WebSVN - Projects - Blame - Rev 2424 - /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
2424	-	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 };
2287	-	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>
2424	-	342	Point pTouch1 = new Point(0, 0), pTouch2 = new Point(0, 0);
2287	-	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);
2424	-	372	cBoxTimingsDebug.ItemsSource =
		373	cBoxTimingsNav.ItemsSource =
		374	cBoxTimingsBl.ItemsSource =
		375	cBoxTimingsOSD.ItemsSource =
2287	-	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
2421	-	412	GridSettings.Visibility = Visibility.Visible;
		413	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
2349	-	414	_initSerialCtrl();
2287	-	415	}
		416	/// <summary>
		417	/// initialize the datatables
		418	/// with columnnames etc
		419	/// </summary>
		420	void _dataTablesInit()
		421	{
2315	-	422	dtMotors.Columns.Add("#");
2313	-	423	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
2315	-	424	dtMotors.Columns.Add("Strom");
2313	-	425	else
2315	-	426	dtMotors.Columns.Add("Current");
		427	dtMotors.Columns.Add("Temp");
		428	dgvMotors1.DataContext = dtMotors.DefaultView;
2287	-	429	_initDTMotors();
		430
2424	-	431	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5, 0, 5, 0));
2287	-	432	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		433	style.Setters.Add(setter);
		434	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		435	style.Setters.Add(setter);
		436	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		437	style.Setters.Add(setter);
2313	-	438
2424	-	439	dtWaypoints.Columns.Add("Index", typeof(int));
2315	-	440	dtWaypoints.Columns.Add("Type", typeof(int));
2424	-	441	dtWaypoints.Columns.Add("Name", typeof(string));
		442	dtWaypoints.Columns.Add("Latitude", typeof(double));
		443	dtWaypoints.Columns.Add("Longitude", typeof(double));
		444	dtWaypoints.Columns.Add("Altitude", typeof(string));
		445	dtWaypoints.Columns.Add("Heading", typeof(string));
		446	dtWaypoints.Columns.Add("Speed", typeof(string));
		447	dtWaypoints.Columns.Add("ClimbRate", typeof(string));
		448	dtWaypoints.Columns.Add("Radius", typeof(string));
		449	dtWaypoints.Columns.Add("HoldTime", typeof(string));
		450	dtWaypoints.Columns.Add("AutoTrigger", typeof(string));
		451	dtWaypoints.Columns.Add("CamAngle", typeof(string));
		452	dtWaypoints.Columns.Add("Event", typeof(string));
		453	dtWaypoints.Columns.Add("Out1Timer", typeof(string));
		454	dtWaypoints.Columns.Add("Status", typeof(string));
2313	-	455	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		456	dgvWP.ItemsSource = dtWaypoints.DefaultView;
2287	-	457	dgvWP.ColumnHeaderStyle = new Style();
		458	dgvWP.ColumnHeaderStyle = style;
2313	-	459
2424	-	460	dtGPX.Columns.Add("Index", typeof(int));
		461	dtGPX.Columns.Add("Latitude", typeof(double));
		462	dtGPX.Columns.Add("Longitude", typeof(double));
		463	dtGPX.Columns.Add("Elevation", typeof(int));
		464	dtGPX.Columns.Add("Time", typeof(string));
2324	-	465	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		466	drGPX = dtGPX.NewRow();
2313	-	467
2287	-	468	}
		469	/// <summary>
2315	-	470	/// initialize the datatable dtMotors for motor values
2313	-	471	/// DataGridView dgvMotors1 is bound to dtMotors1
2287	-	472	/// </summary>
		473	void _initDTMotors()
		474	{
		475	for (int i = 0; i < 12; i++)
		476	{
2315	-	477	if (dtMotors.Rows.Count < 12)
		478	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
2287	-	479	else
		480	{
2315	-	481	dtMotors.Rows[i].SetField(1, "NA");
		482	dtMotors.Rows[i].SetField(2, "NA");
2287	-	483	}
		484	}
		485	}
		486
		487	#endregion init
		488
		489	#region events
		490	private void serialPortCtrl_PortOpened()
		491	{
		492	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		493	_getVersion();
		494	Thread.Sleep(100);
2424	-	495	_getLic();
2287	-	496	//_OSDMenue(0);
		497	//Thread.Sleep(200);
		498	//_sendSerialData();
		499	_readCont(true);
		500	}
		501	private void serialPortCtrl_PortClosed()
		502	{
		503	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		504	_readCont(false);
		505	}
2324	-	506	bool _bToggle = false;
2287	-	507	void timerEvent(object sender, EventArgs e)
		508	{
		509	if (bReadContinously)
		510	{
		511	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		512
		513	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		514
		515	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		516	check_HWError = true;
		517	_getVersion();
		518	Thread.Sleep(10);
		519	if (_OSDAutorefresh)
		520	{
		521	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		522	_initOSDCB();
		523	_OSDMenueAutoRefresh();
		524	}
		525	if (_iLifeCounter > 0)
		526	{
		527	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
2424	-	528	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
2287	-	529	_iLifeCounter = 0;
		530	_bConnErr = false;
2424	-	531	if (_bAirborne && _bGPXLog)
2324	-	532	{
		533	drGPX[0] = dtGPX.Rows.Count;
		534	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		535	}
2327	-	536	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		537	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		538	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
2324	-	539	_bToggle = !_bToggle;
2287	-	540	}
		541	else
		542	{
		543	if (!_bConnErr)
		544	{
		545	Log(LogMsgType.Error, "No communication to NC/FC!");
		546	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
2424	-	547	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
2287	-	548	_bConnErr = true;
		549	}
		550	}
		551	}
		552	}
		553
		554	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		555	{
		556	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		557	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		558	}
		559	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		560	{
		561	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		562	if (GridMotors.IsVisible)
		563	_setMotorGridSize();
		564	}
		565	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		566	{
		567	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		568	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		569	}
		570	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		571	{
		572	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		573	}
		574	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		575	{
		576	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		577	}
		578	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		579	{
		580	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		581	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		582	}
		583
		584	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		585	{
		586	Thread t = new Thread(new ThreadStart(_getWP));
		587	t.Start();
		588	}
		589	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		590	{
2313	-	591	Thread t = new Thread(new ThreadStart(_sendWPList));
		592	t.Start();
2287	-	593	}
		594
		595	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		596	{
		597	if (!serialPortCtrl.Port.IsOpen)
		598	serialPortCtrl.Connect(true);
		599	else
		600	_readCont(!bReadContinously);
		601	}
		602	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		603	{
2347	-	604	_setHomePos();
2287	-	605	}
		606	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		607	{
2347	-	608	_clearHomePos();
2287	-	609	}
		610	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		611	{
		612	if (home != null && MainMap.Markers.Contains(home))
		613	MainMap.Position = home.Position;
		614	}
2295	-	615	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		616	{
		617	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		618	}
2287	-	619	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		620	{
		621	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		622	}
		623	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		624	{
		625	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		626	}
		627
2291	-	628	#region thresholds
2287	-	629	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		630	{
2424	-	631	if (!_init)
2287	-	632	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		633	}
		634	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		635	{
2424	-	636	if (!_init)
2287	-	637	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		638	}
		639	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		640	{
		641	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		642	}
2291	-	643
		644	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		645	{
2424	-	646	if (!_init)
2291	-	647	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		648	}
		649	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		650	{
		651	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		652	}
		653
		654	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		655	{
		656	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		657	}
		658	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		659	{
		660	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		661	}
		662	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		663	{
		664	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		665	}
		666	#endregion thresholds
		667
2287	-	668	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		669	{
		670	_switchToNC();
		671	}
		672
		673	private void Window_Loaded(object sender, RoutedEventArgs e)
		674	{
		675	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
2291	-	676	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		677	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		678	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		679	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
2287	-	680	_setMotorGridSize();
		681	}
2310	-	682	private void Window_Closing(object sender, CancelEventArgs e)
		683	{
		684	_writeIni();
2424	-	685	if (_bGPXLog && dtGPX.Rows.Count > 0)
2324	-	686	_saveGPXLog();
2310	-	687	}
2379	-	688	private void Window_Closed(object sender, EventArgs e)
		689	{
		690	Application.Current.Shutdown();
		691	}
		692
2287	-	693	#endregion events
		694
		695	#region GMap
		696
		697	void _setupMap()
		698	{
		699	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		700	MainMap.MapProvider = GMapProviders.BingHybridMap;
		701	MainMap.SetPositionByKeywords("Landshut");
		702	MainMap.MinZoom = 0;
		703	MainMap.MaxZoom = 24;
		704	MainMap.Zoom = 16;
		705	MainMap.ShowCenter = true;
		706	MainMap.ShowTileGridLines = false;
		707	sliderMapZoom.Value = 16;
		708	comboBoxMapType.ItemsSource = providerList;
		709	comboBoxMapType.DisplayMemberPath = "Name";
		710	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		711
		712	// acccess mode
		713	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		714	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		715
		716	}
2424	-	717
2287	-	718	/// <summary>
		719	/// selection of relevant map providers --> if You need more, You can change the line:
		720	/// comboBoxMapType.ItemsSource = providerList;
		721	/// to:
		722	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		723	/// in _setupMap()
		724	/// or add items here:
		725	/// </summary>
