1387	}
		1388	//Debug.Print(s);
		1389	else
		1390	{
		1391	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1392
		1393	if (adr == 255) { crcError++; }
		1394	else crcError = 0;
		1395	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1396	//display the active controller (FC / NC)
		1397	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...???
		1398	{
		1399	_iCtrlAct = adr;
		1400	switch (adr)
		1401	{
		1402	case 1:
		1403	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2381	-	1404	// Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1405	// Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
2287	-	1406	// _setFieldsNA(); //display fields NA for FC
		1407	break;
		1408	case 2:
		1409	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1410	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1411	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1412	break;
		1413	//case 3:
		1414	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1415	// break;
		1416	//case 4:
		1417	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1418	// break;
		1419	default:
		1420	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1421	break;
		1422	}
		1423	// _loadLabelNames();
		1424	}
		1425	// else
		1426	// Debug.Print("Address == 0?");
		1427
		1428	if (data != null && data.Length > 0)
		1429	{
		1430	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1431	s = s.Trim('\0', '\n');
		1432
		1433	switch (cmdID)
		1434	{
		1435	//case 'A': //Label names
		1436	// _processLabelNames(s);
		1437	// break;
		1438
		1439	case 'D': //Debug data
		1440	_processDebugVals(adr, data);
		1441	break;
		1442
		1443	case 'V': //Version
		1444	_processVersion(adr, data);
		1445	break;
		1446
		1447	case 'K'://BL-CTRL data
		1448	_processBLCtrl(data);
		1449	break;
		1450
		1451	case 'O': //NC Data
		1452	_processNCData(data);
		1453	break;
		1454
2381	-	1455	//case 'E': //NC error-string
		1456	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1457	// break;
2287	-	1458
		1459	case 'L': //OSD Menue (called by pagenumber)
		1460	_processOSDSingle(data);
		1461	break;
		1462
		1463	case 'H': //OSD Menue (with autoupdate - called by Key)
		1464	_processOSDAuto(data);
		1465	break;
		1466
		1467	case 'X': //Waypoint data
		1468	_processWPData(data);
		1469	break;
		1470
2313	-	1471	case 'W': //return new Waypoint items count after sending waypoint to copter
		1472	_iWPCount = data[0];
		1473	break;
2287	-	1474	//default:
		1475	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1476	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1477	// break;
		1478	}
		1479	}
		1480	//else
		1481	//{
		1482	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1483	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1484	//}
		1485	}
		1486	}
		1487	}
		1488	/// <summary>
		1489	/// Analog label names 'A'
		1490	/// each label name is returned as a single string
		1491	/// and added to string array sAnalogLabel[]
		1492	/// and the datatable dtAnalog
		1493	/// </summary>
		1494	/// <param name="s">the label name</param>
		1495	void _processLabelNames(string s)
		1496	{
		1497	//if (iLableIndex < 32)
		1498	//{
		1499	// sAnalogLabel[iLableIndex] = s;
		1500	// if (dtAnalog.Rows.Count < 32)
		1501	// dtAnalog.Rows.Add(s, "");
		1502	// else
		1503	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1504
		1505	// // _getAnalogLabels(iLableIndex + 1);
		1506	//}
		1507	//Debug.Print(s);
		1508	}
		1509	/// <summary>
		1510	/// Debug values 'D'
		1511	/// </summary>
		1512	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1513	/// <param name="data">the received byte array to process</param>
		1514	void _processDebugVals(byte adr, byte[] data)
		1515	{
		1516	if (data.Length == 66)
		1517	{
2324	-	1518
2287	-	1519	double v;
		1520	int index = 0;
		1521	Int16 i16 = 0;
		1522	double dTemp = 0;
		1523	for (int i = 2; i < 66; i += 2)
		1524	{
		1525	i16 = data[i + 1];
		1526	i16 = (Int16)(i16 << 8);
		1527	iAnalogData[index] = data[i] + i16;
		1528	sAnalogData[index] = (data[i] + i16).ToString();
		1529	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1530
		1531	if (adr == 2) //NC
		1532	{
		1533	switch (index)
		1534	{
		1535	case 0: //pitch (German: nick)
		1536	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1537	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1538	break;
		1539	case 1: //roll
		1540	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1541	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1542	break;
		1543	case 4: //altitude
		1544	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1545	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2324	-	1546	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1547	break;
		1548	case 7: //Voltage
		1549	v = (double)iAnalogData[index] / (double)10;
		1550	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1551	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1552	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1553	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1554	{
		1555	if (v == _dVoltLast)
		1556	if(_iVoltJitter < 20) _iVoltJitter++;
		1557	else
		1558	{
		1559	_iVoltJitter = 0;
		1560	_dVoltLast = v;
		1561	}
		1562	if (_iVoltJitter == 20)
		1563	{
		1564	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1565
		1566	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1567	{
		1568	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1569	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1570	{
		1571	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1572	_bCritAnimVoltActive = true;
		1573	}
		1574	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1575	{
2398	-	1576	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3");
		1577	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1578	//t.Start();
2287	-	1579	_bCritVoiceVoltActive = true;
		1580	}
		1581	}
		1582	else
		1583	{
		1584	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1585	{
		1586	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1587	_bCritAnimVoltActive = false;
		1588	}
		1589	_bCritVoiceVoltActive = false;
		1590
2291	-	1591	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1592	{
2398	-	1593	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3");
		1594	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1595	//t.Start();
2291	-	1596	_bWarnVoiceVoltActive = true;
2287	-	1597	}
		1598	}
		1599	}
		1600	}
		1601	else
		1602	{
		1603	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1604	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1605	{
		1606	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1607	_bCritAnimVoltActive = false;
		1608	}
		1609	_bCritVoiceVoltActive = false;
2291	-	1610	_bWarnVoiceVoltActive = false;
2287	-	1611	_iVoltJitter = 0;
		1612	}
		1613	break;
		1614	case 8: // Current
		1615	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1616	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1617	break;
		1618	case 10: //heading
2291	-	1619	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2399	-	1620	if (!_Simulate) //use NavData for simulation
		1621	{
		1622	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1623	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		1624	}
2287	-	1625	break;
		1626	case 12: // SPI error
2291	-	1627	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1628	break;
		1629	case 14: //i2c error
2291	-	1630	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1631	break;
		1632	case 20: //Earthmagnet field
2291	-	1633	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1634	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1635
		1636	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1637	{
		1638	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1639	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1640	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1641	{
		1642	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1643	_bAnimMagneticFieldActive = false;
		1644	}
		1645	}
		1646	else
		1647	{
		1648	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1649	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1650	{
		1651	if (_iMagneticFieldJitter < 20)
		1652	_iMagneticFieldJitter++;
		1653	}
		1654	else
		1655	{
		1656	_iMagneticFieldJitter = 0;
		1657	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1658	}
		1659	if(_iMagneticFieldJitter == 20)
		1660	{
		1661	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1662	{
		1663	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1664	_bAnimMagneticFieldActive = true;
		1665	}
		1666	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1667	{
2398	-	1668	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1669	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1670	//t.Start();
2291	-	1671	_bVoiceMagneticFieldActive = true;
		1672	}
		1673	}
		1674	}
2287	-	1675	break;
		1676	case 21: //GroundSpeed
		1677	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2399	-	1678	if (!_Simulate)
		1679	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2287	-	1680	break;
2291	-	1681
		1682	///******** needs testing --> not sure what position this is *************
2287	-	1683	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1684	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1685	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1686	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1687	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1688	dTemp = Math.Sqrt(dTemp) / (double)10;
		1689	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1690	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1691	break;
2291	-	1692
2287	-	1693	case 31: //Sats used
		1694	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1695	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1696	break;
		1697	}
		1698	}
		1699	index++;
		1700	}
		1701	}
		1702	else
		1703	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1704	}
		1705	/// <summary>
		1706	/// Version string 'V'
		1707	/// </summary>
		1708	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1709	/// <param name="data">the received byte array to process</param>
		1710	void _processVersion(byte adr, byte[] data)
		1711	{
		1712	if (data.Length == 12)
		1713	{
		1714	if (!check_HWError)
		1715	{
		1716	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1717	string sVersion = "";
		1718	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1719	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1720	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1721	Log(LogMsgType.Incoming, sVersion);
		1722	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1723	Log(LogMsgType.Incoming, sVersion);
		1724	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1725	}
		1726	if (data[5] > 0) //error0
		1727	{
		1728	if (adr == 1)
2381	-	1729	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(),"","");
2287	-	1730	if (adr == 2)
2381	-	1731	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(),"","");
2287	-	1732	}
		1733	if (data[6] > 0) //error1
		1734	{
		1735	if (adr == 1)
2381	-	1736	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(),"","");
2287	-	1737	if (adr == 2)
2381	-	1738	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(),"",""); //@moment NC has only one error field
2287	-	1739	}
2381	-	1740	//if ((data[5] + data[6] == 0) && _bErrorLog)
		1741	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
2287	-	1742
		1743	}
		1744	check_HWError = false;
		1745	}
		1746	/// <summary>
		1747	/// BL-Ctrl data 'K'
		1748	/// for FC you have to use a customized firmware
		1749	/// </summary>
		1750	/// <param name="data">the received byte array to process</param>
		1751	void _processBLCtrl(byte[] data)
		1752	{
		1753	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1754	{
		1755	bool bAvailable = false;
		1756	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1757	{
		1758
		1759	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1760	bAvailable = true;
		1761	else
		1762	bAvailable = false;
		1763
		1764	if (data[i] < _iMotors)
		1765	{
		1766	if (bAvailable)
		1767	{
2315	-	1768	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1769	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1770	}
		1771	else
		1772	{
2315	-	1773	dtMotors.Rows[data[i]].SetField(1, "NA");
		1774	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1775	}
		1776	}
		1777	//if (data[i] > 3 && data[i] < 8)
		1778	//{
		1779	// if (bAvailable)
		1780	// {
		1781	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1782	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1783	// }
		1784	// else
		1785	// {
		1786	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1787	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1788	// }
		1789	//}
		1790	}
		1791	}
		1792	}
		1793	/// <summary>
		1794	/// Navi-Ctrl data 'O'
		1795	/// GPS-Position, capacatiy, flying time...