		726	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		727	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		728	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		729	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		730	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		731
		732	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		733	{
		734	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		735	copter = new GMapMarker(MainMap.Position);
2318	-	736
2424	-	737	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"), "red");
2318	-	738	if (comboBoxCopterColor.SelectionBoxItem != null)
		739	{
		740	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	741	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	742	}
2385	-	743	Dispatcher.Invoke(() => {
		744	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		745	{
		746	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		747	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		748	}
		749	});
2405	-	750	copter.Offset = new System.Windows.Point(-26, -26);
2287	-	751	copter.ZIndex = int.MaxValue;
		752	MainMap.Markers.Add(copter);
		753	copter.Position = MainMap.Position;
		754	}
2347	-	755	void _setHomePos()
2287	-	756	{
		757	pHome = MainMap.Position;
		758	if (!MainMap.Markers.Contains(home))
		759	{
		760	home = new GMapMarker(MainMap.Position);
		761	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
2405	-	762	home.Offset = new System.Windows.Point(-16.5, -16.5);
2287	-	763	// home.ZIndex = int.MaxValue;
		764	MainMap.Markers.Add(home);
		765	}
		766	home.Position = MainMap.Position;
		767	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
2405	-	768
		769	if (checkBoxShowWPMaxRange.IsChecked == true)
		770	{
		771	if (cWPBound != null && cWPBound.Tag != null)
		772	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		773
		774	createCircle(home.Position, dWPMaxRange);
2408	-	775	Dispatcher.Invoke(() =>
		776	{
		777	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		778	{
		779	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		780	cWPBound.setColor(s);
		781	}
		782	});
2405	-	783	}
		784
2287	-	785	}
2347	-	786	void _setActiveWP(int iIndex)
2287	-	787	{
2347	-	788	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
		789	{
		790	Dispatcher.Invoke(() =>
		791	{
		792	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		793	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		794	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		795	MainMap.Markers.Add(wpActiveMarker);
		796	});
		797	}
		798	else
		799	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
		800
2401	-	801	Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m");
2347	-	802	}
		803	void _clearHomePos()
		804	{
2287	-	805	MainMap.Markers.Remove(home);
2405	-	806	if (cWPBound != null && cWPBound.Tag != null)
		807	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2287	-	808	}
2335	-	809	void _clearMapMarkers(Type markerType)
		810	{
		811	for (int k = 0; k < MainMap.Markers.Count;)
		812	{
		813	GMapMarker p = MainMap.Markers[k];
2340	-	814	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	815	MainMap.Markers.Remove(p);
		816	else
		817	k++;
		818	}
2419	-	819	_WPisMouseCaptured = false;
2335	-	820	}
2369	-	821
		822	GMapMarker _findWPMarker(string name)
2368	-	823	{
		824	for (int k = 0; k < MainMap.Markers.Count;)
		825	{
		826	GMapMarker p = MainMap.Markers[k];
		827	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
2369	-	828	if (((CustomMarkerWP)p.Shape).WPText == name)
		829	return p;
2368	-	830	else
		831	k++;
		832	else
		833	k++;
		834	}
2369	-	835	return null;
2368	-	836	}
2369	-	837	void _clearWPMarker(string name)
		838	{
		839	GMapMarker p = _findWPMarker(name);
2424	-	840	if (p != null)
2369	-	841	MainMap.Markers.Remove(p);
		842	}
2368	-	843	void _renameWPMarker(string s1, string s2)
		844	{
2369	-	845	GMapMarker p = _findWPMarker(s1);
		846	if (p != null)
		847	((CustomMarkerWP)p.Shape).WPText = s2;
2368	-	848	}
2372	-	849	void _WPMarkerSetType(string text, int type)
		850	{
		851	GMapMarker p = _findWPMarker(text);
		852	if (p != null)
		853	((CustomMarkerWP)p.Shape).WPType = type;
		854	}
2369	-	855	void _repositionWPMarker(PointLatLng point, string name)
		856	{
		857	GMapMarker p = _findWPMarker(name);
		858	if (p != null)
		859	p.Position = point;
		860	}
		861
2405	-	862	void createCircle(PointLatLng center, double distance)
		863	{
		864
		865	GMapMarker it = new GMapMarker(center);
		866	it.ZIndex = -1;
2424	-	867
2405	-	868	cWPBound.Center = center;
		869	cWPBound.Bound = GMap.NET.PureProjection.GetPointFromDistance(center, distance);
		870	cWPBound.Tag = it;
		871	cWPBound.IsHitTestVisible = false;
		872	UpdateCircle(cWPBound);
		873	it.Shape = cWPBound;
		874	MainMap.Markers.Add(it);
		875	}
		876	// calculates circle radius
		877	void UpdateCircle(Circle c)
		878	{
		879	var pxCenter = MainMap.FromLatLngToLocal(c.Center);
		880	var pxBounds = MainMap.FromLatLngToLocal(c.Bound);
		881
		882	double a = (double)(pxBounds.X - pxCenter.X);
		883	double b = (double)(pxBounds.Y - pxCenter.Y);
		884	var pxCircleRadius = Math.Sqrt(a * a + b * b);
		885
		886	c.Width = c.Height = pxCircleRadius * 2;
		887	//c.Width = 55 + pxCircleRadius * 2;
		888	//c.Height = 55 + pxCircleRadius * 2;
		889	(c.Tag as GMapMarker).Offset = new System.Windows.Point(-c.Width / 2, -c.Height / 2);
		890	}
		891
2287	-	892	// access mode
		893	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		894	{
		895	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		896	MainMap.ReloadMap();
		897	}
		898	// zoom up
		899	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		900	{
		901	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		902	}
		903
		904	// zoom down
		905	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		906	{
		907	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		908	}
		909
		910	// prefetch
		911	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		912	{
		913	RectLatLng area = MainMap.SelectedArea;
		914	if (!area.IsEmpty)
		915	{
		916	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		917	{
		918	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		919
		920	if (res == MessageBoxResult.Yes)
		921	{
		922	TilePrefetcher obj = new TilePrefetcher();
		923	obj.Owner = this;
		924	obj.ShowCompleteMessage = true;
		925	obj.Start(area, i, MainMap.MapProvider, 100);
		926	}
		927	else if (res == MessageBoxResult.No)
		928	{
		929	continue;
		930	}
		931	else if (res == MessageBoxResult.Cancel)
		932	{
		933	break;
		934	}
		935	}
		936	}
		937	else
		938	{
		939	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		940	}
		941	}
		942
		943	// goto by geocoder
		944	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		945	{
		946	_goto_byGeoCoder();
		947	}
		948	// goto by geocoder
		949	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		950	{
		951	if (e.Key == System.Windows.Input.Key.Enter)
		952	_goto_byGeoCoder();
		953	}
		954	void _goto_byGeoCoder()
		955	{
		956	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		957	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		958	{
		959	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		960	}
		961	}
		962	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		963	{
		964	try
		965	{
		966	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		967	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		968
		969	MainMap.Position = new PointLatLng(lat, lng);
		970	}
		971	catch (Exception ex)
		972	{
		973	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		974	}
		975
		976	}
		977
		978	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		979	{
		980	MainMap.ReloadMap();
		981	}
		982
		983	private void MainMap_OnPositionChanged(PointLatLng point)
		984	{
		985	if (_bFollowCopter)
		986	_setCopterData(MainMap.Position);
		987	}
		988
		989	private void MainMap_OnMapZoomChanged()
		990	{
		991	if (_bFollowCopter)
		992	_setCopterData(MainMap.Position);
2424	-	993	if ((int)sliderMapZoom.Value != MainMap.Zoom)
2287	-	994	sliderMapZoom.Value = MainMap.Zoom;
2424	-	995	if (cWPBound != null && cWPBound.Tag != null)
2405	-	996	UpdateCircle(cWPBound);
2287	-	997	}
		998
		999	void _setCopterData(PointLatLng p)
		1000	{
		1001	Dispatcher.Invoke(() =>
		1002	{
		1003	copter.Position = p;
		1004	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		1005	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		1006	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		1007	});
		1008	if (home != null && MainMap.Markers.Contains(home))
		1009	{
		1010	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		1011	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		1012	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	1013
2424	-	1014	if (d * 1000 < _dThresholdDistanceWarn)
2291	-	1015	{
		1016	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		1017	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		1018	{
		1019	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		1020	_bAnimDistanceActive = false;
		1021	}
		1022	}
		1023	else
		1024	{
		1025	if (_iDistanceJitter < 20)
		1026	{ _iDistanceJitter++; }
		1027	if (_iDistanceJitter == 20)
		1028	{
		1029	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		1030	{
		1031	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		1032	_bAnimDistanceActive = true;
		1033	}
		1034	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		1035	{
2398	-	1036	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\Distance.mp3");
		1037	//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		1038	//t.Start();
2291	-	1039	_bVoiceDistanceActive = true;
		1040	}
		1041	_iDistanceJitter++;
		1042	}
		1043	}
2287	-	1044	}
		1045	}
		1046
		1047	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		1048	{
		1049	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		1050	}
		1051
		1052	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1053	{
		1054	if (MainMap.Zoom != sliderMapZoom.Value)
		1055	MainMap.Zoom = (int)sliderMapZoom.Value;
		1056	}
		1057	#region Touch zooming hackattack ;)
		1058	/// <summary>
		1059	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		1060	/// </summary>
		1061	bool bFirstAccess = true;
		1062	double dDistance = 0;
		1063	int iZoom;
		1064	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1065	{
2419	-	1066	if (!_WPisMouseCaptured)
2287	-	1067	{
2419	-	1068	var id = e.StylusDevice.Id;
		1069	e.StylusDevice.Capture(MainMap);
		1070	if (iFirstStylusID == -1)
		1071	{
		1072	iFirstStylusID = id;
		1073	}
		1074	else
		1075	{
2287	-	1076
2419	-	1077	MainMap.CanDragMap = false;
		1078	}
2287	-	1079	}
		1080	}
		1081	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1082	{
		1083	MainMap.ReleaseStylusCapture();
		1084	iFirstStylusID = -1;
		1085	bFirstAccess = true;
		1086	MainMap.CanDragMap = true;
		1087	iZoom = 0;
		1088	}
		1089	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1090	{
		1091	var id = e.StylusDevice.Id;
		1092	var tp = e.GetPosition(MainMap);
		1093
		1094	// This is the first Stylus point; just record its position.