		1796	/// </summary>
		1797	/// <param name="data">the received byte array to process</param>
		1798	void _processNCData(byte[] data)
		1799	{
		1800	int i_32, i_16, iVal;
		1801	double d;
		1802	i_32 = data[4];
		1803	iVal = i_32 << 24;
		1804	i_32 = data[3];
		1805	iVal += i_32 << 16;
		1806	i_32 = data[2];
		1807	iVal += i_32 << 8;
		1808	iVal += data[1];
		1809	d = (double)iVal / Math.Pow(10, 7);
2324	-	1810	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1811
2287	-	1812	PointLatLng p = new PointLatLng();
		1813
		1814	p.Lng = d;
		1815	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1816	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1817
		1818	i_32 = data[8];
		1819	iVal = i_32 << 24;
		1820	i_32 = data[7];
		1821	iVal += i_32 << 16;
		1822	i_32 = data[6];
		1823	iVal += i_32 << 8;
		1824	iVal += data[5];
		1825	d = (double)iVal / Math.Pow(10, 7);
2324	-	1826	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1827	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1828	p.Lat = d;
2399	-	1829
2291	-	1830	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1831	{
		1832	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1833	if(_bAutoHome && !_bFirstSatFix)
		1834	{
		1835	if (_iFirstSatFix < 3)
		1836	_iFirstSatFix++;
		1837	else
		1838	{
		1839	_bFirstSatFix = true;
2347	-	1840	Dispatcher.Invoke(() => _setHomePos());
2295	-	1841	}
		1842	}
2291	-	1843	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1844	{
		1845	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1846	_bAnimSatFixActive = false;
		1847	}
		1848	if (!_bFollowCopter)
		1849	{
		1850	_setCopterData(p);
		1851	if (!MainMap.ViewArea.Contains(p))
		1852	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1853
2291	-	1854	}
		1855	else
2287	-	1856	Dispatcher.Invoke(() => MainMap.Position = p);
		1857	}
		1858	else
2291	-	1859	{
		1860	if(_bSatFix)
		1861	{
		1862	if (data[50] == _iSatsLast)
		1863	{
		1864	if (_iSatsJitter < 20) _iSatsJitter++;
		1865	}
		1866	else
		1867	{
		1868	_iSatsJitter = 0;
		1869	_iSatsLast = data[50];
		1870	}
2287	-	1871
2291	-	1872	if (_iSatsJitter == 20)
		1873	{
		1874	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1875	{
		1876	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1877	_bAnimSatFixActive = true;
		1878	}
		1879	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1880	{
2405	-	1881	_bVoiceSatFixActive = true;
2398	-	1882	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		1883	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		1884	//th.Start();
2291	-	1885	}
		1886
		1887	_bSatFix = false;
		1888	}
		1889	}
		1890	}
		1891
2399	-	1892	//Distance to next WP
2287	-	1893	i_16 = data[28];
		1894	i_16 = (Int16)(i_16 << 8);
		1895	iVal = data[27] + i_16;
2399	-	1896	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		1897	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
2401	-	1898	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	1899
		1900	i_16 = data[45];
		1901	i_16 = (Int16)(i_16 << 8);
		1902	iVal = data[44] + i_16;
		1903	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1904	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1905
		1906	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2355	-	1907	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2401	-	1908	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString()));
2399	-	1909	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
2342	-	1910	{
2347	-	1911	_setActiveWP(data[48]-1);
2355	-	1912	if((data[67] & 2) == 2)
		1913	Dispatcher.Invoke(() => {
		1914	DataGridRow row;
		1915	if (_wpIndex > -1)
		1916	{
		1917	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1918	row.Background = new SolidColorBrush(Colors.Transparent);
		1919	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1920	row.BorderThickness = new Thickness(0);
		1921	}
		1922	_wpIndex = data[48] - 1;
		1923	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
2366	-	1924	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		1925	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	1926	row.BorderThickness = new Thickness(2);
		1927	dgvWP.UpdateLayout();
		1928	});
2347	-	1929	_wpIndex = data[48]-1;
2342	-	1930	}
2347	-	1931	else
		1932	{
		1933	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	1934	{
2347	-	1935	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	1936	Dispatcher.Invoke(() =>
		1937	{
		1938	DataGridRow row;
2368	-	1939	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	1940	{
		1941	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1942	row.Background = new SolidColorBrush(Colors.Transparent);
		1943	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1944	row.BorderThickness = new Thickness(0);
		1945	_wpIndex = -1;
		1946	}
		1947	});
		1948
		1949	}
2347	-	1950	}
2342	-	1951
2287	-	1952	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	1953	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2401	-	1954	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	1955	_wpCount = data[49];
2287	-	1956	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1957
		1958	//--------------- Capacity used ------------------------
		1959	i_16 = data[81];
		1960	i_16 = (Int16)(i_16 << 8);
		1961	iVal = data[80] + i_16;
		1962	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1963	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1964
2398	-	1965	//--------------- Ground speed ------------------------
		1966	i_16 = data[59];
		1967	i_16 = (Int16)(i_16 << 8);
		1968	iVal = data[58] + i_16;
2399	-	1969	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		1970	if(_Simulate)
		1971	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
2398	-	1972
		1973	//--------------- Heading north ------------------------
		1974	i_16 = data[61];
		1975	i_16 = (Int16)(i_16 << 8);
		1976	iVal = data[60] + i_16;
		1977	Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
		1978
		1979	//--------------- Heading compass ------------------------
		1980	i_16 = data[63];
		1981	i_16 = (Int16)(i_16 << 8);
		1982	iVal = data[62] + i_16;
		1983	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
2399	-	1984	if (_Simulate)
		1985	{
		1986	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		1987	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		1988	}
2287	-	1989	//--------------- Flying time ------------------------
		1990	i_16 = data[56];
		1991	i_16 = (Int16)(i_16 << 8);
		1992	iVal = data[55] + i_16;
		1993	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1994	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1995	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1996	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1997
		1998	//--------------- RC quality ------------------------
		1999	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		2000	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		2001
2291	-	2002	if(data[66] > _iThresholdRC)
		2003	{
		2004	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2005	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2006	{
		2007	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2008	_bAnimRCLevelActive = false;
		2009	}
		2010	}
		2011	else
		2012	{
		2013	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2014	if (_iRCLevelJitter == 20)
		2015	{
		2016	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2017	{
		2018	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2019	_bAnimRCLevelActive = true;
		2020	}
		2021	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2022	{
2405	-	2023	_bVoiceRCLevelActive = true;
2398	-	2024	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2025	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2026	//th.Start();
2291	-	2027	}
		2028	_iRCLevelJitter++;
		2029	}
		2030	}
		2031
2405	-	2032	//Waypoint max range (by license)
		2033	if(dWPMaxRange != (double)data[70])
		2034	{
		2035	dWPMaxRange = (double)data[70];
		2036	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2037	{
		2038	if (cWPBound != null && cWPBound.Tag != null)
		2039	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2040
		2041	createCircle(home.Position, dWPMaxRange);
2408	-	2042	Dispatcher.Invoke(() =>
		2043	{
		2044	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2045	{
		2046	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2047	cWPBound.setColor(s);
		2048	}
		2049	});
2405	-	2050	}
		2051	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m"));
		2052	}
2399	-	2053	//Target hold time
		2054	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
2401	-	2055	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s"));
2399	-	2056
2287	-	2057	//--------------- NC Error ------------------------
		2058	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		2059	if (data[69] > 0)
		2060	_readNCError();
		2061	if (data[69] > 0 & data[69] < 44)
2381	-	2062	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		2063	//else
		2064	// if (_bErrorLog) _clearErrorLog("NC Error");
2287	-	2065
2298	-	2066	//-------------FC / NC Status Flags
		2067	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2068	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2069	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2070	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2071	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2072	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2073
		2074	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2075	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2076	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2077	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2078	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2079	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
		2080	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2081	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2082
		2083	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2084	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2085	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2086	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2087	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2088	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2089	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	2090
		2091	//Sidebar StatusSymbols
		2092	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2093	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
		2094	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
		2095
		2096	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2097	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
		2098	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
		2099
		2100	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	2101	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
		2102	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	-	2103
		2104	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2105	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
		2106	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
		2107
		2108	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	2109	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
		2110	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
		2111	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	-	2112
2324	-	2113	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	2114	}
		2115	/// <summary>
		2116	/// Navi-Ctrl WP data struct 'X'
		2117	/// called by index
		2118	/// </summary>
		2119	/// <param name="data">the received byte array to process</param>
		2120	void _processWPData(byte[] data)
		2121	{
2313	-	2122	_iWPCount = data[0];
2287	-	2123	_bGetWPCount = false;
		2124	if (data.Length >= 28)
		2125	{
		2126	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		2127	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		2128	if (_bGetWP)
		2129	{
		2130	if (data[1] == 1)
2315	-	2131	{
2333	-	2132	Dispatcher.Invoke(() =>
		2133	{
2356	-	2134	wpList.Clear();
		2135	_clearMapMarkers(typeof(CustomMarkerWP));
		2136	if (mRouteWP != null)
		2137	MainMap.Markers.Remove(mRouteWP);
		2138	if (wpActiveMarker != null)
		2139	MainMap.Markers.Remove(wpActiveMarker);
		2140	lblWPRouteDistance.Content = "0 m";
		2141	dtWaypoints.Rows.Clear();
2368	-	2142	_wpEdit = -1;_wpIndex = -1;
2318	-	2143	});
2315	-	2144	}
2287	-	2145	DataRow dr = dtWaypoints.NewRow();
		2146	dr = Waypoints.toDataRow(data, dr);
2313	-	2147	dtWaypoints.Rows.Add(dr);
2363	-	2148	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1]);
2313	-	2149	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2150	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	2151	if (data[1] == data[0])
		2152	{
		2153	_bGetWP = false;
2368	-	2154	_routeUpdate();
2287	-	2155	}
		2156
		2157	}
		2158	}
		2159	else
		2160	{
		2161	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		2162	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		2163	}
		2164	}
		2165	/// <summary>
		2166	/// OSD Menue 'L'
		2167	/// single page called by pagenumber
		2168	/// no autoupdate
		2169	/// </summary>
		2170	/// <param name="data">the received byte array to process</param>
		2171	void _processOSDSingle(byte[] data)
		2172	{
		2173	if (data.Length == 84)
		2174	{
		2175	string sMessage = "";
		2176	iOSDPage = data[0];
		2177	iOSDMax = data[1];
		2178	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		2179	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		2180	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2181	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2182	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2183	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2184	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2185	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2186
		2187	}
		2188	//else
		2189	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2190
		2191	}
		2192	/// <summary>
		2193	/// OSD Menue 'H'
		2194	/// called by keys (0x01,0x02,0x03,0x04)
		2195	/// autoupdate
		2196	/// </summary>
		2197	/// <param name="data">the received byte array to process</param>
		2198	void _processOSDAuto(byte[] data)
		2199	{
		2200	if (data.Length == 81)
		2201	{
		2202	string sMessage = "";
		2203	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2204	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2205	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2206	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2207	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2208
		2209	}
		2210	//else
		2211	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2212	}
		2213
		2214	#endregion processing received data
		2215
		2216	#region controller messages
		2217	/// <summary> send message to controller to request data
		2218	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2219	/// </summary>
		2220	/// <param name="CMDID"> the command ID </param>
		2221	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2222	private void _sendControllerMessage(char CMDID, byte address)
		2223	{
		2224	if (serialPortCtrl.Port.IsOpen)
		2225	{
		2226	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2227	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2228	serialStream.Write(bytes, 0, bytes.Length);
		2229
		2230	}
		2231	else
		2232	Log(LogMsgType.Error, "NOT CONNECTED!");
		2233	}
		2234	/// <summary> send message to controller to request data
		2235	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2236	/// </summary>
		2237	/// <param name="CMDID"> the command ID </param>
		2238	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2239	/// <param name="data"> additional data for the request</param>
		2240	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2241	{
		2242	if (serialPortCtrl.Port.IsOpen)
		2243	{
		2244	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2245	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2246	serialStream.Write(bytes, 0, bytes.Length);
		2247
		2248	}
		2249	else
		2250	Log(LogMsgType.Error, "NOT CONNECTED!");
		2251	}
		2252
		2253	/// <summary>
		2254	/// start/stop continous polling of controller values
		2255	/// </summary>
		2256	/// <param name="b">start/stop switch</param>
		2257	void _readCont(bool b)
		2258	{
		2259	bReadContinously = b;
		2260	if (bReadContinously)
		2261	{
		2262	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2263	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2264	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2265	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2266	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2267	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2268	}
		2269	else
		2270	{
		2271	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2272	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2273	_bConnErr = false;
		2274	}
		2275	_iLifeCounter = 0;
		2276	}
		2277
		2278	private void _getVersion()
		2279	{
		2280	_sendControllerMessage('v', 0);
		2281	}
		2282	/// <summary>
		2283	/// get FC version struct via NC
		2284	/// by sending '1' as data (not documented in wiki...)