		1095	if (id == iFirstStylusID)
		1096	{
		1097	pTouch1.X = tp.X;
		1098	pTouch1.Y = tp.Y;
		1099	}
		1100	else
		1101	if (iFirstStylusID > -1)
		1102	{
		1103	pTouch2.X = tp.X;
		1104	pTouch2.Y = tp.Y;
		1105	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1106	if (!bFirstAccess)
		1107	{
		1108	if (distance > dDistance)
		1109	iZoom++;
		1110	else
		1111	if (distance < dDistance)
		1112	iZoom--;
		1113	}
		1114	if (iZoom > 30)
		1115	{
		1116	iZoom = 0;
		1117	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1118	}
		1119	if (iZoom < -30)
		1120	{
		1121	iZoom = 0;
		1122	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1123	}
		1124	dDistance = distance;
		1125	bFirstAccess = false;
		1126	}
		1127	}
		1128	#endregion Touch zooming hackattack ;)
		1129
		1130	#endregion GMap
		1131
		1132	#region settings
		1133	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1134	{
2424	-	1135	if (!_bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
2287	-	1136	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1137	}
		1138	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1139	{
2424	-	1140	if (!_bCBInit && cBoxTimingsNav.SelectedIndex > -1)
2287	-	1141	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1142	}
		1143	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1144	{
		1145	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1146	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1147	}
		1148	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1149	{
		1150	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1151	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1152	}
		1153	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1154	{
		1155	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1156	}
		1157	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1158	{
		1159	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1160	}
		1161	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1162	{
		1163	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1164	}
		1165	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1166	{
		1167	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1168	}
		1169
		1170	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1171	{
		1172	if (cBoxLiPoCells.SelectedIndex > -1)
		1173	{
		1174	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1175	_LipoMinMax();
		1176	}
		1177	}
		1178	void _LipoMinMax()
		1179	{
		1180	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1181	_dLipoVMin = (double)_LipoCells * 3;
		1182	pbTopVoltage.Maximum = _dLipoVMax;
		1183	pbTopVoltage.Minimum = _dLipoVMin;
		1184	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1185	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1186	}
		1187	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1188	{
		1189	if (cBoxMotors.SelectedIndex > -1)
		1190	{
		1191	_iMotors = cBoxMotors.SelectedIndex + 3;
		1192	Dispatcher.Invoke(() =>
		1193	{
		1194	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1195	GridMotors.Height = dgvMotors1.Height + 10;
		1196	});
		1197	}
		1198	}
		1199	void _setMotorGridSize()
		1200	{
		1201	if (dgvMotors1.Columns.Count > 2)
		1202	{
		1203	dgvMotors1.Columns[0].Width = 24;
		1204	dgvMotors1.Columns[1].Width = 50;
		1205	dgvMotors1.Columns[2].Width = 50;
		1206	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1207	GridMotors.Height = dgvMotors1.Height + 10;
		1208	}
		1209
		1210	}
		1211	#endregion settings
		1212
		1213	#region functions
		1214
		1215	#region logging
		1216	/// <summary> Log data to the terminal window. </summary>
		1217	/// <param name="msgtype"> The type of message to be written. </param>
		1218	/// <param name="msg"> The string containing the message to be shown. </param>
		1219	private void Log(LogMsgType msgtype, string msg)
		1220	{
		1221	Dispatcher.Invoke(() =>
		1222	{
2424	-	1223	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1224	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1225	// rtfTerminal.AppendText(msg + "\r");
		1226	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd, rtfTerminal.Document.ContentEnd);
2287	-	1227	tr.Text = msg;
		1228	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1229	rtfTerminal.AppendText("\r");
		1230	rtfTerminal.ScrollToEnd();
		1231	});
		1232	}
2424	-	1233	private void ErrorLog(LogMsgType msgtype, string msg, string linkURL, string linkName)
2287	-	1234	{
2381	-	1235
2287	-	1236	Dispatcher.Invoke(() =>
		1237	{
2381	-	1238	Paragraph para = new Paragraph();
		1239	para.Margin = new Thickness(0); // remove indent between paragraphs
		1240
		1241	Hyperlink link = new Hyperlink();
		1242	if (linkURL != "" && linkName != "")
		1243	{
		1244	link.IsEnabled = true;
		1245	link.Inlines.Add(linkName);
		1246	link.NavigateUri = new Uri(linkURL);
		1247	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1248	}
		1249	//msg = DateTime.Now.ToLongTimeString() + msg;
		1250	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1251	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1252	r.Foreground = new SolidColorBrush(Colors.Black);
		1253	para.Inlines.Add(r);
		1254	para.Inlines.Add(msg);
		1255	para.Inlines.Add(link);
		1256	rtfError.Document.Blocks.Add(para);
		1257	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1258	//tr.Text = msg + link;
		1259	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1260	//rtfError.AppendText("\r");
2287	-	1261	rtfError.ScrollToEnd();
		1262
2381	-	1263	//_bErrorLog = true;
2287	-	1264	});
		1265	}
		1266	/// <summary>
		1267	/// Clear the line in the errorlog window
		1268	/// containing the error string when error has ceased
		1269	/// </summary>
		1270	/// <param name="s">substring of errrormessage</param>
		1271	void _clearErrorLog(string s)
		1272	{
		1273	Dispatcher.Invoke((Action)(() =>
		1274	{
		1275	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1276	TextRange foundRange = FindTextInRange(searchRange, s);
		1277
		1278	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1279
		1280
		1281	if (iStart > -1)
		1282	{
		1283	int iLength = 0;
		1284	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1285	if (iEnd > 0)
		1286	{
		1287	iLength = iEnd + 1;
2424	-	1288	int iHttp = searchRange.Text.IndexOf("http", iEnd);
2287	-	1289	if (iHttp == iLength)
		1290	{
		1291	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1292	if (iEnd2 > iLength)
		1293	{
		1294	iLength = iEnd2 + 1;
2424	-	1295	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
2287	-	1296
		1297	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1298	rtfError.Selection.Text = string.Empty;
		1299	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1300	}
		1301
		1302	}
		1303	else
		1304	{
		1305	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1306	rtfError.Selection.Text = string.Empty;
		1307	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1308	}
		1309	}
		1310	}
		1311	}));
		1312
		1313	}
		1314	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1315	{
		1316	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1317	if (offset < 0)
		1318	return null; // Not found
		1319
		1320	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1321	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1322
		1323	return result;
		1324	}
		1325	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1326	{
		1327	while (position != null)
		1328	{
		1329	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1330	{
		1331	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1332	if (characterCount <= count)
		1333	{
		1334	return position.GetPositionAtOffset(characterCount);
		1335	}
		1336
		1337	characterCount -= count;
		1338	}
		1339
		1340	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1341	if (nextContextPosition == null)
		1342	return position;
		1343
		1344	position = nextContextPosition;
		1345	}
		1346
		1347	return position;
		1348	}
		1349	#endregion logging
		1350
		1351	#region processing received data
		1352
		1353	private void processMessage(byte[] message)
		1354	{
		1355	if (message.Length > 0)
		1356	{
		1357	_iLifeCounter++;
		1358	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1359	//Log(LogMsgType.Incoming, message.Length.ToString());
		1360	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1361	char cmdID;
		1362	byte adr;
		1363	byte[] data;
		1364	byte[] tmp = null;
		1365	if (message[0] != '#')
		1366	{
		1367	int iFound = -1;
		1368	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1369	{ //so this is a workaround to not spam the log box
		1370	if (message[i] == 35)
		1371	{
		1372	iFound = i;
		1373	break;
		1374	}
		1375	}
		1376	if (iFound > 0)
		1377	{
		1378	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1379	tmp = new byte[message.Length - iFound];
		1380	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1381	}
		1382	s = s.Trim('\0', '\n', '\r');
		1383	if (s.Length > 0)
		1384	Log(LogMsgType.Normal, s);
		1385	if (tmp != null)
		1386	{
		1387	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1388	processMessage(tmp);
		1389	}
		1390	}
		1391	//Debug.Print(s);
		1392	else
		1393	{
		1394	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1395
		1396	if (adr == 255) { crcError++; }
		1397	else crcError = 0;
		1398	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1399	//display the active controller (FC / NC)
		1400	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...???
		1401	{
		1402	_iCtrlAct = adr;
		1403	switch (adr)
		1404	{
		1405	case 1:
		1406	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2424	-	1407	// Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1408	// Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1409	// _setFieldsNA(); //display fields NA for FC
2287	-	1410	break;
		1411	case 2:
		1412	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1413	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1414	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1415	break;
		1416	//case 3:
		1417	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1418	// break;
		1419	//case 4:
		1420	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1421	// break;
		1422	default:
		1423	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1424	break;
		1425	}
2424	-	1426	// _loadLabelNames();
2287	-	1427	}
		1428	// else
		1429	// Debug.Print("Address == 0?");
		1430
		1431	if (data != null && data.Length > 0)
		1432	{
		1433	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1434	s = s.Trim('\0', '\n');
		1435
		1436	switch (cmdID)
		1437	{
		1438	//case 'A': //Label names
		1439	// _processLabelNames(s);
		1440	// break;
		1441
		1442	case 'D': //Debug data
		1443	_processDebugVals(adr, data);
		1444	break;
		1445
		1446	case 'V': //Version
		1447	_processVersion(adr, data);
		1448	break;
		1449
		1450	case 'K'://BL-CTRL data
		1451	_processBLCtrl(data);
		1452	break;
		1453
2424	-	1454	case 'M'://License info
		1455	_processLicense(data);
		1456	break;
		1457
2287	-	1458	case 'O': //NC Data
		1459	_processNCData(data);
		1460	break;
		1461
2381	-	1462	//case 'E': //NC error-string
		1463	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1464	// break;
2287	-	1465
		1466	case 'L': //OSD Menue (called by pagenumber)
		1467	_processOSDSingle(data);
		1468	break;
		1469
		1470	case 'H': //OSD Menue (with autoupdate - called by Key)
		1471	_processOSDAuto(data);
		1472	break;
		1473
		1474	case 'X': //Waypoint data
		1475	_processWPData(data);
		1476	break;
		1477
2313	-	1478	case 'W': //return new Waypoint items count after sending waypoint to copter
		1479	_iWPCount = data[0];
		1480	break;
2287	-	1481	//default:
		1482	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1483	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1484	// break;
		1485	}
		1486	}
		1487	//else
		1488	//{
		1489	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1490	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1491	//}
		1492	}
		1493	}
		1494	}
		1495	/// <summary>
		1496	/// Analog label names 'A'
		1497	/// each label name is returned as a single string
		1498	/// and added to string array sAnalogLabel[]
		1499	/// and the datatable dtAnalog
		1500	/// </summary>
		1501	/// <param name="s">the label name</param>
		1502	void _processLabelNames(string s)
		1503	{
		1504	//if (iLableIndex < 32)
		1505	//{
		1506	// sAnalogLabel[iLableIndex] = s;
		1507	// if (dtAnalog.Rows.Count < 32)
		1508	// dtAnalog.Rows.Add(s, "");
		1509	// else
		1510	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1511
		1512	// // _getAnalogLabels(iLableIndex + 1);
		1513	//}
		1514	//Debug.Print(s);
		1515	}
		1516	/// <summary>
		1517	/// Debug values 'D'
		1518	/// </summary>
		1519	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1520	/// <param name="data">the received byte array to process</param>
		1521	void _processDebugVals(byte adr, byte[] data)
		1522	{
		1523	if (data.Length == 66)
		1524	{
2424	-	1525
2287	-	1526	double v;
		1527	int index = 0;
		1528	Int16 i16 = 0;
		1529	double dTemp = 0;
		1530	for (int i = 2; i < 66; i += 2)
		1531	{
		1532	i16 = data[i + 1];
		1533	i16 = (Int16)(i16 << 8);
		1534	iAnalogData[index] = data[i] + i16;
		1535	sAnalogData[index] = (data[i] + i16).ToString();
2424	-	1536	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
2287	-	1537
		1538	if (adr == 2) //NC
		1539	{
		1540	switch (index)
		1541	{
		1542	case 0: //pitch (German: nick)
		1543	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1544	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1545	break;
		1546	case 1: //roll
		1547	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1548	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1549	break;
		1550	case 4: //altitude
		1551	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1552	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2424	-	1553	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1554	break;
		1555	case 7: //Voltage
		1556	v = (double)iAnalogData[index] / (double)10;
		1557	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1558	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1559	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1560	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1561	{
		1562	if (v == _dVoltLast)
2424	-	1563	if (_iVoltJitter < 20) _iVoltJitter++;
		1564	else
		1565	{
		1566	_iVoltJitter = 0;
		1567	_dVoltLast = v;
		1568	}
2287	-	1569	if (_iVoltJitter == 20)
		1570	{
		1571	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1572
		1573	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1574	{
		1575	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1576	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1577	{
		1578	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1579	_bCritAnimVoltActive = true;
		1580	}
		1581	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1582	{
2398	-	1583	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3");
		1584	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1585	//t.Start();
2287	-	1586	_bCritVoiceVoltActive = true;
		1587	}
		1588	}
		1589	else
		1590	{
		1591	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1592	{
		1593	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1594	_bCritAnimVoltActive = false;
		1595	}
		1596	_bCritVoiceVoltActive = false;
		1597
2291	-	1598	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1599	{
2398	-	1600	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3");
		1601	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1602	//t.Start();
2291	-	1603	_bWarnVoiceVoltActive = true;
2287	-	1604	}
		1605	}
		1606	}
		1607	}
		1608	else
		1609	{
		1610	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1611	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1612	{
		1613	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1614	_bCritAnimVoltActive = false;
		1615	}
		1616	_bCritVoiceVoltActive = false;
2291	-	1617	_bWarnVoiceVoltActive = false;
2287	-	1618	_iVoltJitter = 0;
		1619	}
		1620	break;
		1621	case 8: // Current
		1622	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1623	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1624	break;
		1625	case 10: //heading
2291	-	1626	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2399	-	1627	if (!_Simulate) //use NavData for simulation
		1628	{
		1629	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1630	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		1631	}
2287	-	1632	break;
		1633	case 12: // SPI error
2291	-	1634	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1635	break;
		1636	case 14: //i2c error
2291	-	1637	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1638	break;
		1639	case 20: //Earthmagnet field
2291	-	1640	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1641	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
2424	-	1642
2291	-	1643	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1644	{
		1645	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1646	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1647	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1648	{
		1649	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1650	_bAnimMagneticFieldActive = false;
		1651	}
		1652	}
		1653	else
		1654	{
		1655	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
2424	-	1656	if (_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
2291	-	1657	{
		1658	if (_iMagneticFieldJitter < 20)
		1659	_iMagneticFieldJitter++;
		1660	}
		1661	else
		1662	{
		1663	_iMagneticFieldJitter = 0;
		1664	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1665	}
2424	-	1666	if (_iMagneticFieldJitter == 20)
2291	-	1667	{
		1668	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1669	{
		1670	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1671	_bAnimMagneticFieldActive = true;
		1672	}
		1673	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1674	{
2398	-	1675	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1676	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1677	//t.Start();
2291	-	1678	_bVoiceMagneticFieldActive = true;
		1679	}
		1680	}
		1681	}
2287	-	1682	break;
		1683	case 21: //GroundSpeed
2424	-	1684	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1685	if (!_Simulate)
		1686	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2287	-	1687	break;
2291	-	1688
		1689	///******** needs testing --> not sure what position this is *************
2287	-	1690	case 28: //Distance East from saved home position -> calculate distance with distance N + height
2424	-	1691	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1692	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1693	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1694	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1695	dTemp = Math.Sqrt(dTemp) / (double)10;
		1696	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1697	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
2287	-	1698	break;
2291	-	1699
2287	-	1700	case 31: //Sats used
2424	-	1701	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1702	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
2287	-	1703	break;
		1704	}
		1705	}
		1706	index++;
		1707	}
		1708	}
		1709	else
		1710	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1711	}
		1712	/// <summary>
		1713	/// Version string 'V'
		1714	/// </summary>
		1715	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1716	/// <param name="data">the received byte array to process</param>
		1717	void _processVersion(byte adr, byte[] data)
		1718	{
		1719	if (data.Length == 12)
		1720	{
		1721	if (!check_HWError)
		1722	{
		1723	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1724	string sVersion = "";
		1725	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1726	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1727	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1728	Log(LogMsgType.Incoming, sVersion);
		1729	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1730	Log(LogMsgType.Incoming, sVersion);
		1731	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1732	}
		1733	if (data[5] > 0) //error0
		1734	{
		1735	if (adr == 1)
2424	-	1736	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(), "", "");
2287	-	1737	if (adr == 2)
2424	-	1738	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(), "", "");
2287	-	1739	}
		1740	if (data[6] > 0) //error1
		1741	{
		1742	if (adr == 1)
2424	-	1743	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(), "", "");
2287	-	1744	if (adr == 2)
2424	-	1745	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(), "", ""); //@moment NC has only one error field
2287	-	1746	}
2381	-	1747	//if ((data[5] + data[6] == 0) && _bErrorLog)
		1748	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
2287	-	1749
		1750	}
		1751	check_HWError = false;
		1752	}
2424	-	1753
		1754	void _processLicense(byte[] data)
		1755	{
		1756	if (data.Length > 480)
		1757	{
		1758	Dispatcher.Invoke(() => {
		1759	tbDataLicenseUser.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 1, 127));
		1760	tbDataLicenseMail.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 129, 127));
		1761	tbDataLicenseFeature.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 257, 127));
		1762	tbDataLicenseExpire.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 385, 11));
		1763	tbDataLicenseLicense.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 397, 16));
		1764	});
		1765	}
		1766	}
2287	-	1767	/// <summary>
		1768	/// BL-Ctrl data 'K'
		1769	/// for FC you have to use a customized firmware
		1770	/// </summary>
		1771	/// <param name="data">the received byte array to process</param>
		1772	void _processBLCtrl(byte[] data)
		1773	{
		1774	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1775	{
		1776	bool bAvailable = false;
		1777	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1778	{
		1779
		1780	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1781	bAvailable = true;
		1782	else
		1783	bAvailable = false;
		1784
		1785	if (data[i] < _iMotors)
		1786	{
		1787	if (bAvailable)
		1788	{
2315	-	1789	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1790	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1791	}
		1792	else
		1793	{
2315	-	1794	dtMotors.Rows[data[i]].SetField(1, "NA");
		1795	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1796	}
		1797	}
		1798	//if (data[i] > 3 && data[i] < 8)
		1799	//{
		1800	// if (bAvailable)
		1801	// {
		1802	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1803	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1804	// }
		1805	// else
		1806	// {
		1807	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1808	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1809	// }
		1810	//}
		1811	}
		1812	}
		1813	}
		1814	/// <summary>
		1815	/// Navi-Ctrl data 'O'
		1816	/// GPS-Position, capacatiy, flying time...