		2285	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2286	/// </summary>
		2287	/// <param name="ctrl">controller number 1=FC</param>
		2288	private void _getVersion(byte ctrl)
		2289	{
		2290	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2291	}
		2292	/// <summary>
		2293	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2294	/// </summary>
		2295	private void _switchToNC()
		2296	{
		2297	if (serialPortCtrl.Port.IsOpen)
		2298	{
		2299	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2300	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2301	serialStream.Write(bytes, 0, bytes.Length);
		2302
		2303	Thread.Sleep(100);
		2304	_getVersion();
		2305	Thread.Sleep(100);
		2306	// _OSDMenue(0);
		2307	}
		2308	else
		2309	Log(LogMsgType.Error, "NOT CONNECTED!");
		2310	}
		2311	/// <summary>
		2312	/// switch to FC
		2313	/// </summary>
		2314	private void _switchToFC()
		2315	{
		2316	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2317	Thread.Sleep(100);
		2318	_getVersion();
		2319	Thread.Sleep(100);
		2320	// _OSDMenue(0);
		2321	}
		2322	/// <summary>
		2323	/// send RESET signal to FC
		2324	/// </summary>
		2325	private void _resetCtrl()
		2326	{
		2327	_sendControllerMessage('R', 1);
		2328	}
		2329	/// <summary>
		2330	/// poll the debug data (4sec subscription)
		2331	/// </summary>
		2332	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2333	private void _readDebugData(bool auto)
		2334	{
		2335	byte interval = auto ? debugInterval : (byte)0;
		2336	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2337	}
		2338	/// <summary>
		2339	/// poll the BL-CTRL status via NC (4sec subscription)
		2340	/// </summary>
		2341	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2342	private void _readBLCtrl(bool auto)
		2343	{
		2344	byte interval = auto ? blctrlInterval : (byte)0;
		2345	_sendControllerMessage('k', 0, new byte[1] { interval });
		2346	}
		2347	/// <summary>
		2348	/// poll the NC data struct (4sec subscription)
		2349	/// </summary>
		2350	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2351	private void _readNavData(bool auto)
		2352	{
		2353	byte interval = auto ? navctrlInterval : (byte)0;
		2354	_sendControllerMessage('o', 2, new byte[1] { interval });
		2355	}
		2356	/// <summary>
		2357	/// get the errortext for pending NC error
		2358	/// </summary>
		2359	private void _readNCError()
		2360	{
		2361	_sendControllerMessage('e', 2);
		2362	}
		2363	/// <summary>
		2364	/// request the Waypoint at index
		2365	/// </summary>
		2366	/// <param name="index"></param>
		2367	void _getpWP(int index)
		2368	{
		2369	if (serialPortCtrl.Port.IsOpen)
		2370	{
		2371	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2372	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2373	serialStream.Write(bytes, 0, bytes.Length);
		2374	}
		2375	else
		2376	Log(LogMsgType.Error, "NOT CONNECTED!");
		2377
		2378	}
		2379	void _getWP()
		2380	{
2335	-	2381	int iTimeout = 0;
2287	-	2382	_bGetWPCount = true;
2315	-	2383	_getpWP(1); //get the itemscount of wp
2335	-	2384	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2385	{
		2386	Thread.Sleep(10);
		2387	iTimeout++;
		2388	}
		2389	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2390	_getWPList();
		2391	}
		2392	void _getWPList()
		2393	{
		2394	_bGetWP = true;
2313	-	2395	int iTimeout=0;
		2396	for (int j = 0; j < _iWPCount; j++)
2287	-	2397	{
		2398	_getpWP(j + 1);
2313	-	2399	iTimeout = 0;
		2400	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2401	{
		2402	Thread.Sleep(1);
		2403	iTimeout++;
		2404	}
2287	-	2405	}
2419	-	2406	Dispatcher.Invoke(() =>
		2407	{
		2408	// MainMap.ZoomAndCenterMarkers(null);
		2409	MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]);
		2410	MainMap.Zoom = 19;
		2411	});
2287	-	2412	}
2363	-	2413	/// <summary>
		2414	/// Wrapper for _clearCopterWPList()
		2415	/// necessary, cause it is called by threadnew which does not like return values...
		2416	/// </summary>
2340	-	2417	void clearCopterWPList()
2313	-	2418	{
2340	-	2419	_clearCopterWPList();
		2420	}
2363	-	2421	/// <summary>
		2422	/// clear the WP list of the copter
		2423	/// by sending 'invalid' and index '0'
		2424	/// </summary>
		2425	/// <returns></returns>
2340	-	2426	bool _clearCopterWPList()
		2427	{
2335	-	2428	int iTimeout = 0;
2313	-	2429	if (serialPortCtrl.Port.IsOpen)
		2430	{
		2431	byte[] bData = new byte[30];
		2432	for (int i = 0; i < 30; i++)
		2433	bData[i] = 0;
		2434	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2435	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2436	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2437
2313	-	2438	_iWPCount = -1;
2340	-	2439	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2440	{
2313	-	2441	Thread.Sleep(10);
2335	-	2442	iTimeout++;
		2443	}
2313	-	2444	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2445	if (_iWPCount > -1)
2340	-	2446	return true;
		2447	else
		2448	Log(LogMsgType.Error, "Timeout while sending list!");
		2449	}
		2450	else
		2451	Log(LogMsgType.Error, "NOT CONNECTED!");
		2452
		2453	return false;
		2454	}
		2455	void _sendWPList()
		2456	{
2362	-	2457	_sendWPList(0);
		2458	}
		2459	void _sendWPList(int iStart)
		2460	{
2340	-	2461	int iTimeout = 0;
		2462	if (serialPortCtrl.Port.IsOpen)
		2463	{
		2464	if (_clearCopterWPList())
2313	-	2465	{
2362	-	2466	int k = 1;
		2467	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	2468	{
2362	-	2469	k = iStart > 0 ? k : -1;
2376	-	2470	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	2471
2335	-	2472	_iWPCount = -1;
		2473	iTimeout = 0;
		2474	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2475	{
		2476	Thread.Sleep(10);
		2477	iTimeout++;
		2478	}
		2479	if (_iWPCount == -1)
		2480	{
		2481	Log(LogMsgType.Error, "Timeout while sending list!");
		2482	break;
		2483	}
		2484	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	2485	k++;
2335	-	2486	}
2313	-	2487	}
		2488	}
		2489	else
		2490	Log(LogMsgType.Error, "NOT CONNECTED!");
		2491
		2492	}
2376	-	2493	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	2494	{
2313	-	2495
2340	-	2496	if (serialPortCtrl.Port.IsOpen)
		2497	{
		2498	byte[] bData = new byte[30];
		2499	for (int i = 0; i < 30; i++)
		2500	bData[i] = 0;
		2501	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2502	byte[] bytes;
		2503	int iVal;
		2504	double dVal;
		2505	NumberFormatInfo nfi = new NumberFormatInfo();
		2506	nfi.NumberDecimalSeparator = ",";
		2507
		2508	//longitude
		2509	dVal = Convert.ToDouble(dr[4], nfi);
		2510	iVal = (int)(dVal * Math.Pow(10, 7));
		2511	bData[0] = (byte)(iVal & 0xff);
		2512	bData[1] = (byte)((iVal >> 8) & 0xff);
		2513	bData[2] = (byte)((iVal >> 16) & 0xff);
		2514	bData[3] = (byte)(iVal >> 24);
		2515	//latitude
		2516	dVal = Convert.ToDouble(dr[3], nfi);
		2517	iVal = (int)(dVal * Math.Pow(10, 7));
		2518	bData[4] = (byte)(iVal & 0xff);
		2519	bData[5] = (byte)((iVal >> 8) & 0xff);
		2520	bData[6] = (byte)((iVal >> 16) & 0xff);
		2521	bData[7] = (byte)(iVal >> 24);
		2522	//altitude
		2523	dVal = Convert.ToDouble(dr[5], nfi);
		2524	iVal = (int)(dVal * 10);
		2525	bData[8] = (byte)(iVal & 0xff);
		2526	bData[9] = (byte)((iVal >> 8) & 0xff);
		2527	bData[10] = (byte)((iVal >> 16) & 0xff);
		2528	bData[11] = (byte)(iVal >> 24);
2376	-	2529	if(bSim)
		2530	bData[12] = 3; //Status 'SIMULATE'
2340	-	2531	//Status 'NEWDATA'
2376	-	2532	else
		2533	bData[12] = 1;
2340	-	2534	//heading
		2535	iVal = Convert.ToInt16(dr[6]);
		2536	bData[13] = (byte)(iVal & 0xff);
		2537	bData[14] = (byte)((iVal >> 8) & 0xff);
		2538	//ToleranceRadius
		2539	bData[15] = Convert.ToByte(dr[9]);
		2540	//HoldTime
		2541	bData[16] = Convert.ToByte(dr[10]);
		2542	//Event_Flag
		2543	bData[17] = Convert.ToByte(dr[13]);
		2544	//Index
2379	-	2545	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
2340	-	2546	//Type
		2547	bData[19] = Convert.ToByte(dr[1]);
		2548	//WP_EventChannelValue
		2549	bData[20] = Convert.ToByte(dr[14]);
		2550	//AltitudeRate
		2551	bData[21] = Convert.ToByte(dr[8]);
		2552	//Speed
		2553	bData[22] = Convert.ToByte(dr[7]);
		2554	//CamAngle
		2555	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2556	//Name
2362	-	2557	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		2558	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	2559	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2560	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2561	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2562	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2563	//Autotrigger
		2564	bData[28] = Convert.ToByte(dr[11]);
		2565
2356	-	2566	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	2567	serialStream.Write(bytes, 0, bytes.Length);
		2568
		2569	return true;
		2570	}
		2571
		2572	return false;
		2573	}
2287	-	2574	#region OSD-Menue
		2575
		2576	/// <summary>
		2577	/// one time query of the OSD Menue with pagenumber
		2578	/// </summary>
		2579	/// <param name="iMenue">Menue page</param>
		2580	void _OSDMenue(int iMenue)
		2581	{
		2582	if (serialPortCtrl.Port.IsOpen)
		2583	{
		2584	if (iMenue > iOSDMax)
		2585	iMenue = 0;
		2586	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2587	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2588	serialStream.Write(bytes, 0, bytes.Length);
		2589	}
		2590	else
		2591	Log(LogMsgType.Error, "NOT CONNECTED!");
		2592
		2593	}
		2594	/// <summary>
		2595	/// call the OSDMenue and start autorefresh
		2596	/// usually by sending a menuekey
		2597	/// 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)
		2598	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2599	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2600	/// </summary>
		2601	void _OSDMenueAutoRefresh()
		2602	{
		2603	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2604	}
		2605	void _OSDMenueAutoRefresh(byte key)
		2606	{
		2607	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2608	}
		2609	/// <summary>
		2610	/// initialize the OSD menue combobox
		2611	/// combox is filled by numbers from 0 to max pagenumber
		2612	/// </summary>
		2613	void _initOSDCB()
		2614	{
		2615	_bCBInit = true;
		2616	if (iOSDMax == 0)
		2617	{
		2618	_OSDMenue(0);
		2619	Thread.Sleep(10);
		2620	}
		2621	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2622	for (int i = 0; i <= iOSDMax; i++)
		2623	{
		2624	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2625	}
		2626	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2627	_bCBInit = false;
		2628	}
		2629	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2630	{
		2631	iOSDPage++;
		2632	if (iOSDPage > iOSDMax)
		2633	iOSDPage = 0;
		2634
		2635	_OSDMenue(iOSDPage);
		2636	}
		2637	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2638	{
		2639	iOSDPage--;
		2640	if (iOSDPage < 0)
		2641	iOSDPage = iOSDMax;
		2642
		2643	_OSDMenue(iOSDPage);
		2644	}
		2645	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2646	{
		2647	_OSDMenueAutoRefresh(8);
		2648	}
		2649	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2650	{
		2651	_OSDMenueAutoRefresh(4);
		2652	}
		2653	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2654	{
		2655	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2656	_OSDMenue(cbOSD.SelectedIndex);
		2657	}
		2658	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2659	{
		2660	Dispatcher.Invoke(() =>
		2661	{
		2662	TextRange tr;
		2663	if (bNew)
		2664	{
		2665	rtfOSD.SelectAll();
		2666	rtfOSD.Selection.Text = string.Empty;
		2667	}
		2668	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2669	tr.Text = msg;
		2670	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2671	// rtfOSD.AppendText("\r");
		2672	rtfOSD.ScrollToEnd();
		2673
		2674	});
		2675	}
		2676
		2677	#endregion OSD-Menue
		2678
		2679	#endregion controller messages
		2680
2398	-	2681	void _mediaPlayer(object file)
2295	-	2682	{
2405	-	2683	Monitor.TryEnter(lockObj);
		2684	try
2295	-	2685	{
2405	-	2686	if (File.Exists((string)file))
		2687	{
		2688
		2689	mediaPlayer.Open((string)file);
		2690	mediaPlayer.Play();
		2691	}
		2692
2295	-	2693	}
2405	-	2694	finally
		2695	{
		2696	Monitor.Exit(lockObj);
		2697	}
2295	-	2698	}
2310	-	2699
2362	-	2700	#region ui
2310	-	2701	/// <summary>
		2702	/// Switch between fullscreen and normal window mode
		2703	/// save & restore scaling settings
		2704	/// </summary>
		2705	/// <param name="sender"></param>
		2706	/// <param name="e"></param>
2287	-	2707	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2708	{
		2709	if (winState.isMaximized)
		2710	{
		2711	winState.Restore(this);
		2712	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2713	if(_bSaveWinStateFull)
		2714	_saveScaleSliders(true);
		2715	if(_bSaveWinStateNormal)
		2716	_setScaleSliders(false);
		2717	}
		2718	else
		2719	{
		2720	winState.Maximize(this);
		2721	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2722	if(_bSaveWinStateNormal)
		2723	_saveScaleSliders(false);
		2724	if(_bSaveWinStateFull)
		2725	_setScaleSliders(true);
		2726	}
		2727	}
		2728
		2729	/// <summary>
		2730	/// reset the scaling of all UI elements to default
		2731	/// </summary>
		2732	/// <param name="sender"></param>
		2733	/// <param name="e"></param>
		2734	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2735	{
		2736	UIScaleHorizonSlider.Value =
		2737	UIScaleLOGSlider.Value =
		2738	UIScaleMotorsSlider.Value =
		2739	UIScaleOSDSlider.Value =
		2740	UIScaleSlider.Value =
		2741	UIScaleTopSlider.Value = 1;
		2742	}
		2743	/// <summary>
		2744	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2745	/// </summary>
		2746	/// <param name="sender"></param>
		2747	/// <param name="e"></param>
		2748	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2749	{
		2750	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2751	if (GridMotors != null)
		2752	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2753	if (GridSideBar != null)
		2754	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
2401	-	2755	if (WPStatus != null)
		2756	WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom);
2287	-	2757	if (GridOSD != null)
2401	-	2758	{
		2759	if(WPStatus.Visibility == Visibility.Visible)
		2760	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2761	else
		2762	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2763	}
2287	-	2764	if (GridData != null)
		2765	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2766	if (GridWP != null)
		2767	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2768	}
2419	-	2769	private void UIScaleOSDSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2770	{
		2771	if (!_init)
		2772	{
		2773	if (WPStatus != null && (WPStatus.Visibility == Visibility.Visible))
		2774	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2775	else
		2776	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2777	}
		2778	}
		2779
2310	-	2780	/// <summary>
		2781	/// restore the saved scalings for the fullscreen/normal window mode
		2782	/// </summary>
		2783	/// <param name="bFull">the mode the window is set to</param>
2287	-	2784	void _setScaleSliders(bool bFull)
		2785	{
		2786	if(bFull)
		2787	{
		2788	UIScaleSlider.Value = scaleFullAll;
		2789	UIScaleTopSlider.Value = scaleFullTopBar;
		2790	UIScaleMotorsSlider.Value = scaleFullMotors;
		2791	UIScaleOSDSlider.Value = scaleFullOSD;
		2792	UIScaleLOGSlider.Value = scaleFullLOG;
		2793	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2794	}
		2795	else
		2796	{
		2797	UIScaleSlider.Value = scaleNormalAll;
		2798	UIScaleTopSlider.Value = scaleNormalTopBar;
		2799	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2800	UIScaleOSDSlider.Value = scaleNormalOSD;
		2801	UIScaleLOGSlider.Value = scaleNormalLOG;
		2802	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2803	}
		2804	}
		2805
2310	-	2806	/// <summary>
		2807	/// save the scalings for the actual window mode
		2808	/// </summary>
		2809	/// <param name="bFull">the actual window mode</param>
2287	-	2810	void _saveScaleSliders(bool bFull)
		2811	{
		2812
		2813	if (bFull)
		2814	{
		2815	scaleFullAll = UIScaleSlider.Value;
		2816	scaleFullTopBar = UIScaleTopSlider.Value;
		2817	scaleFullMotors = UIScaleMotorsSlider.Value;
		2818	scaleFullOSD = UIScaleOSDSlider.Value;
		2819	scaleFullLOG = UIScaleLOGSlider.Value;
		2820	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2821	}
		2822	else
		2823	{
		2824	scaleNormalAll = UIScaleSlider.Value;
		2825	scaleNormalTopBar = UIScaleTopSlider.Value;
		2826	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2827	scaleNormalOSD = UIScaleOSDSlider.Value;
		2828	scaleNormalLOG = UIScaleLOGSlider.Value;
		2829	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2830	}
		2831	}
2362	-	2832	#endregion ui
2287	-	2833
		2834	/// <summary>
		2835	/// read settings from ini-file
		2836	/// </summary>
		2837	void _readIni()
		2838	{
		2839	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2840	_writeIni();
		2841	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2842	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2843	try
		2844	{
2287	-	2845
2312	-	2846	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2847	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2848	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2849	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2850	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2851	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2852	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2853	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2854
2312	-	2855	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2856	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2857	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2858	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2859	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2860	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2861	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2862	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2863
2312	-	2864	sVal = ini.IniReadValue("topBar", "voltage");
		2865	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2866	sVal = ini.IniReadValue("topBar", "capacity");
		2867	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2868	sVal = ini.IniReadValue("topBar", "current");
		2869	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2870	sVal = ini.IniReadValue("topBar", "flightTime");
		2871	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2872	sVal = ini.IniReadValue("topBar", "distanceHP");
		2873	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2874	sVal = ini.IniReadValue("topBar", "height");
		2875	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2876	sVal = ini.IniReadValue("topBar", "speed");
		2877	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2878	sVal = ini.IniReadValue("topBar", "magneticField");
		2879	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2880	sVal = ini.IniReadValue("topBar", "satellites");
		2881	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2882	sVal = ini.IniReadValue("topBar", "rc");
		2883	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2884
2312	-	2885	sVal = ini.IniReadValue("style", "saveFullScreen");
		2886	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2887	sVal = ini.IniReadValue("style", "saveNormalState");
		2888	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2889
2312	-	2890	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2891	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2892	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2893	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2894	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2895	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2896	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2897	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2898	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2899	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2900	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2901	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2902
2312	-	2903	sVal = ini.IniReadValue("style", "scaleFullAll");
		2904	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2905	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2906	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2907	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2908	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2909	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2910	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2911	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2912	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2913	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2914	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2915
2312	-	2916	sVal = ini.IniReadValue("general", "LiPoCells");
		2917	_LipoCells = Convert.ToInt16(sVal);
		2918	sVal = ini.IniReadValue("general", "Motors");
		2919	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2920
2312	-	2921	sVal = ini.IniReadValue("map", "followMe");
		2922	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2923	sVal = ini.IniReadValue("map", "AutoSetHome");
		2924	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2925	sVal = ini.IniReadValue("map", "GPXLog");
		2926	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2927
2312	-	2928	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2929	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2930	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2931	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2932	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2933	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2934	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2935	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2936	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2937	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2938	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2939	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2940	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2941	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2942	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2943	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2944	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2945	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2946	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2947	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2948	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2949	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2950
		2951	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2952	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2953	sVal = ini.IniReadValue("waypoints", "poicolor");
		2954	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2955	sVal = ini.IniReadValue("waypoints", "fscolor");
		2956	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2957	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2958	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2385	-	2959	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		2960	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
2379	-	2961	sVal = ini.IniReadValue("waypoints", "landingcolor");
		2962	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	2963	sVal = ini.IniReadValue("waypoints", "routecolor");
		2964	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		2965	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		2966	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2408	-	2967	sVal = ini.IniReadValue("waypoints", "showWPMaxRange");
		2968	if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal);
		2969	sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor");
		2970	if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal);
2349	-	2971
		2972	for (int i = 0; i < 12; i++)
		2973	{
		2974	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		2975	if (sVal != "")
		2976	serChan[i] = Convert.ToInt16(sVal);
		2977	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		2978	if (sVal != "")
		2979	serChanTitle[i] = sVal;
		2980	for (int y = 0; i < 4 && y < 3; y++)
		2981	{
		2982	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		2983	if (sVal != "")
		2984	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		2985	}
		2986	}
		2987
2312	-	2988	}
		2989	catch (Exception e)
		2990	{
2287	-	2991
2312	-	2992	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2993	}
		2994
2287	-	2995	}
		2996
		2997	/// <summary>
		2998	/// save settings to ini-file
		2999	/// </summary>
		3000	void _writeIni()
		3001	{
		3002
		3003	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3004	ini.path = filePath + "\\MKLiveViewSettings.ini";
		3005
2312	-	3006	try
		3007	{
2287	-	3008
2312	-	3009	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		3010	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		3011	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		3012	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	3013
2312	-	3014	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		3015	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		3016	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		3017	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	3018
2312	-	3019	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		3020	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	3021
2312	-	3022	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		3023	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	3024	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	3025
2312	-	3026	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		3027	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		3028	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		3029	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		3030	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		3031	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		3032	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		3033	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		3034	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		3035	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	3036
2312	-	3037	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		3038	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	3039
2312	-	3040	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		3041	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		3042	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		3043	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		3044	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		3045	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	3046
2312	-	3047	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		3048	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		3049	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		3050	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		3051	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		3052	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	3053
2312	-	3054	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		3055