		1817	/// </summary>
		1818	/// <param name="data">the received byte array to process</param>
		1819	void _processNCData(byte[] data)
		1820	{
		1821	int i_32, i_16, iVal;
		1822	double d;
		1823	i_32 = data[4];
		1824	iVal = i_32 << 24;
		1825	i_32 = data[3];
		1826	iVal += i_32 << 16;
		1827	i_32 = data[2];
		1828	iVal += i_32 << 8;
		1829	iVal += data[1];
		1830	d = (double)iVal / Math.Pow(10, 7);
2324	-	1831	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1832
2287	-	1833	PointLatLng p = new PointLatLng();
		1834
		1835	p.Lng = d;
		1836	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1837	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1838
		1839	i_32 = data[8];
		1840	iVal = i_32 << 24;
		1841	i_32 = data[7];
		1842	iVal += i_32 << 16;
		1843	i_32 = data[6];
		1844	iVal += i_32 << 8;
		1845	iVal += data[5];
		1846	d = (double)iVal / Math.Pow(10, 7);
2324	-	1847	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1848	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1849	p.Lat = d;
2399	-	1850
2291	-	1851	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1852	{
		1853	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1854	if(_bAutoHome && !_bFirstSatFix)
		1855	{
		1856	if (_iFirstSatFix < 3)
		1857	_iFirstSatFix++;
		1858	else
		1859	{
		1860	_bFirstSatFix = true;
2347	-	1861	Dispatcher.Invoke(() => _setHomePos());
2295	-	1862	}
		1863	}
2291	-	1864	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1865	{
		1866	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1867	_bAnimSatFixActive = false;
		1868	}
		1869	if (!_bFollowCopter)
		1870	{
		1871	_setCopterData(p);
		1872	if (!MainMap.ViewArea.Contains(p))
		1873	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1874
2291	-	1875	}
		1876	else
2287	-	1877	Dispatcher.Invoke(() => MainMap.Position = p);
		1878	}
		1879	else
2291	-	1880	{
		1881	if(_bSatFix)
		1882	{
		1883	if (data[50] == _iSatsLast)
		1884	{
		1885	if (_iSatsJitter < 20) _iSatsJitter++;
		1886	}
		1887	else
		1888	{
		1889	_iSatsJitter = 0;
		1890	_iSatsLast = data[50];
		1891	}
2287	-	1892
2291	-	1893	if (_iSatsJitter == 20)
		1894	{
		1895	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1896	{
		1897	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1898	_bAnimSatFixActive = true;
		1899	}
		1900	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1901	{
2405	-	1902	_bVoiceSatFixActive = true;
2398	-	1903	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		1904	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		1905	//th.Start();
2291	-	1906	}
		1907
		1908	_bSatFix = false;
		1909	}
		1910	}
		1911	}
		1912
2399	-	1913	//Distance to next WP
2287	-	1914	i_16 = data[28];
		1915	i_16 = (Int16)(i_16 << 8);
		1916	iVal = data[27] + i_16;
2399	-	1917	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		1918	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
2401	-	1919	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	1920
		1921	i_16 = data[45];
		1922	i_16 = (Int16)(i_16 << 8);
		1923	iVal = data[44] + i_16;
		1924	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1925	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1926
		1927	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2355	-	1928	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2401	-	1929	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString()));
2399	-	1930	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
2342	-	1931	{
2347	-	1932	_setActiveWP(data[48]-1);
2355	-	1933	if((data[67] & 2) == 2)
		1934	Dispatcher.Invoke(() => {
		1935	DataGridRow row;
		1936	if (_wpIndex > -1)
		1937	{
		1938	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1939	row.Background = new SolidColorBrush(Colors.Transparent);
		1940	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1941	row.BorderThickness = new Thickness(0);
		1942	}
		1943	_wpIndex = data[48] - 1;
		1944	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
2366	-	1945	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		1946	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	1947	row.BorderThickness = new Thickness(2);
		1948	dgvWP.UpdateLayout();
		1949	});
2347	-	1950	_wpIndex = data[48]-1;
2342	-	1951	}
2347	-	1952	else
		1953	{
		1954	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	1955	{
2347	-	1956	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	1957	Dispatcher.Invoke(() =>
		1958	{
		1959	DataGridRow row;
2368	-	1960	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	1961	{
		1962	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1963	row.Background = new SolidColorBrush(Colors.Transparent);
		1964	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1965	row.BorderThickness = new Thickness(0);
		1966	_wpIndex = -1;
		1967	}
		1968	});
		1969
		1970	}
2347	-	1971	}
2342	-	1972
2287	-	1973	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	1974	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2401	-	1975	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	1976	_wpCount = data[49];
2287	-	1977	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1978
		1979	//--------------- Capacity used ------------------------
		1980	i_16 = data[81];
		1981	i_16 = (Int16)(i_16 << 8);
		1982	iVal = data[80] + i_16;
		1983	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1984	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1985
2398	-	1986	//--------------- Ground speed ------------------------
		1987	i_16 = data[59];
		1988	i_16 = (Int16)(i_16 << 8);
		1989	iVal = data[58] + i_16;
2399	-	1990	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		1991	if(_Simulate)
		1992	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
2398	-	1993
		1994	//--------------- Heading north ------------------------
		1995	i_16 = data[61];
		1996	i_16 = (Int16)(i_16 << 8);
		1997	iVal = data[60] + i_16;
		1998	Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
		1999
		2000	//--------------- Heading compass ------------------------
		2001	i_16 = data[63];
		2002	i_16 = (Int16)(i_16 << 8);
		2003	iVal = data[62] + i_16;
		2004	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
2399	-	2005	if (_Simulate)
		2006	{
		2007	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2008	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2009	}
2287	-	2010	//--------------- Flying time ------------------------
		2011	i_16 = data[56];
		2012	i_16 = (Int16)(i_16 << 8);
		2013	iVal = data[55] + i_16;
		2014	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2015	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2016	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2017	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		2018
		2019	//--------------- RC quality ------------------------
		2020	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		2021	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		2022
2291	-	2023	if(data[66] > _iThresholdRC)
		2024	{
		2025	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2026	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2027	{
		2028	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2029	_bAnimRCLevelActive = false;
		2030	}
		2031	}
		2032	else
		2033	{
		2034	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2035	if (_iRCLevelJitter == 20)
		2036	{
		2037	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2038	{
		2039	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2040	_bAnimRCLevelActive = true;
		2041	}
		2042	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2043	{
2405	-	2044	_bVoiceRCLevelActive = true;
2398	-	2045	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2046	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2047	//th.Start();
2291	-	2048	}
		2049	_iRCLevelJitter++;
		2050	}
		2051	}
		2052
2405	-	2053	//Waypoint max range (by license)
		2054	if(dWPMaxRange != (double)data[70])
		2055	{
		2056	dWPMaxRange = (double)data[70];
		2057	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2058	{
		2059	if (cWPBound != null && cWPBound.Tag != null)
		2060	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2061
		2062	createCircle(home.Position, dWPMaxRange);
2408	-	2063	Dispatcher.Invoke(() =>
		2064	{
		2065	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2066	{
		2067	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2068	cWPBound.setColor(s);
		2069	}
		2070	});
2405	-	2071	}
		2072	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m"));
		2073	}
2399	-	2074	//Target hold time
		2075	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
2401	-	2076	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s"));
2399	-	2077
2287	-	2078	//--------------- NC Error ------------------------
		2079	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		2080	if (data[69] > 0)
		2081	_readNCError();
		2082	if (data[69] > 0 & data[69] < 44)
2381	-	2083	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		2084	//else
		2085	// if (_bErrorLog) _clearErrorLog("NC Error");
2287	-	2086
2298	-	2087	//-------------FC / NC Status Flags
		2088	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2089	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2090	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2091	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2092	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2093	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2094
		2095	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2096	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2097	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2098	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2099	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2100	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
		2101	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2102	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2103
		2104	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2105	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2106	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2107	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2108	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2109	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2110	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	2111
		2112	//Sidebar StatusSymbols
		2113	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2114	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
		2115	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
		2116
		2117	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2118	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
		2119	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
		2120
		2121	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	2122	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
		2123	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	-	2124
		2125	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2126	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
		2127	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
		2128
		2129	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	2130	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
		2131	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
		2132	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	-	2133
2324	-	2134	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	2135	}
		2136	/// <summary>
		2137	/// Navi-Ctrl WP data struct 'X'
		2138	/// called by index
		2139	/// </summary>
		2140	/// <param name="data">the received byte array to process</param>
		2141	void _processWPData(byte[] data)
		2142	{
2313	-	2143	_iWPCount = data[0];
2287	-	2144	_bGetWPCount = false;
		2145	if (data.Length >= 28)
		2146	{
		2147	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		2148	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		2149	if (_bGetWP)
		2150	{
		2151	if (data[1] == 1)
2315	-	2152	{
2333	-	2153	Dispatcher.Invoke(() =>
		2154	{
2356	-	2155	wpList.Clear();
		2156	_clearMapMarkers(typeof(CustomMarkerWP));
		2157	if (mRouteWP != null)
		2158	MainMap.Markers.Remove(mRouteWP);
		2159	if (wpActiveMarker != null)
		2160	MainMap.Markers.Remove(wpActiveMarker);
		2161	lblWPRouteDistance.Content = "0 m";
		2162	dtWaypoints.Rows.Clear();
2368	-	2163	_wpEdit = -1;_wpIndex = -1;
2318	-	2164	});
2315	-	2165	}
2287	-	2166	DataRow dr = dtWaypoints.NewRow();
		2167	dr = Waypoints.toDataRow(data, dr);
2313	-	2168	dtWaypoints.Rows.Add(dr);
2363	-	2169	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1]);
2313	-	2170	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2171	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	2172	if (data[1] == data[0])
		2173	{
		2174	_bGetWP = false;
2368	-	2175	_routeUpdate();
2287	-	2176	}
		2177
		2178	}
		2179	}
		2180	else
		2181	{
		2182	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		2183	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		2184	}
		2185	}
		2186	/// <summary>
		2187	/// OSD Menue 'L'
		2188	/// single page called by pagenumber
		2189	/// no autoupdate
		2190	/// </summary>
		2191	/// <param name="data">the received byte array to process</param>
		2192	void _processOSDSingle(byte[] data)
		2193	{
		2194	if (data.Length == 84)
		2195	{
		2196	string sMessage = "";
		2197	iOSDPage = data[0];
		2198	iOSDMax = data[1];
		2199	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		2200	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		2201	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2202	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2203	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2204	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2205	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2206	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2207
		2208	}
		2209	//else
		2210	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2211
		2212	}
		2213	/// <summary>
		2214	/// OSD Menue 'H'
		2215	/// called by keys (0x01,0x02,0x03,0x04)
		2216	/// autoupdate
		2217	/// </summary>
		2218	/// <param name="data">the received byte array to process</param>
		2219	void _processOSDAuto(byte[] data)
		2220	{
		2221	if (data.Length == 81)
		2222	{
		2223	string sMessage = "";
		2224	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2225	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2226	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2227	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2228	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2229
		2230	}
		2231	//else
		2232	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2233	}
		2234
		2235	#endregion processing received data
		2236
		2237	#region controller messages
		2238	/// <summary> send message to controller to request data
		2239	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2240	/// </summary>
		2241	/// <param name="CMDID"> the command ID </param>
		2242	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2243	private void _sendControllerMessage(char CMDID, byte address)
		2244	{
		2245	if (serialPortCtrl.Port.IsOpen)
		2246	{
		2247	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2248	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2249	serialStream.Write(bytes, 0, bytes.Length);
		2250
		2251	}
		2252	else
		2253	Log(LogMsgType.Error, "NOT CONNECTED!");
		2254	}
		2255	/// <summary> send message to controller to request data
		2256	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2257	/// </summary>
		2258	/// <param name="CMDID"> the command ID </param>
		2259	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2260	/// <param name="data"> additional data for the request</param>
		2261	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2262	{
		2263	if (serialPortCtrl.Port.IsOpen)
		2264	{
		2265	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2266	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2267	serialStream.Write(bytes, 0, bytes.Length);
		2268
		2269	}
		2270	else
		2271	Log(LogMsgType.Error, "NOT CONNECTED!");
		2272	}
		2273
		2274	/// <summary>
		2275	/// start/stop continous polling of controller values
		2276	/// </summary>
		2277	/// <param name="b">start/stop switch</param>
		2278	void _readCont(bool b)
		2279	{
		2280	bReadContinously = b;
		2281	if (bReadContinously)
		2282	{
		2283	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2284	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2285	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2286	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2287	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2288	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2289	}
		2290	else
		2291	{
		2292	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2293	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2294	_bConnErr = false;
		2295	}
		2296	_iLifeCounter = 0;
		2297	}
		2298
		2299	private void _getVersion()
		2300	{
		2301	_sendControllerMessage('v', 0);
		2302	}
		2303	/// <summary>
		2304	/// get FC version struct via NC
		2305	/// by sending '1' as data (not documented in wiki...)