		3056	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		3057	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		3058	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		3059	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		3060	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		3061	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		3062	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		3063	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		3064	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		3065	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		3066	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	3067
		3068	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		3069	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		3070	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		3071	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2385	-	3072	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
2379	-	3073	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
2328	-	3074	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		3075	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2408	-	3076	ini.IniWriteValue("waypoints", "showWPMaxRange", ((bool)checkBoxShowWPMaxRange.IsChecked).ToString());
		3077	ini.IniWriteValue("waypoints", "WPMaxRangecolor", comboBoxWPMaxRangeColor.SelectedIndex.ToString());
2349	-	3078
		3079	for (int i = 0; i < 12; i++)
		3080	{
		3081	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		3082	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		3083	for (int y = 0; i < 4 && y < 3; y++)
		3084	{
		3085	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		3086	}
		3087	}
		3088
2312	-	3089	}
		3090	catch (Exception e)
		3091	{
		3092
		3093	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);
		3094	}
2287	-	3095	}
2350	-	3096
2349	-	3097	#region serial channels
		3098	/// <summary>
		3099	/// Sending the serial channel values
		3100	/// </summary>
		3101	void _sendSerialData()
		3102	{
		3103	byte[] serData = new byte[12];
		3104	for (int i = 0; i < 12; i++)
		3105	{
		3106	serData[i] = unchecked((byte)(serChan[i] - 127));
		3107	}
		3108	_sendControllerMessage('y', 1, serData);
		3109	}
		3110	/// <summary>
		3111	/// init the controls for displaying
		3112	/// and setting serial control channels
		3113	/// </summary>
		3114	void _initSerialCtrl()
		3115	{
		3116	SerChan1ScaleSlider.Value = serChan[0];
		3117	textBoxSerial1.Text = serChanTitle[0];
		3118	SerChan2ScaleSlider.Value = serChan[1];
		3119	textBoxSerial2.Text = serChanTitle[1];
2350	-	3120	SerChan3ScaleSlider.Value = serChan[2];
		3121	textBoxSerial3.Text = serChanTitle[2];
2349	-	3122	//SerChan4ScaleSlider.Value = serChan[3];
		3123	//textBoxSerial4.Text = serChanTitle[3];
		3124	//trckbarSerial5.Value = serChan[4];
		3125	//textBoxSerial5.Text = serChanTitle[4];
		3126	//trckbarSerial6.Value = serChan[5];
		3127	//textBoxSerial6.Text = serChanTitle[5];
		3128	//trckbarSerial7.Value = serChan[6];
		3129	//textBoxSerial7.Text = serChanTitle[6];
		3130	//trckbarSerial8.Value = serChan[7];
		3131	//textBoxSerial8.Text = serChanTitle[7];
2312	-	3132
2349	-	3133	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		3134	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		3135	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		3136	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		3137	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		3138	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	3139	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		3140	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		3141	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	3142	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		3143	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		3144	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		3145	}
		3146	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3147	{
		3148	if (!_init)
		3149	{
		3150	serChan[0] = (int)SerChan1ScaleSlider.Value;
		3151	_sendSerialData();
		3152	}
		3153	}
		3154	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		3155	{
		3156	if (!_init)
		3157	{
		3158	serChanTitle[0] = textBoxSerial1.Text;
		3159	}
		3160	}
		3161	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		3162	{
		3163	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		3164	{
		3165	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		3166	}
		3167	}
		3168	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		3169	{
		3170	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		3171	{
		3172	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		3173	}
		3174	}
		3175	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		3176	{
		3177	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		3178	{
		3179	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		3180	}
		3181	}
		3182	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		3183	{
		3184	if (textBoxSerial1_val1.Text.Length > 0)
		3185	{
		3186	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		3187	}
		3188	}
		3189	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		3190	{
		3191	SerChan1ScaleSlider.Value = 0;
		3192	}
		3193	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		3194	{
		3195	SerChan1ScaleSlider.Value = 127;
		3196	}
		3197	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		3198	{
		3199	SerChan1ScaleSlider.Value = 254;
		3200	}
		3201	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		3202	{
		3203	if (textBoxSerial1_val2.Text.Length > 0)
		3204	{
		3205	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		3206	}
		3207	}
		3208	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		3209	{
		3210	if (textBoxSerial1_val3.Text.Length > 0)
		3211	{
		3212	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		3213	}
		3214	}
		3215
		3216	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3217	{
		3218	if (!_init)
		3219	{
		3220	serChan[1] = (int)SerChan2ScaleSlider.Value;
		3221	_sendSerialData();
		3222	}
		3223	}
		3224	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		3225	{
		3226	if (!_init)
		3227	{
		3228	serChanTitle[1] = textBoxSerial2.Text;
		3229	}
		3230	}
		3231	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		3232	{
		3233	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		3234	{
		3235	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		3236	}
		3237	}
		3238	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		3239	{
		3240	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		3241	{
		3242	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		3243	}
		3244	}
		3245	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		3246	{
		3247	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		3248	{
		3249	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3250	}
		3251	}
		3252	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3253	{
		3254	SerChan2ScaleSlider.Value = 0;
		3255	}
		3256	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3257	{
		3258	SerChan2ScaleSlider.Value = 127;
		3259	}
		3260	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3261	{
		3262	SerChan2ScaleSlider.Value = 254;
		3263	}
		3264	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3265	{
		3266	if (textBoxSerial2_val1.Text.Length > 0)
		3267	{
		3268	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3269	}
		3270	}
		3271	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3272	{
		3273	if (textBoxSerial2_val2.Text.Length > 0)
		3274	{
		3275	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3276	}
		3277	}
		3278	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3279	{
		3280	if (textBoxSerial2_val3.Text.Length > 0)
		3281	{
		3282	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3283	}
		3284	}
2350	-	3285
		3286	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3287	{
		3288	if (!_init)
		3289	{
		3290	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3291	_sendSerialData();
		3292	}
		3293	}
		3294	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3295	{
		3296	if (!_init)
		3297	{
		3298	serChanTitle[2] = textBoxSerial3.Text;
		3299	}
		3300	}
		3301	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3302	{
		3303	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3304	{
		3305	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3306	}
		3307	}
		3308	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3309	{
		3310	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3311	{
		3312	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3313	}
		3314	}
		3315	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3316	{
		3317	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3318	{
		3319	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3320	}
		3321	}
		3322	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3323	{
		3324	SerChan3ScaleSlider.Value = 0;
		3325	}
		3326	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3327	{
		3328	SerChan3ScaleSlider.Value = 127;
		3329	}
		3330	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3331	{
		3332	SerChan3ScaleSlider.Value = 254;
		3333	}
		3334	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3335	{
		3336	if (textBoxSerial3_val1.Text.Length > 0)
		3337	{
		3338	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3339	}
		3340	}
		3341	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3342	{
		3343	if (textBoxSerial3_val2.Text.Length > 0)
		3344	{
		3345	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3346	}
		3347	}
		3348	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3349	{
		3350	if (textBoxSerial3_val3.Text.Length > 0)
		3351	{
		3352	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3353	}
		3354	}
2349	-	3355	/// <summary>
		3356	/// checks the input of a textbox
		3357	/// for valid data
		3358	/// in this case values 0-254
		3359	/// </summary>
		3360	/// <param name="sender"></param>
		3361	/// <param name="e"></param>
		3362	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3363	{
		3364	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3365	e.Handled = true;
		3366	else
		3367	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3368	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3369	e.Handled = true;
		3370	else
		3371	{
		3372	int i = -1;
		3373	switch (((TextBox)sender).Name)
		3374	{
		3375	case "textBoxSerial1_val1":
		3376	i = 0;
		3377	break;
		3378	case "textBoxSerial1_val2":
		3379	i = 1;
		3380	break;
		3381	case "textBoxSerial1_val3":
		3382	i = 2;
		3383	break;
		3384	case "textBoxSerial2_val1":
		3385	i = 3;
		3386	break;
		3387	case "textBoxSerial2_val2":
		3388	i = 4;
		3389	break;
		3390	case "textBoxSerial2_val3":
		3391	i = 5;
		3392	break;
		3393	case "textBoxSerial3_val1":
		3394	i = 6;
		3395	break;
		3396	case "textBoxSerial3_val2":
		3397	i = 7;
		3398	break;
		3399	case "textBoxSerial3_val3":
		3400	i = 8;
		3401	break;
		3402	case "textBoxSerial4_val1":
		3403	i = 9;
		3404	break;
		3405	case "textBoxSerial4_val2":
		3406	i = 10;
		3407	break;
		3408	case "textBoxSerial4_val3":
		3409	i = 11;
		3410	break;
		3411	}
		3412	if (i > -1)
		3413	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3414	}
		3415	}
		3416
		3417	#endregion serial channels
2315	-	3418	#region WP
2312	-	3419	void _readWPLFile()
		3420	{
		3421	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3422	fd.Filter = "Waypointlists \| *.wpl";
		3423	fd.Multiselect = false;
		3424	if (fd.ShowDialog().Value)
		3425	{
		3426	string file = fd.SafeFileName;
		3427	IniFile ini = new IniFile(fd.SafeFileName);
		3428	ini.path = fd.FileName;
		3429
		3430	try
		3431	{
		3432	string sVal = ini.IniReadValue("General", "FileVersion");
		3433	if (sVal == "")
		3434	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3435	else
		3436	{
		3437	if (Convert.ToInt16(sVal) < 3)
		3438	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3439	else
		3440	{
		3441	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3442	if (sVal == "")
		3443	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3444	else
		3445	{
		3446	int wpnum = Convert.ToInt16(sVal);
		3447	string wp;
		3448	int i;
2313	-	3449	NumberFormatInfo nfi = new NumberFormatInfo();
		3450	nfi.NumberDecimalSeparator = ".";
2312	-	3451	dtWaypoints.Rows.Clear();
2368	-	3452	_wpEdit = -1;_wpIndex = -1;
2327	-	3453	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	3454	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	3455	wpList.Clear();
		3456	if (mRouteWP != null)
		3457	MainMap.Markers.Remove(mRouteWP);
2363	-	3458	//if (wpActiveMarker != null)
		3459	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	3460	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3461
2312	-	3462	for (int k = 1; k <= wpnum; k++)
		3463	{
		3464	DataRow dr = dtWaypoints.NewRow();
		3465	dr.ItemArray = new object[16];
		3466	object[] o = new object[16];
		3467	i = 0;
		3468	wp = "Point" + k.ToString();
		3469	o[i] = k;
		3470	i++;
		3471	sVal = ini.IniReadValue(wp, "Type");
		3472	if (sVal != "")
2315	-	3473	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3474	i++;
		3475	sVal = ini.IniReadValue(wp, "Prefix");
		3476	if (sVal != "")
2350	-	3477	o[i] = sVal + k.ToString();
		3478	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3479	i++;
2313	-	3480	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3481	if (sVal != "")
2313	-	3482	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3483	i++;
2313	-	3484	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3485	if (sVal != "")
2313	-	3486	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3487	i++;