		2306	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2307	/// </summary>
		2308	/// <param name="ctrl">controller number 1=FC</param>
		2309	private void _getVersion(byte ctrl)
		2310	{
		2311	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2312	}
		2313	/// <summary>
		2314	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2315	/// </summary>
		2316	private void _switchToNC()
		2317	{
		2318	if (serialPortCtrl.Port.IsOpen)
		2319	{
		2320	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2321	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2322	serialStream.Write(bytes, 0, bytes.Length);
		2323
		2324	Thread.Sleep(100);
		2325	_getVersion();
		2326	Thread.Sleep(100);
2424	-	2327	_getLic();
2287	-	2328	// _OSDMenue(0);
		2329	}
		2330	else
		2331	Log(LogMsgType.Error, "NOT CONNECTED!");
		2332	}
		2333	/// <summary>
		2334	/// switch to FC
		2335	/// </summary>
		2336	private void _switchToFC()
		2337	{
		2338	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2339	Thread.Sleep(100);
		2340	_getVersion();
		2341	Thread.Sleep(100);
		2342	// _OSDMenue(0);
		2343	}
		2344	/// <summary>
		2345	/// send RESET signal to FC
		2346	/// </summary>
		2347	private void _resetCtrl()
		2348	{
		2349	_sendControllerMessage('R', 1);
		2350	}
		2351	/// <summary>
		2352	/// poll the debug data (4sec subscription)
		2353	/// </summary>
		2354	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2355	private void _readDebugData(bool auto)
		2356	{
		2357	byte interval = auto ? debugInterval : (byte)0;
		2358	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2359	}
		2360	/// <summary>
		2361	/// poll the BL-CTRL status via NC (4sec subscription)
		2362	/// </summary>
		2363	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2364	private void _readBLCtrl(bool auto)
		2365	{
		2366	byte interval = auto ? blctrlInterval : (byte)0;
		2367	_sendControllerMessage('k', 0, new byte[1] { interval });
		2368	}
		2369	/// <summary>
		2370	/// poll the NC data struct (4sec subscription)
		2371	/// </summary>
		2372	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2373	private void _readNavData(bool auto)
		2374	{
		2375	byte interval = auto ? navctrlInterval : (byte)0;
		2376	_sendControllerMessage('o', 2, new byte[1] { interval });
		2377	}
		2378	/// <summary>
2424	-	2379	/// request the license info
		2380	/// </summary>
		2381	void _getLic()
		2382	{
		2383	if (serialPortCtrl.Port.IsOpen)
		2384	{
		2385	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2386	byte[] bytes = FlightControllerMessage.CreateMessage('m', 2, new byte[1] { (byte)1 });
		2387	serialStream.Write(bytes, 0, bytes.Length);
		2388	}
		2389	else
		2390	Log(LogMsgType.Error, "NOT CONNECTED!");
		2391
		2392	}
		2393	/// <summary>
2287	-	2394	/// get the errortext for pending NC error
		2395	/// </summary>
		2396	private void _readNCError()
		2397	{
		2398	_sendControllerMessage('e', 2);
		2399	}
		2400	/// <summary>
		2401	/// request the Waypoint at index
		2402	/// </summary>
		2403	/// <param name="index"></param>
		2404	void _getpWP(int index)
		2405	{
		2406	if (serialPortCtrl.Port.IsOpen)
		2407	{
		2408	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2409	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2410	serialStream.Write(bytes, 0, bytes.Length);
		2411	}
		2412	else
		2413	Log(LogMsgType.Error, "NOT CONNECTED!");
		2414
		2415	}
		2416	void _getWP()
		2417	{
2335	-	2418	int iTimeout = 0;
2287	-	2419	_bGetWPCount = true;
2315	-	2420	_getpWP(1); //get the itemscount of wp
2335	-	2421	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2422	{
		2423	Thread.Sleep(10);
		2424	iTimeout++;
		2425	}
		2426	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2427	_getWPList();
		2428	}
		2429	void _getWPList()
		2430	{
		2431	_bGetWP = true;
2313	-	2432	int iTimeout=0;
		2433	for (int j = 0; j < _iWPCount; j++)
2287	-	2434	{
		2435	_getpWP(j + 1);
2313	-	2436	iTimeout = 0;
		2437	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2438	{
		2439	Thread.Sleep(1);
		2440	iTimeout++;
		2441	}
2287	-	2442	}
2419	-	2443	Dispatcher.Invoke(() =>
		2444	{
		2445	// MainMap.ZoomAndCenterMarkers(null);
		2446	MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]);
		2447	MainMap.Zoom = 19;
		2448	});
2287	-	2449	}
2363	-	2450	/// <summary>
		2451	/// Wrapper for _clearCopterWPList()
		2452	/// necessary, cause it is called by threadnew which does not like return values...
		2453	/// </summary>
2340	-	2454	void clearCopterWPList()
2313	-	2455	{
2340	-	2456	_clearCopterWPList();
		2457	}
2363	-	2458	/// <summary>
		2459	/// clear the WP list of the copter
		2460	/// by sending 'invalid' and index '0'
		2461	/// </summary>
		2462	/// <returns></returns>
2340	-	2463	bool _clearCopterWPList()
		2464	{
2335	-	2465	int iTimeout = 0;
2313	-	2466	if (serialPortCtrl.Port.IsOpen)
		2467	{
		2468	byte[] bData = new byte[30];
		2469	for (int i = 0; i < 30; i++)
		2470	bData[i] = 0;
		2471	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2472	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2473	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2474
2313	-	2475	_iWPCount = -1;
2340	-	2476	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2477	{
2313	-	2478	Thread.Sleep(10);
2335	-	2479	iTimeout++;
		2480	}
2313	-	2481	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2482	if (_iWPCount > -1)
2340	-	2483	return true;
		2484	else
		2485	Log(LogMsgType.Error, "Timeout while sending list!");
		2486	}
		2487	else
		2488	Log(LogMsgType.Error, "NOT CONNECTED!");
		2489
		2490	return false;
		2491	}
		2492	void _sendWPList()
		2493	{
2362	-	2494	_sendWPList(0);
		2495	}
		2496	void _sendWPList(int iStart)
		2497	{
2340	-	2498	int iTimeout = 0;
		2499	if (serialPortCtrl.Port.IsOpen)
		2500	{
		2501	if (_clearCopterWPList())
2313	-	2502	{
2362	-	2503	int k = 1;
		2504	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	2505	{
2362	-	2506	k = iStart > 0 ? k : -1;
2376	-	2507	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	2508
2335	-	2509	_iWPCount = -1;
		2510	iTimeout = 0;
		2511	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2512	{
		2513	Thread.Sleep(10);
		2514	iTimeout++;
		2515	}
		2516	if (_iWPCount == -1)
		2517	{
		2518	Log(LogMsgType.Error, "Timeout while sending list!");
		2519	break;
		2520	}
		2521	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	2522	k++;
2335	-	2523	}
2313	-	2524	}
		2525	}
		2526	else
		2527	Log(LogMsgType.Error, "NOT CONNECTED!");
		2528
		2529	}
2376	-	2530	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	2531	{
2313	-	2532
2340	-	2533	if (serialPortCtrl.Port.IsOpen)
		2534	{
		2535	byte[] bData = new byte[30];
		2536	for (int i = 0; i < 30; i++)
		2537	bData[i] = 0;
		2538	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2539	byte[] bytes;
		2540	int iVal;
		2541	double dVal;
		2542	NumberFormatInfo nfi = new NumberFormatInfo();
		2543	nfi.NumberDecimalSeparator = ",";
		2544
		2545	//longitude
		2546	dVal = Convert.ToDouble(dr[4], nfi);
		2547	iVal = (int)(dVal * Math.Pow(10, 7));
		2548	bData[0] = (byte)(iVal & 0xff);
		2549	bData[1] = (byte)((iVal >> 8) & 0xff);
		2550	bData[2] = (byte)((iVal >> 16) & 0xff);
		2551	bData[3] = (byte)(iVal >> 24);
		2552	//latitude
		2553	dVal = Convert.ToDouble(dr[3], nfi);
		2554	iVal = (int)(dVal * Math.Pow(10, 7));
		2555	bData[4] = (byte)(iVal & 0xff);
		2556	bData[5] = (byte)((iVal >> 8) & 0xff);
		2557	bData[6] = (byte)((iVal >> 16) & 0xff);
		2558	bData[7] = (byte)(iVal >> 24);
		2559	//altitude
		2560	dVal = Convert.ToDouble(dr[5], nfi);
		2561	iVal = (int)(dVal * 10);
		2562	bData[8] = (byte)(iVal & 0xff);
		2563	bData[9] = (byte)((iVal >> 8) & 0xff);
		2564	bData[10] = (byte)((iVal >> 16) & 0xff);
		2565	bData[11] = (byte)(iVal >> 24);
2376	-	2566	if(bSim)
		2567	bData[12] = 3; //Status 'SIMULATE'
2340	-	2568	//Status 'NEWDATA'
2376	-	2569	else
		2570	bData[12] = 1;
2340	-	2571	//heading
		2572	iVal = Convert.ToInt16(dr[6]);
		2573	bData[13] = (byte)(iVal & 0xff);
		2574	bData[14] = (byte)((iVal >> 8) & 0xff);
		2575	//ToleranceRadius
		2576	bData[15] = Convert.ToByte(dr[9]);
		2577	//HoldTime
		2578	bData[16] = Convert.ToByte(dr[10]);
		2579	//Event_Flag
		2580	bData[17] = Convert.ToByte(dr[13]);
		2581	//Index
2379	-	2582	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
2340	-	2583	//Type
		2584	bData[19] = Convert.ToByte(dr[1]);
		2585	//WP_EventChannelValue
		2586	bData[20] = Convert.ToByte(dr[14]);
		2587	//AltitudeRate
		2588	bData[21] = Convert.ToByte(dr[8]);
		2589	//Speed
		2590	bData[22] = Convert.ToByte(dr[7]);
		2591	//CamAngle
		2592	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2593	//Name
2362	-	2594	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		2595	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	2596	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2597	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2598	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2599	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2600	//Autotrigger
		2601	bData[28] = Convert.ToByte(dr[11]);
		2602
2356	-	2603	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	2604	serialStream.Write(bytes, 0, bytes.Length);
		2605
		2606	return true;
		2607	}
		2608
		2609	return false;
		2610	}
2287	-	2611	#region OSD-Menue
		2612
		2613	/// <summary>
		2614	/// one time query of the OSD Menue with pagenumber
		2615	/// </summary>
		2616	/// <param name="iMenue">Menue page</param>
		2617	void _OSDMenue(int iMenue)
		2618	{
		2619	if (serialPortCtrl.Port.IsOpen)
		2620	{
		2621	if (iMenue > iOSDMax)
		2622	iMenue = 0;
		2623	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2624	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2625	serialStream.Write(bytes, 0, bytes.Length);
		2626	}
		2627	else
		2628	Log(LogMsgType.Error, "NOT CONNECTED!");
		2629
		2630	}
		2631	/// <summary>
		2632	/// call the OSDMenue and start autorefresh
		2633	/// usually by sending a menuekey
		2634	/// 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)
		2635	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2636	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2637	/// </summary>
		2638	void _OSDMenueAutoRefresh()
		2639	{
		2640	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2641	}
		2642	void _OSDMenueAutoRefresh(byte key)
		2643	{
		2644	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2645	}
		2646	/// <summary>
		2647	/// initialize the OSD menue combobox
		2648	/// combox is filled by numbers from 0 to max pagenumber
		2649	/// </summary>
		2650	void _initOSDCB()
		2651	{
		2652	_bCBInit = true;
		2653	if (iOSDMax == 0)
		2654	{
		2655	_OSDMenue(0);
		2656	Thread.Sleep(10);
		2657	}
		2658	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2659	for (int i = 0; i <= iOSDMax; i++)
		2660	{
		2661	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2662	}
		2663	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2664	_bCBInit = false;
		2665	}
		2666	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2667	{
		2668	iOSDPage++;
		2669	if (iOSDPage > iOSDMax)
		2670	iOSDPage = 0;
		2671
		2672	_OSDMenue(iOSDPage);
		2673	}
		2674	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2675	{
		2676	iOSDPage--;
		2677	if (iOSDPage < 0)
		2678	iOSDPage = iOSDMax;
		2679
		2680	_OSDMenue(iOSDPage);
		2681	}
		2682	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2683	{
		2684	_OSDMenueAutoRefresh(8);
		2685	}
		2686	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2687	{
		2688	_OSDMenueAutoRefresh(4);
		2689	}
		2690	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2691	{
		2692	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2693	_OSDMenue(cbOSD.SelectedIndex);
		2694	}
		2695	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2696	{
		2697	Dispatcher.Invoke(() =>
		2698	{
		2699	TextRange tr;
		2700	if (bNew)
		2701	{
		2702	rtfOSD.SelectAll();
		2703	rtfOSD.Selection.Text = string.Empty;
		2704	}
		2705	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2706	tr.Text = msg;
		2707	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2708	// rtfOSD.AppendText("\r");
		2709	rtfOSD.ScrollToEnd();
		2710
		2711	});
		2712	}
		2713
		2714	#endregion OSD-Menue
		2715
		2716	#endregion controller messages
		2717
2398	-	2718	void _mediaPlayer(object file)
2295	-	2719	{
2405	-	2720	Monitor.TryEnter(lockObj);
		2721	try
2295	-	2722	{
2405	-	2723	if (File.Exists((string)file))
		2724	{
		2725
		2726	mediaPlayer.Open((string)file);
		2727	mediaPlayer.Play();
		2728	}
		2729
2295	-	2730	}
2405	-	2731	finally
		2732	{
		2733	Monitor.Exit(lockObj);
		2734	}
2295	-	2735	}
2310	-	2736
2362	-	2737	#region ui
2310	-	2738	/// <summary>