		3488	sVal = ini.IniReadValue(wp, "Altitude");
		3489	if (sVal != "")
2313	-	3490	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3491	i++;
		3492	sVal = ini.IniReadValue(wp, "Heading");
		3493	if (sVal != "")
		3494	o[i] = Convert.ToInt16(sVal);
		3495	i++;
		3496	sVal = ini.IniReadValue(wp, "Speed");
		3497	if (sVal != "")
2315	-	3498	o[i] = Convert.ToInt16(sVal);
2312	-	3499	i++;
		3500	sVal = ini.IniReadValue(wp, "ClimbRate");
		3501	if (sVal != "")
		3502	o[i] = Convert.ToInt16(sVal);
		3503	i++;
		3504	sVal = ini.IniReadValue(wp, "Radius");
		3505	if (sVal != "")
		3506	o[i] = Convert.ToInt16(sVal);
		3507	i++;
		3508	sVal = ini.IniReadValue(wp, "DelayTime");
		3509	if (sVal != "")
		3510	o[i] = Convert.ToInt16(sVal);
		3511	i++;
		3512	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3513	if (sVal != "")
		3514	o[i] = Convert.ToInt16(sVal); ;
		3515	i++;
		3516	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3517	if (sVal != "")
2313	-	3518	o[i] = Convert.ToInt16(sVal);
2312	-	3519	i++;
		3520	o[i] = 0;
		3521	i++;
		3522	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3523	if (sVal != "")
		3524	o[i] = Convert.ToInt16(sVal);
		3525	i++;
		3526	o[i] = "New";
		3527
		3528	dr.ItemArray = o;
		3529	dtWaypoints.Rows.Add(dr);
2363	-	3530	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1]);
2315	-	3531
2312	-	3532	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3533	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3534	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
2419	-	3535	Thread.Sleep(1);
2312	-	3536	}
2419	-	3537	Dispatcher.Invoke(() => MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]));
		3538	Dispatcher.Invoke(() => MainMap.Zoom = 19);
		3539	// Dispatcher.Invoke(() => MainMap.ZoomAndCenterMarkers(null));
		3540	Dispatcher.Invoke(() => _routeUpdate());
2312	-	3541	}
		3542	}
		3543	}
		3544
		3545	}
		3546	catch (Exception e)
		3547	{
		3548
		3549	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		3550	}
		3551
		3552	}
		3553	}
2350	-	3554	void _saveWPLFile()
		3555	{
		3556	if (dtWaypoints.Rows.Count > 0)
		3557	{
		3558	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		3559	fd.Filter = "Waypointlists \| *.wpl";
		3560	fd.AddExtension = true;
		3561	if (fd.ShowDialog().Value)
		3562	{
		3563	string file = fd.SafeFileName;
		3564	IniFile ini = new IniFile(fd.SafeFileName);
		3565	ini.path = fd.FileName;
		3566	NumberFormatInfo nfi = new NumberFormatInfo();
		3567	nfi.NumberDecimalSeparator = ".";
		3568
		3569	try
		3570	{
		3571	ini.IniWriteValue("General", "FileVersion", "3");
		3572	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		3573	ini.IniWriteValue("General", "Mapfile", "");
		3574	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		3575	{
		3576	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		3577	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		3578	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		3579	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		3580	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		3581	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		3582	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		3583	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		3584	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		3585	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		3586	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		3587	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));
		3588	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		3589	}
		3590	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		3591	}
		3592	catch { }
		3593	}
		3594	}
		3595	else
		3596	MessageBox.Show("Nothing to save...");
		3597	}
		3598	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		3599	{
		3600	_saveWPLFile();
		3601	}
		3602	/// <summary>
		3603	/// set the selected color for the route
		3604	/// </summary>
		3605	/// <param name="color"></param>
		3606	/// <returns></returns>
2328	-	3607	Brush _getBrush(string color)
		3608	{
		3609	switch (color)
		3610	{
		3611	case "red":
		3612	return Brushes.Red;
		3613	case "green":
		3614	return Brushes.Lime;
		3615	case "blue":
		3616	return Brushes.Aqua;
		3617	case "pink":
		3618	return Brushes.Magenta;
		3619	case "yellow":
		3620	return Brushes.Yellow;
		3621	default:
		3622	return Brushes.Magenta;
		3623	}
		3624	}
2359	-	3625	void _routeUpdate()
		3626	{
		3627	Dispatcher.Invoke(() =>
		3628	{
		3629	if (comboBoxRouteColor.SelectionBoxItem != null)
		3630	{
		3631	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3632	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3633	}
		3634	else
		3635	mRouteWP = new GMapRoute(wpList, null);
		3636
		3637	if (_bShowWPRoute)
2368	-	3638	MainMap.Markers.Add(mRouteWP);
2359	-	3639	});
		3640
		3641	MapRoute mr = new MapRoute(wpList, "WPList");
		3642	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		3643	}
2363	-	3644	GMapMarker _createWP(PointLatLng p, string name, int type)
		3645	{
		3646	GMapMarker wpMarker = new GMapMarker(p);
2385	-	3647	Dispatcher.Invoke(()=>
		3648	{
		3649	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
2419	-	3650	wpMarker.Tag = name;
2385	-	3651	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		3652	wpMarker.ZIndex = 100;
		3653	_setMarkerColor(wpMarker, type);
		3654	MainMap.Markers.Add(wpMarker);
		3655	if (type == 0 \|\| type == 3)
		3656	wpList.Add(p);
2419	-	3657	((CustomMarkerWP)wpMarker.Shape).positionChanged += _updateDTWPPos;
		3658	((CustomMarkerWP)wpMarker.Shape).newPosition += _updateDTWPPosFin;
		3659	((CustomMarkerWP)wpMarker.Shape).mouseCaptured += _WPMouseCatured;
2385	-	3660	});
2363	-	3661	return wpMarker;
		3662	}
2419	-	3663	bool _WPisMouseCaptured = false;
		3664	void _WPMouseCatured(bool isCaptured)
		3665	{
		3666	_WPisMouseCaptured = isCaptured;
		3667	MainMap.CanDragMap = !isCaptured;
		3668	}
		3669	void _updateDTWPPos(CustomMarkerWP wp)
		3670	{
		3671	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		3672	int index = Convert.ToInt16(sIndex) -1;
		3673	GMapMarker p = ((GMapMarker)wp.DataContext);
		3674	if (p != null && index < dtWaypoints.Rows.Count)
		3675	{
		3676	//dtWaypoints.Rows[index][3] = p.Position.Lat;
		3677	//dtWaypoints.Rows[index][4] = p.Position.Lng;
		3678	//Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3679	if(wp.WPType == 0 \| wp.WPType == 3)
		3680	{
		3681	wpList[index] = p.Position;
		3682	MainMap.Markers.Remove(mRouteWP);
		3683	_routeUpdate();
		3684	}
		3685	}
		3686	}
		3687	void _updateDTWPPosFin(CustomMarkerWP wp)
		3688	{
		3689	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		3690	int index = Convert.ToInt16(sIndex) -1;
		3691	GMapMarker p = ((GMapMarker)wp.DataContext);
		3692	if (p != null && index < dtWaypoints.Rows.Count)
		3693	{
		3694	dtWaypoints.Rows[index][3] = p.Position.Lat;
		3695	dtWaypoints.Rows[index][4] = p.Position.Lng;
		3696	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3697	}
		3698
		3699	}
		3700
2315	-	3701	void _setMarkerColor(GMapMarker wpMarker,int iType)
		3702	{
2369	-	3703	if(wpMarker != null)
2315	-	3704	Dispatcher.Invoke(() =>
		3705	{
		3706	switch (iType)
		3707	{
		3708	case 0:
		3709	if (comboBoxWPColor.SelectionBoxItem != null)
		3710	{
		3711	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3712	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3713	}
		3714	else
2372	-	3715	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	3716	break;
		3717	case 1:
		3718	if (comboBoxPOIColor.SelectionBoxItem != null)
		3719	{
		3720	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3721	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3722	}
		3723	else
2372	-	3724	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	3725	break;
		3726	case 2:
		3727	if (comboBoxFSColor.SelectionBoxItem != null)
		3728	{
		3729	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3730	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3731	}
		3732	else
		3733	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3734	break;
2372	-	3735	case 3:
		3736	if (comboBoxLandingColor.SelectionBoxItem != null)
		3737	{
		3738	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		3739	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3740	}
		3741	else
		3742	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		3743	break;
2315	-	3744	default:
		3745	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3746	break;
		3747	}
		3748	});
2312	-	3749
2315	-	3750	}
2372	-	3751	void _MarkerColorSelection(object sender,int type)
		3752	{
2315	-	3753	Dispatcher.Invoke(() =>
		3754	{
2372	-	3755	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	3756	{
		3757	for (int k = 0; k < MainMap.Markers.Count; k++)
		3758	{
		3759	GMapMarker p = MainMap.Markers[k];
2372	-	3760	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	3761	{
2372	-	3762	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	3763	{
2372	-	3764	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	3765	((CustomMarkerWP)(p.Shape)).setColor(s);
		3766	}
		3767	}
		3768	}
		3769	}
		3770	});
2287	-	3771	}
2379	-	3772	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	3773	{
2376	-	3774	_MarkerColorSelection(sender, 0);
		3775	}
		3776	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		3777	{
		3778	_MarkerColorSelection(sender, 1);
		3779	}
		3780	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		3781	{
		3782	_MarkerColorSelection(sender, 2);
		3783	}
		3784	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		3785	{
		3786	_MarkerColorSelection(sender,3);
		3787	}
2385	-	3788	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
2376	-	3789	{
2318	-	3790	Dispatcher.Invoke(() => {
		3791	if (comboBoxCopterColor.SelectionBoxItem != null)
		3792	{
		3793	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	3794	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	3795	}
		3796	else
2385	-	3797	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
2318	-	3798	});
		3799	}
2385	-	3800	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		3801	{
		3802	Dispatcher.Invoke(() => {
		3803	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		3804	{
		3805	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		3806	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		3807	}
		3808	else
		3809	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		3810	});
		3811	}
2328	-	3812	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3813	{
		3814	Dispatcher.Invoke(() =>
		3815	{
		3816	if (comboBoxRouteColor.SelectionBoxItem != null)
		3817	{
		3818	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3819	MainMap.Markers.Remove(mRouteWP);
		3820	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3821	if (_bShowWPRoute)
		3822	MainMap.Markers.Add(mRouteWP);
		3823	}
		3824	});
		3825	}
2408	-	3826	private void comboBoxWPMaxRangeColor_DropDownClosed(object sender, EventArgs e)
		3827	{
		3828	Dispatcher.Invoke(() =>
		3829	{
		3830	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		3831	{
		3832	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		3833	{
		3834	if (cWPBound != null && cWPBound.Tag != null)
		3835	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		3836
		3837	createCircle(home.Position, dWPMaxRange);
		3838	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		3839	cWPBound.setColor(s);
		3840
		3841	}
		3842	}
		3843	});
		3844
		3845	}
2328	-	3846	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3847	{
		3848	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3849	if (_bShowWPRoute)
		3850	{
		3851	if (mRouteWP != null)
		3852	MainMap.Markers.Add(mRouteWP);
		3853	}
		3854	else
		3855	{
		3856	if (mRouteWP != null)
		3857	MainMap.Markers.Remove(mRouteWP);
		3858	}
		3859	}
2315	-	3860	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3861	{
2315	-	3862	_readWPLFile();
2287	-	3863	}
2335	-	3864	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3865	{
		3866	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	3867	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	3868	wpList.Clear();
		3869	if (mRouteWP != null)
		3870	MainMap.Markers.Remove(mRouteWP);
2347	-	3871	//if (wpActiveMarker != null)
		3872	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	3873	dtWaypoints.Rows.Clear();
2356	-	3874	_wpEdit = -1;
2368	-	3875	_wpIndex = -1;
2335	-	3876	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3877	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3878	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3879	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3880	}
2340	-	3881	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3882	{
		3883	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3884	t.Start();
		3885	}
2355	-	3886	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	3887	{
		3888	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3889	{
2372	-	3890	if (_wpCount > 0)
2376	-	3891	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	3892	else
2376	-	3893	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	3894
2372	-	3895	//int index = dgvWP.SelectedIndex;
		3896	//Thread t = new Thread(() => _sendWPList(index));
		3897	//t.Start();
2354	-	3898
		3899	Dispatcher.Invoke(() => {
		3900	DataGridRow row;
2368	-	3901	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	3902	{
2368	-	3903	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	3904	row.Background = new SolidColorBrush(Colors.Transparent);
		3905	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3906	row.BorderThickness = new Thickness(0);