		2739	/// Switch between fullscreen and normal window mode
		2740	/// save & restore scaling settings
		2741	/// </summary>
		2742	/// <param name="sender"></param>
		2743	/// <param name="e"></param>
2287	-	2744	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2745	{
		2746	if (winState.isMaximized)
		2747	{
		2748	winState.Restore(this);
		2749	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2750	if(_bSaveWinStateFull)
		2751	_saveScaleSliders(true);
		2752	if(_bSaveWinStateNormal)
		2753	_setScaleSliders(false);
		2754	}
		2755	else
		2756	{
		2757	winState.Maximize(this);
		2758	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2759	if(_bSaveWinStateNormal)
		2760	_saveScaleSliders(false);
		2761	if(_bSaveWinStateFull)
		2762	_setScaleSliders(true);
		2763	}
		2764	}
		2765
		2766	/// <summary>
		2767	/// reset the scaling of all UI elements to default
		2768	/// </summary>
		2769	/// <param name="sender"></param>
		2770	/// <param name="e"></param>
		2771	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2772	{
		2773	UIScaleHorizonSlider.Value =
		2774	UIScaleLOGSlider.Value =
		2775	UIScaleMotorsSlider.Value =
		2776	UIScaleOSDSlider.Value =
		2777	UIScaleSlider.Value =
		2778	UIScaleTopSlider.Value = 1;
		2779	}
		2780	/// <summary>
		2781	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2782	/// </summary>
		2783	/// <param name="sender"></param>
		2784	/// <param name="e"></param>
		2785	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2786	{
		2787	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2788	if (GridMotors != null)
		2789	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2790	if (GridSideBar != null)
		2791	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
2401	-	2792	if (WPStatus != null)
		2793	WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom);
2287	-	2794	if (GridOSD != null)
2401	-	2795	{
		2796	if(WPStatus.Visibility == Visibility.Visible)
		2797	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2798	else
		2799	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2800	}
2287	-	2801	if (GridData != null)
		2802	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2803	if (GridWP != null)
		2804	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2805	}
2419	-	2806	private void UIScaleOSDSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2807	{
		2808	if (!_init)
		2809	{
		2810	if (WPStatus != null && (WPStatus.Visibility == Visibility.Visible))
		2811	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2812	else
		2813	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2814	}
		2815	}
		2816
2310	-	2817	/// <summary>
		2818	/// restore the saved scalings for the fullscreen/normal window mode
		2819	/// </summary>
		2820	/// <param name="bFull">the mode the window is set to</param>
2287	-	2821	void _setScaleSliders(bool bFull)
		2822	{
		2823	if(bFull)
		2824	{
		2825	UIScaleSlider.Value = scaleFullAll;
		2826	UIScaleTopSlider.Value = scaleFullTopBar;
		2827	UIScaleMotorsSlider.Value = scaleFullMotors;
		2828	UIScaleOSDSlider.Value = scaleFullOSD;
		2829	UIScaleLOGSlider.Value = scaleFullLOG;
		2830	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2831	}
		2832	else
		2833	{
		2834	UIScaleSlider.Value = scaleNormalAll;
		2835	UIScaleTopSlider.Value = scaleNormalTopBar;
		2836	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2837	UIScaleOSDSlider.Value = scaleNormalOSD;
		2838	UIScaleLOGSlider.Value = scaleNormalLOG;
		2839	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2840	}
		2841	}
		2842
2310	-	2843	/// <summary>
		2844	/// save the scalings for the actual window mode
		2845	/// </summary>
		2846	/// <param name="bFull">the actual window mode</param>
2287	-	2847	void _saveScaleSliders(bool bFull)
		2848	{
		2849
		2850	if (bFull)
		2851	{
		2852	scaleFullAll = UIScaleSlider.Value;
		2853	scaleFullTopBar = UIScaleTopSlider.Value;
		2854	scaleFullMotors = UIScaleMotorsSlider.Value;
		2855	scaleFullOSD = UIScaleOSDSlider.Value;
		2856	scaleFullLOG = UIScaleLOGSlider.Value;
		2857	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2858	}
		2859	else
		2860	{
		2861	scaleNormalAll = UIScaleSlider.Value;
		2862	scaleNormalTopBar = UIScaleTopSlider.Value;
		2863	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2864	scaleNormalOSD = UIScaleOSDSlider.Value;
		2865	scaleNormalLOG = UIScaleLOGSlider.Value;
		2866	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2867	}
		2868	}
2362	-	2869	#endregion ui
2287	-	2870
		2871	/// <summary>
		2872	/// read settings from ini-file
		2873	/// </summary>
		2874	void _readIni()
		2875	{
		2876	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2877	_writeIni();
		2878	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2879	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2880	try
		2881	{
2287	-	2882
2312	-	2883	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2884	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2885	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2886	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2887	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2888	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2889	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2890	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2891
2312	-	2892	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2893	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2894	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2895	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2896	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2897	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2898	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2899	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2900
2312	-	2901	sVal = ini.IniReadValue("topBar", "voltage");
		2902	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2903	sVal = ini.IniReadValue("topBar", "capacity");
		2904	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2905	sVal = ini.IniReadValue("topBar", "current");
		2906	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2907	sVal = ini.IniReadValue("topBar", "flightTime");
		2908	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2909	sVal = ini.IniReadValue("topBar", "distanceHP");
		2910	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2911	sVal = ini.IniReadValue("topBar", "height");
		2912	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2913	sVal = ini.IniReadValue("topBar", "speed");
		2914	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2915	sVal = ini.IniReadValue("topBar", "magneticField");
		2916	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2917	sVal = ini.IniReadValue("topBar", "satellites");
		2918	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2919	sVal = ini.IniReadValue("topBar", "rc");
		2920	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2921
2312	-	2922	sVal = ini.IniReadValue("style", "saveFullScreen");
		2923	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2924	sVal = ini.IniReadValue("style", "saveNormalState");
		2925	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2926
2312	-	2927	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2928	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2929	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2930	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2931	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2932	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2933	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2934	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2935	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2936	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2937	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2938	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2939
2312	-	2940	sVal = ini.IniReadValue("style", "scaleFullAll");
		2941	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2942	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2943	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2944	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2945	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2946	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2947	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2948	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2949	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2950	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2951	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2952
2312	-	2953	sVal = ini.IniReadValue("general", "LiPoCells");
		2954	_LipoCells = Convert.ToInt16(sVal);
		2955	sVal = ini.IniReadValue("general", "Motors");
		2956	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2957
2312	-	2958	sVal = ini.IniReadValue("map", "followMe");
		2959	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2960	sVal = ini.IniReadValue("map", "AutoSetHome");
		2961	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2962	sVal = ini.IniReadValue("map", "GPXLog");
		2963	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2964
2312	-	2965	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2966	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2967	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2968	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2969	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2970	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2971	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2972	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2973	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2974	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2975	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2976	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2977	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2978	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2979	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2980	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2981	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2982	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2983	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2984	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2985	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2986	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2987
		2988	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2989	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2990	sVal = ini.IniReadValue("waypoints", "poicolor");
		2991	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2992	sVal = ini.IniReadValue("waypoints", "fscolor");
		2993	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2994	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2995	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2385	-	2996	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		2997	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
2379	-	2998	sVal = ini.IniReadValue("waypoints", "landingcolor");
		2999	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	3000	sVal = ini.IniReadValue("waypoints", "routecolor");
		3001	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		3002	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		3003	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2408	-	3004	sVal = ini.IniReadValue("waypoints", "showWPMaxRange");
		3005	if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal);
		3006	sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor");
		3007	if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal);
2349	-	3008
		3009	for (int i = 0; i < 12; i++)
		3010	{
		3011	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		3012	if (sVal != "")
		3013	serChan[i] = Convert.ToInt16(sVal);
		3014	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		3015	if (sVal != "")
		3016	serChanTitle[i] = sVal;
		3017	for (int y = 0; i < 4 && y < 3; y++)
		3018	{
		3019	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		3020	if (sVal != "")
		3021	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		3022	}
		3023	}
		3024
2312	-	3025	}
		3026	catch (Exception e)
		3027	{
2287	-	3028
2312	-	3029	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		3030	}
		3031
2287	-	3032	}
		3033
		3034	/// <summary>
		3035	/// save settings to ini-file
		3036	/// </summary>
		3037	void _writeIni()
		3038	{
		3039
		3040	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3041	ini.path = filePath + "\\MKLiveViewSettings.ini";
		3042
2312	-	3043	try
		3044	{
2287	-	3045