2376	-	3907	dgvWP.UpdateLayout();
2354	-	3908	}
2376	-	3909	//_wpEdit = dgvWP.SelectedIndex;
		3910	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3911	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		3912	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		3913	//row.BorderThickness = new Thickness(2);
2354	-	3914	});
2340	-	3915	}
		3916	}
2385	-	3917	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		3918	{
		3919	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3920	{
		3921
		3922	object[] o = new object[16];
		3923	o[0] = dgvWP.SelectedIndex + 1;
		3924	o[1] = cbWPEditType.SelectedIndex;
		3925	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3926	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3927	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		3928	o[5] = tbWPEditAlt.Text;
		3929	switch (cbWPEditHeading.SelectedIndex)
		3930	{
		3931	case 0:
		3932	o[6] = "0";
		3933	break;
		3934	case 1:
		3935	o[6] = "-" + tbWPEditHeading.Text;
		3936	break;
		3937	case 2:
		3938	o[6] = tbWPEditHeading.Text;
		3939	break;
		3940	}
		3941	switch (cbWPEditSpeed.SelectedIndex)
		3942	{
		3943	case 0:
		3944	o[7] = "0";
		3945	break;
		3946	case 1:
		3947	o[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3948	break;
		3949	case 2:
		3950	o[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3951	break;
		3952	}
		3953	switch (cbWPEditClimbrate.SelectedIndex)
		3954	{
		3955	case 0:
		3956	o[8] = "255";
		3957	break;
		3958	case 1:
		3959	o[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		3960	break;
		3961	}
		3962	o[9] = tbWPEditRadius.Text;
		3963	o[10] = tbWPEditHoldtime.Text;
		3964	o[11] = tbWPEditAutoTrigger.Text;
		3965	switch (cbWPEditCamAngle.SelectedIndex)
		3966	{
		3967	case 0:
		3968	o[12] = "0";
		3969	break;
		3970	case 1:
		3971	o[12] = "255";
		3972	break;
		3973	case 2:
		3974	o[12] = tbWPEditCamAngle.Text;
		3975	break;
		3976	}
		3977	o[13] = 0;
		3978	o[14] = tbWPEditOut1.Text;
		3979	DataRow dr = dtWaypoints.NewRow();
		3980	dr.ItemArray = o;
		3981
		3982	if (_wpCount > 0)
		3983	_sendWayPoint(dr, -1, 'w', false);
		3984	else
		3985	_sendWayPoint(dr, 1, 'w', false);
2399	-	3986
		3987	if(_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count)
		3988	_sendWayPoint(dtWaypoints.Rows[_wpIndex], _wpIndex + 1, 's', false);
2385	-	3989	}
		3990	}
2376	-	3991	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		3992	{
		3993	_Simulate = !_Simulate;
		3994	if (dtWaypoints.Rows.Count > 0)
		3995	{
		3996	DataRow dr = dtWaypoints.Rows[0];
		3997	dr[13] = _Simulate ? 3 : 0;
2379	-	3998	_sendWayPoint(dr, 0, 's', true);
2381	-	3999	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
2376	-	4000	}
		4001	}
2355	-	4002	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		4003	{
2359	-	4004	_dgvWPselectEditRow();
		4005	}
		4006	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		4007	{
		4008	}
		4009	void _dgvWPselectEditRow()
		4010	{
2355	-	4011	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4012	{
2368	-	4013	Dispatcher.Invoke(() => {
2355	-	4014	DataGridRow row;
2368	-	4015	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	4016	{
		4017	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4018	row.Background = new SolidColorBrush(Colors.Transparent);
		4019	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4020	row.BorderThickness = new Thickness(0);
		4021	}
		4022	_wpEdit = dgvWP.SelectedIndex;
		4023	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4024	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		4025	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		4026	row.BorderThickness = new Thickness(2);
		4027	dgvWP.UpdateLayout();
2340	-	4028
2355	-	4029	_setWPEditFields(_wpEdit);
		4030	});
		4031	}
		4032	}
		4033	void _setWPEditFields(int index)
		4034	{
		4035	int iVal;
		4036	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		4037	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		4038	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		4039	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		4040	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		4041	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		4042	if (iVal == 0)
		4043	{
		4044	cbWPEditHeading.SelectedIndex = 0;
		4045	tbWPEditHeading.Text = " - - -";
		4046	tbWPEditHeading.IsReadOnly = true;
		4047	}
		4048	if (iVal > 0 && iVal < 360)
		4049	{
		4050	cbWPEditHeading.SelectedIndex = 2;
		4051	tbWPEditHeading.Text = iVal.ToString();
		4052	tbWPEditHeading.IsReadOnly = false;
		4053	}
		4054	if (iVal < 0)
		4055	{
		4056	cbWPEditHeading.SelectedIndex = 1;
		4057	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		4058	tbWPEditHeading.IsReadOnly = false;
		4059	}
		4060	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		4061	if (iVal == 0)
		4062	{
		4063	cbWPEditSpeed.SelectedIndex = 0;
		4064	tbWPEditSpeed.Text = "MAX";
		4065	tbWPEditSpeed.IsReadOnly = true;
		4066	}
		4067	if (iVal > 0 && iVal < 248)
		4068	{
		4069	cbWPEditSpeed.SelectedIndex = 1;
		4070	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		4071	tbWPEditSpeed.IsReadOnly = false;
		4072	}
		4073	if (iVal > 247)
		4074	{
		4075	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		4076	tbWPEditSpeed.Text = "";
		4077	tbWPEditSpeed.IsReadOnly = true;
		4078	}
		4079	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		4080	if (iVal == 255)
		4081	{
		4082	cbWPEditClimbrate.SelectedIndex = 0;
		4083	tbWPEditClimbrate.Text = "AUTO";
		4084	tbWPEditClimbrate.IsReadOnly = true;
		4085	}
		4086	else
		4087	{
		4088	cbWPEditClimbrate.SelectedIndex = 1;
		4089	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		4090	tbWPEditClimbrate.IsReadOnly = false;
		4091	}
		4092	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		4093	tbWPEditRadius.Text = iVal.ToString();
		4094	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		4095	tbWPEditHoldtime.Text = iVal.ToString();
		4096	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		4097	tbWPEditAutoTrigger.Text = iVal.ToString();
		4098	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		4099	if (iVal == 0)
		4100	{
		4101	cbWPEditCamAngle.SelectedIndex = 0;
		4102	tbWPEditCamAngle.Text = " - - - ";
		4103	tbWPEditCamAngle.IsReadOnly = true;
		4104	}
		4105	if (iVal < 0 \| iVal == 255)
		4106	{
		4107	cbWPEditCamAngle.SelectedIndex = 1;
		4108	tbWPEditCamAngle.Text = "AUTO";
		4109	tbWPEditCamAngle.IsReadOnly = true;
		4110	}
		4111	if (iVal > 0 & iVal < 255)
		4112	{
		4113	cbWPEditCamAngle.SelectedIndex = 2;
		4114	tbWPEditCamAngle.Text = iVal.ToString();
		4115	tbWPEditCamAngle.IsReadOnly = false;
		4116	}
		4117	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		4118	tbWPEditOut1.Text = iVal.ToString();
		4119
		4120	}
		4121
2361	-	4122	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		4123	{
2363	-	4124	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4125	{
2369	-	4126	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	4127	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		4128	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		4129	int i = wpList.IndexOf(pOld);
2363	-	4130	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		4131	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4132	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4133	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	4134	if (i > -1)
		4135	{
		4136	if((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		4137	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		4138	else
		4139	wpList.Remove(pOld);
		4140	}
		4141	else
		4142	{
		4143	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		4144	{
		4145	int found = 0;
		4146	for (int k = 0; k < dgvWP.SelectedIndex; k++)
		4147	if ((int)dtWaypoints.Rows[k][1] == 0)
		4148	found++;
		4149	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		4150	}
		4151	}
2363	-	4152	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		4153	switch (cbWPEditHeading.SelectedIndex)
		4154	{
		4155	case 0:
		4156	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		4157	break;
		4158	case 1:
		4159	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		4160	break;
		4161	case 2:
		4162	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		4163	break;
		4164	}
		4165	switch (cbWPEditSpeed.SelectedIndex)
		4166	{
		4167	case 0:
		4168	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		4169	break;
		4170	case 1:
		4171	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4172	break;
		4173	case 2:
		4174	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4175	break;
		4176	}
		4177	switch (cbWPEditClimbrate.SelectedIndex)
		4178	{
		4179	case 0:
		4180	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		4181	break;
		4182	case 1:
		4183	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		4184	break;
		4185	}
		4186	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		4187	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		4188	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		4189	switch (cbWPEditCamAngle.SelectedIndex)
		4190	{
		4191	case 0:
		4192	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		4193	break;
		4194	case 1:
		4195	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		4196	break;
		4197	case 2:
		4198	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		4199	break;
		4200	}
		4201	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	4202
2369	-	4203	// _clearMapMarkers(typeof(CustomMarkerWP));
		4204	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		4205	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	4206	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	4207	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	4208	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	4209	// wpList.Clear();
2363	-	4210	if (mRouteWP != null)
		4211	MainMap.Markers.Remove(mRouteWP);
		4212
2369	-	4213	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		4214	//{
		4215	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		4216	//}
2363	-	4217	_routeUpdate();
		4218	dgvWP.Items.Refresh();
		4219
		4220	}
		4221
2361	-	4222	}
		4223	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		4224	{
2368	-	4225	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4226	{
		4227	int index = dgvWP.SelectedIndex;
		4228	Dispatcher.Invoke(() => {
		4229	DataGridRow row;
		4230	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		4231	{
		4232	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4233	row.Background = new SolidColorBrush(Colors.Transparent);
		4234	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4235	row.BorderThickness = new Thickness(0);
		4236	}
2372	-	4237	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	4238	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
		4239	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	4240	if (wpActiveMarker != null)
		4241	MainMap.Markers.Remove(wpActiveMarker);
2368	-	4242	dtWaypoints.Rows[index].Delete();
		4243	_wpIndex = -1;
		4244	_wpEdit = -1;
		4245	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		4246	{
		4247	dtWaypoints.Rows[i][0] = i + 1;
		4248	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		4249	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		4250	_renameWPMarker(s1, s2);
		4251	dtWaypoints.Rows[i][2] = s2;
		4252	}
		4253	lblWPCount.Content = dtWaypoints.Rows.Count;
		4254	if (mRouteWP != null)
		4255	MainMap.Markers.Remove(mRouteWP);
		4256	_routeUpdate();
2361	-	4257
2368	-	4258	dgvWP.UpdateLayout();
		4259	});
		4260	}
2361	-	4261	}
2366	-	4262	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		4263	{
		4264	_wpWEdit(sender);
		4265	}
2361	-	4266	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		4267	{
2366	-	4268	_wpWEdit(sender);
		4269	}
2369	-	4270	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		4271	{
		4272	_wpWEdit(sender);
		4273	}
2366	-	4274	void _wpWEdit(object sender)
		4275	{
2369	-	4276	// if (!((TextBox)sender).IsReadOnly)
2361	-	4277	{
		4278	KeyPad.Keypad k = new KeyPad.Keypad(this);
		4279
2363	-	4280	switch (((TextBox)sender).Name)
		4281	{
		4282	case "tbWPEditLat":
		4283	k.Title = "Latitude";
		4284	k.LENGTH = 17;
		4285	k.MAX = 359.9;
		4286	break;
		4287	case "tbWPEditLon":
		4288	k.Title = "Longitude";
		4289	k.LENGTH = 17;
		4290	k.MAX = 359.9;
		4291	break;
		4292	case "tbWPEditAlt":
		4293	k.Title = "Altitude";
		4294	k.LENGTH = 3;
		4295	k.MAX = 254;
		4296	k.disableDecimal();
		4297	break;
		4298	case "tbWPEditHeading":
		4299	k.Title = "Heading";
		4300	k.LENGTH = 3;
		4301	k.MAX = 359;
		4302	k.MIN = 1;
		4303	k.disableDecimal();
		4304	break;
		4305	case "tbWPEditSpeed":
		4306	k.Title = "Speed";
		4307	k.LENGTH = 4;
		4308	k.MAX = 24.7;
		4309	k.MIN = 0.1;
		4310	break;
		4311	case "tbWPEditClimbrate":
		4312	k.Title = "Climbrate";
		4313	k.LENGTH = 4;
		4314	k.MAX = 25.4;
		4315	k.MIN = 0.1;
		4316	break;
		4317	case "tbWPEditRadius":
		4318	k.Title = "Radius";
		4319	k.LENGTH = 3;
		4320	k.MAX = 254;
		4321	k.disableDecimal();
		4322	break;
		4323	case "tbWPEditHoldtime":
		4324	k.Title = "Holdtime";
		4325	k.LENGTH = 3;
		4326	k.MAX = 254;
		4327	break;
		4328	case "tbWPEditAutoTrigger":
		4329	k.Title = "Autotrigger";
		4330	k.LENGTH = 3;
		4331	k.MAX = 254;
		4332	k.disableDecimal();
		4333	break;
		4334	case "tbWPEditCamAngle":
		4335	k.Title = "Camera angle";
		4336	k.LENGTH = 3;
		4337	k.MAX = 254;
		4338	k.MIN = 1;
		4339	k.disableDecimal();
		4340	break;
		4341	case "tbWPEditOut1":
		4342	k.Title = "OUT1 timer interval";
		4343	k.LENGTH = 3;
		4344	k.MAX = 254;
		4345	k.disableDecimal();
		4346	break;
		4347	}
		4348	k.Result = ((TextBox)sender).Text;
2366	-	4349	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	4350	((TextBox)sender).Text = k.Result;
2361	-	4351	}
2366	-	4352
2361	-	4353	}
		4354	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	4355	{
2359	-	4356	object[] o = new object[16];
2356	-	4357
2359	-	4358	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		4359	o[1] = 0;
		4360	// cbWPEditType.SelectedIndex = 0;
		4361	// tbWPEditPrefix.Text = "P";
		4362	o[2] = "P" + o[0].ToString();
		4363	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4364	o[3] = copter.Position.Lat;
		4365	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4366	o[4] = copter.Position.Lng;
		4367	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		4368	o[5] = iAnalogData[4].ToString();
2356	-	4369
2359	-	4370	// cbWPEditHeading.SelectedIndex = 2;
		4371	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		4372	// tbWPEditHeading.IsReadOnly = false;
2356	-	4373
2359	-	4374	// cbWPEditSpeed.SelectedIndex = 1;
		4375	// tbWPEditSpeed.Text = "5.0";
		4376	// tbWPEditSpeed.IsReadOnly = false;
2372	-	4377	o[7] = "10";
2356	-	4378
2359	-	4379	// cbWPEditClimbrate.SelectedIndex = 1;
		4380	// tbWPEditClimbrate.Text = "5.0";
		4381	// tbWPEditClimbrate.IsReadOnly = false;
2372	-	4382	o[8] = "10";
2356	-	4383
2359	-	4384	// tbWPEditRadius.Text = "10";
2372	-	4385	o[9] = "5";
2359	-	4386	// tbWPEditHoldtime.Text = "5";
		4387	o[10] = "5";
		4388	// tbWPEditAutoTrigger.Text = "0";
		4389	o[11] = "0";
		4390	// cbWPEditCamAngle.SelectedIndex = 1;
		4391	// tbWPEditCamAngle.Text = "AUTO";
		4392	// tbWPEditCamAngle.IsReadOnly = true;
		4393	o[12] = "255";
2356	-	4394
2359	-	4395	o[13] = "0";
		4396	// tbWPEditOut1.Text = "0";
		4397	o[14] = "0";
		4398	o[15] = "0";
		4399
		4400	dtWaypoints.Rows.Add(o);
2368	-	4401	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1]);
2359	-	4402	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4403	if (mRouteWP != null)
		4404	MainMap.Markers.Remove(mRouteWP);
		4405	_routeUpdate();
		4406	Dispatcher.Invoke(() => {
		4407	dgvWP.Items.Refresh();
		4408	dgvWP.SelectedIndex = (int)o[0] -1;
		4409	dgvWP.UpdateLayout();
		4410	_dgvWPselectEditRow();
		4411	});
2356	-	4412	}
2405	-	4413	private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e)
		4414	{
		4415	if (WPStatus.Visibility == Visibility.Visible)
		4416	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		4417	else
		4418	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		4419	}
		4420	private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e)
		4421	{
		4422	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		4423	{
		4424	if (cWPBound != null && cWPBound.Tag != null)
		4425	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2356	-	4426
2408	-	4427	createCircle(home.Position, dWPMaxRange);
2419	-	4428	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		4429	{
		4430	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		4431	cWPBound.setColor(s);
		4432	}
2405	-	4433	}
2408	-	4434
2405	-	4435	if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null))
		4436	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		4437	}
2315	-	4438	#endregion WP
2324	-	4439	#region GPX
		4440	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		4441	{
		4442	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		4443	}
		4444	void _gpxAdd(double lat,double lon, int elevation)
		4445	{
		4446	DataRow dr = dtGPX.NewRow();
		4447	dr[0] = dtGPX.Rows.Count - 1;
		4448	dr[1] = lat;
		4449	dr[2] = lon;
		4450	dr[3] = elevation;
		4451	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		4452	dtGPX.Rows.Add(dr);
		4453	}
		4454	void _saveGPXLog()
		4455	{
		4456	if (!Directory.Exists("GPXLog"))
		4457	Directory.CreateDirectory("GPXLog");
		4458	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		4459	XmlTextWriter myXmlTextWriter = null;
		4460	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		4461	NumberFormatInfo nfi = new NumberFormatInfo();
		4462	nfi.NumberDecimalSeparator = ".";
2315	-	4463
2324	-	4464	try
		4465	{
		4466	myXmlTextWriter.Formatting = Formatting.Indented;
		4467
		4468	myXmlTextWriter.WriteStartDocument();
		4469
		4470	myXmlTextWriter.WriteStartElement("gpx");
		4471
		4472	myXmlTextWriter.WriteAttributeString("version", "1.0");
		4473	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		4474	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		4475	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		4476	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		4477
		4478	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		4479
		4480	myXmlTextWriter.WriteStartElement("trk");
		4481	myXmlTextWriter.WriteStartElement("trkseg");
		4482	for(int i = 0; i< dtGPX.Rows.Count;i++)
		4483	{
		4484	myXmlTextWriter.WriteStartElement("trkpt");
		4485	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		4486	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		4487	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		4488	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		4489	myXmlTextWriter.WriteEndElement();
		4490	}
		4491	myXmlTextWriter.WriteEndElement();
		4492	myXmlTextWriter.WriteEndElement();
		4493	myXmlTextWriter.WriteEndElement();
		4494	}
		4495	catch (Exception e)
		4496	{
		4497	Console.WriteLine("Exception: {0}", e.ToString());
		4498	}
		4499	finally
		4500	{
		4501	if (myXmlTextWriter != null)
		4502	{
		4503	myXmlTextWriter.Close();
		4504	}
		4505	}
		4506	}
		4507	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		4508	{
		4509	_loadGPXLog();
		4510	}
2327	-	4511	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		4512	{
		4513	_clearMapMarkers(typeof(GMapRoute));
		4514	}
2324	-	4515	void _loadGPXLog()
		4516	{
		4517
		4518	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4519	fd.Filter = "GPX-Logfile \| *.gpx";
		4520	fd.Multiselect = false;
		4521	if (fd.ShowDialog().Value)
		4522	{
		4523	string file = fd.FileName;
		4524	try
		4525	{
		4526	XDocument gpxDoc = XDocument.Load(file);
		4527	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		4528
		4529	NumberFormatInfo nfi = new NumberFormatInfo();
		4530	nfi.NumberDecimalSeparator = ".";
		4531
		4532	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		4533	select new
		4534	{
		4535	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		4536	Segs = (
		4537	from trackpoint in track.Descendants(gpx + "trkpt")
		4538	select new
		4539	{
		4540	Latitude = trackpoint.Attribute("lat").Value,
		4541	Longitude = trackpoint.Attribute("lon").Value,
		4542	Elevation = trackpoint.Element(gpx + "ele") != null ?
		4543	trackpoint.Element(gpx + "ele").Value : null,
		4544	Time = trackpoint.Element(gpx + "time") != null ?
		4545	trackpoint.Element(gpx + "time").Value : null
		4546	}
		4547	)
		4548	};
		4549
		4550	List<PointLatLng> wpl = new List<PointLatLng>();
		4551	foreach(var trk in tracks)
		4552	{
		4553	foreach(var trkseg in trk.Segs)
		4554	{
		4555	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		4556	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		4557	}
		4558
		4559	}
		4560	if(wpl.Count() > 0)
		4561	{
2327	-	4562	_clearMapMarkers(typeof(GMapRoute));
2324	-	4563	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	4564	Dispatcher.Invoke(() =>
		4565	{
		4566	GMapRoute mRoute;
		4567	if (comboBoxRouteColor.SelectionBoxItem != null)
		4568	{
		4569	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	4570	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	4571	}
		4572	else
2366	-	4573	mRoute = new GMapRoute(wpl, null);
2324	-	4574
2328	-	4575	MainMap.Markers.Add(mRoute);
		4576	});
2324	-	4577	}
		4578
		4579	}
		4580	catch (Exception e)
		4581	{
		4582	Console.WriteLine("Exception: {0}", e.ToString());
		4583	}
		4584	}
		4585	}
		4586	#endregion GPX
2315	-	4587	#endregion functions
2287	-	4588	}
2315	-	4589	/// <summary>
		4590	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		4591	/// </summary>
2313	-	4592	public class waypointsConverter : IValueConverter
		4593	{
		4594	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		4595	{
		4596	if (value != null)
		4597	{
		4598	switch ((string)parameter)
		4599	{
		4600	case "Latitude":
		4601	return value.ToString() + " °";
		4602	case "Longitude":
		4603	return value.ToString() + " °";
		4604	case "Radius":
		4605	return value.ToString() + " m";
		4606	case "Altitude":
		4607	return value.ToString() + " m";
		4608	case "ClimbRate":
		4609	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		4610	case "DelayTime":
		4611	return value.ToString() + " s";
		4612	case "Heading":
		4613	return Waypoints.Heading(System.Convert.ToInt32(value));
		4614	case "Speed":
		4615	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		4616	case "CamAngle":
		4617	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		4618	case "Type":
		4619	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		4620	case "AutoTrigger":
		4621	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		4622	case "Status":
2355	-	4623	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	4624	}
		4625
		4626	return value.ToString();
		4627	}
		4628	else return value;
		4629	}
		4630
		4631	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		4632	{
		4633	throw new NotImplementedException();
		4634	}
		4635	}
		4636
2287	-	4637	public class IniFile
		4638	{
		4639	public string path;
		4640
		4641	[DllImport("kernel32")]
		4642	private static extern long WritePrivateProfileString(string section,
		4643	string key, string val, string filePath);
		4644
		4645	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		4646	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		4647	uint nSize, string lpFileName);
		4648
		4649	[DllImport("kernel32")]
		4650	private static extern int GetPrivateProfileString(string section,
		4651	string key, string def, StringBuilder retVal,
		4652	int size, string filePath);
		4653
		4654	public IniFile(string INIPath)
		4655	{
		4656	path = INIPath;
		4657	}
		4658
		4659	public void IniWriteValue(string Section, string Key, string Value)
		4660	{
		4661	WritePrivateProfileString(Section, Key, Value, this.path);
		4662	}
		4663
		4664	public string IniReadValue(string Section, string Key)
		4665	{
		4666	StringBuilder temp = new StringBuilder(255);
		4667	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		4668	return temp.ToString();
		4669	}
		4670	//Ini_sections auslesen in String-Array
		4671	public string[] IniSectionNames()
		4672	{
		4673
		4674	// uint MAX_BUFFER = 32767;
		4675	uint MAX_BUFFER = 8388608;
		4676	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		4677	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		4678	if (bytesReturned == 0)
		4679	{
		4680	Marshal.FreeCoTaskMem(pReturnedString);
		4681	return null;
		4682	}
		4683	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		4684	Marshal.FreeCoTaskMem(pReturnedString);
		4685	//use of Substring below removes terminating null for split
		4686	return local.Substring(0, local.Length - 1).Split('\0');
		4687
		4688
		4689	}
		4690	}
		4691
		4692	/// <summary>
		4693	/// Selected Win AI Function Calls
		4694	/// </summary>
		4695	public class WinApi
		4696	{
		4697	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		4698	public static extern int GetSystemMetrics(int which);
		4699	[DllImport("user32.dll")]
		4700	public static extern void
		4701	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		4702	int X, int Y, int width, int height, uint flags);
		4703
		4704	private const int SM_CXSCREEN = 0;
		4705	private const int SM_CYSCREEN = 1;
		4706	private static IntPtr HWND_TOP = IntPtr.Zero;
		4707	private const int SWP_SHOWWINDOW = 64; // 0x0040
		4708
		4709	public static int ScreenX
		4710	{
		4711	get { return GetSystemMetrics(SM_CXSCREEN); }
		4712	}
		4713
		4714	public static int ScreenY
		4715	{
		4716	get { return GetSystemMetrics(SM_CYSCREEN); }
		4717	}
		4718
		4719	public static void SetWinFullScreen(IntPtr hwnd)
		4720	{
		4721	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		4722	}
		4723	}
		4724	/// <summary>
		4725	/// Class used to preserve / restore state of the window
		4726	/// </summary>
		4727	public class WinState
		4728	{
		4729	private WindowState winState;
		4730	private WindowStyle brdStyle;
		4731	private bool topMost;
		4732	private Rect restore;
		4733	private bool IsMaximized = false;
		4734
		4735	public bool isMaximized
		4736	{
		4737	get { return IsMaximized; }
		4738	}
		4739	public void Maximize(Window targetForm)
		4740	{
		4741	if (!IsMaximized)
		4742	{
		4743	IsMaximized = true;
		4744	Save(targetForm);
		4745	targetForm.WindowState = WindowState.Maximized;
		4746	targetForm.WindowStyle = WindowStyle.None;
		4747	targetForm.Topmost = true;
		4748	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		4749	}
		4750	}
		4751
		4752	public void Save(Window targetForm)
		4753	{
		4754	winState = targetForm.WindowState;
		4755	brdStyle = targetForm.WindowStyle;
		4756	topMost = targetForm.Topmost;
		4757	restore = targetForm.RestoreBounds;
		4758	}
		4759	public void Restore(Window targetForm)
		4760	{
		4761	targetForm.WindowState = winState;
		4762	targetForm.WindowStyle = brdStyle;
		4763	targetForm.Topmost = topMost;
		4764
		4765	targetForm.Left = restore.Left;
		4766	targetForm.Top = restore.Top;
		4767	targetForm.Height = restore.Height;
		4768	targetForm.Width = restore.Width;
		4769	IsMaximized = false;
		4770	}
		4771	}
		4772
		4773	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2420 - Rev