2312	-	3046	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		3047	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		3048	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		3049	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	3050
2312	-	3051	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		3052	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		3053	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		3054	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	3055
2312	-	3056	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		3057	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	3058
2312	-	3059	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		3060	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	3061	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	3062
2312	-	3063	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		3064	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		3065	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		3066	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		3067	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		3068	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		3069	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		3070	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		3071	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		3072	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	3073
2312	-	3074	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		3075	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	3076
2312	-	3077	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		3078	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		3079	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		3080	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		3081	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		3082	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	3083
2312	-	3084	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		3085	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		3086	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		3087	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		3088	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		3089	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	3090
2312	-	3091	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		3092
		3093	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		3094	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		3095	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		3096	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		3097	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		3098	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		3099	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		3100	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		3101	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		3102	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		3103	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	3104
		3105	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		3106	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		3107	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		3108	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2385	-	3109	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
2379	-	3110	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
2328	-	3111	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		3112	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2408	-	3113	ini.IniWriteValue("waypoints", "showWPMaxRange", ((bool)checkBoxShowWPMaxRange.IsChecked).ToString());
		3114	ini.IniWriteValue("waypoints", "WPMaxRangecolor", comboBoxWPMaxRangeColor.SelectedIndex.ToString());
2349	-	3115
		3116	for (int i = 0; i < 12; i++)
		3117	{
		3118	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		3119	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		3120	for (int y = 0; i < 4 && y < 3; y++)
		3121	{
		3122	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		3123	}
		3124	}
		3125
2312	-	3126	}
		3127	catch (Exception e)
		3128	{
		3129
		3130	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);
		3131	}
2287	-	3132	}
2350	-	3133
2349	-	3134	#region serial channels
		3135	/// <summary>
		3136	/// Sending the serial channel values
		3137	/// </summary>
		3138	void _sendSerialData()
		3139	{
		3140	byte[] serData = new byte[12];
		3141	for (int i = 0; i < 12; i++)
		3142	{
		3143	serData[i] = unchecked((byte)(serChan[i] - 127));
		3144	}
		3145	_sendControllerMessage('y', 1, serData);
		3146	}
		3147	/// <summary>
		3148	/// init the controls for displaying
		3149	/// and setting serial control channels
		3150	/// </summary>
		3151	void _initSerialCtrl()
		3152	{
		3153	SerChan1ScaleSlider.Value = serChan[0];
		3154	textBoxSerial1.Text = serChanTitle[0];
		3155	SerChan2ScaleSlider.Value = serChan[1];
		3156	textBoxSerial2.Text = serChanTitle[1];
2350	-	3157	SerChan3ScaleSlider.Value = serChan[2];
		3158	textBoxSerial3.Text = serChanTitle[2];
2349	-	3159	//SerChan4ScaleSlider.Value = serChan[3];
		3160	//textBoxSerial4.Text = serChanTitle[3];
		3161	//trckbarSerial5.Value = serChan[4];
		3162	//textBoxSerial5.Text = serChanTitle[4];
		3163	//trckbarSerial6.Value = serChan[5];
		3164	//textBoxSerial6.Text = serChanTitle[5];
		3165	//trckbarSerial7.Value = serChan[6];
		3166	//textBoxSerial7.Text = serChanTitle[6];
		3167	//trckbarSerial8.Value = serChan[7];
		3168	//textBoxSerial8.Text = serChanTitle[7];
2312	-	3169
2349	-	3170	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		3171	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		3172	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		3173	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		3174	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		3175	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	3176	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		3177	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		3178	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	3179	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		3180	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		3181	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		3182	}
		3183	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3184	{
		3185	if (!_init)
		3186	{
		3187	serChan[0] = (int)SerChan1ScaleSlider.Value;
		3188	_sendSerialData();
		3189	}
		3190	}
		3191	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		3192	{
		3193	if (!_init)
		3194	{
		3195	serChanTitle[0] = textBoxSerial1.Text;
		3196	}
		3197	}
		3198	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		3199	{
		3200	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		3201	{
		3202	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		3203	}
		3204	}
		3205	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		3206	{
		3207	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		3208	{
		3209	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		3210	}
		3211	}
		3212	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		3213	{
		3214	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		3215	{
		3216	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		3217	}
		3218	}
		3219	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		3220	{
		3221	if (textBoxSerial1_val1.Text.Length > 0)
		3222	{
		3223	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		3224	}
		3225	}
		3226	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		3227	{
		3228	SerChan1ScaleSlider.Value = 0;
		3229	}
		3230	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		3231	{
		3232	SerChan1ScaleSlider.Value = 127;
		3233	}
		3234	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		3235	{
		3236	SerChan1ScaleSlider.Value = 254;
		3237	}
		3238	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		3239	{
		3240	if (textBoxSerial1_val2.Text.Length > 0)
		3241	{
		3242	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		3243	}
		3244	}
		3245	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		3246	{
		3247	if (textBoxSerial1_val3.Text.Length > 0)
		3248	{
		3249	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		3250	}
		3251	}
		3252
		3253	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3254	{
		3255	if (!_init)
		3256	{
		3257	serChan[1] = (int)SerChan2ScaleSlider.Value;
		3258	_sendSerialData();
		3259	}
		3260	}
		3261	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		3262	{
		3263	if (!_init)
		3264	{
		3265	serChanTitle[1] = textBoxSerial2.Text;
		3266	}
		3267	}
		3268	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		3269	{
		3270	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		3271	{
		3272	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		3273	}
		3274	}
		3275	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		3276	{
		3277	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		3278	{
		3279	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		3280	}
		3281	}
		3282	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		3283	{
		3284	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		3285	{
		3286	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3287	}
		3288	}
		3289	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3290	{
		3291	SerChan2ScaleSlider.Value = 0;
		3292	}
		3293	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3294	{
		3295	SerChan2ScaleSlider.Value = 127;
		3296	}
		3297	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3298	{
		3299	SerChan2ScaleSlider.Value = 254;
		3300	}
		3301	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3302	{
		3303	if (textBoxSerial2_val1.Text.Length > 0)
		3304	{
		3305	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3306	}
		3307	}
		3308	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3309	{
		3310	if (textBoxSerial2_val2.Text.Length > 0)
		3311	{
		3312	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3313	}
		3314	}
		3315	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3316	{
		3317	if (textBoxSerial2_val3.Text.Length > 0)
		3318	{
		3319	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3320	}
		3321	}
2350	-	3322
		3323	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3324	{
		3325	if (!_init)
		3326	{
		3327	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3328	_sendSerialData();
		3329	}
		3330	}
		3331	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3332	{
		3333	if (!_init)
		3334	{
		3335	serChanTitle[2] = textBoxSerial3.Text;
		3336	}
		3337	}
		3338	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3339	{
		3340	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3341	{
		3342	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3343	}
		3344	}
		3345	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3346	{
		3347	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3348	{
		3349	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3350	}
		3351	}
		3352	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3353	{
		3354	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3355	{
		3356	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3357	}
		3358	}
		3359	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3360	{
		3361	SerChan3ScaleSlider.Value = 0;
		3362	}
		3363	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3364	{
		3365	SerChan3ScaleSlider.Value = 127;
		3366	}
		3367	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3368	{
		3369	SerChan3ScaleSlider.Value = 254;
		3370	}
		3371	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3372	{
		3373	if (textBoxSerial3_val1.Text.Length > 0)
		3374	{
		3375	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3376	}
		3377	}
		3378	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3379	{
		3380	if (textBoxSerial3_val2.Text.Length > 0)
		3381	{
		3382	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3383	}
		3384	}
		3385	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3386	{
		3387	if (textBoxSerial3_val3.Text.Length > 0)
		3388	{
		3389	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3390	}
		3391	}
2349	-	3392	/// <summary>
		3393	/// checks the input of a textbox
		3394	/// for valid data
		3395	/// in this case values 0-254
		3396	/// </summary>
		3397	/// <param name="sender"></param>
		3398	/// <param name="e"></param>
		3399	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3400	{
		3401	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3402	e.Handled = true;
		3403	else
		3404	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3405	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3406	e.Handled = true;
		3407	else
		3408	{
		3409	int i = -1;
		3410	switch (((TextBox)sender).Name)
		3411	{
		3412	case "textBoxSerial1_val1":
		3413	i = 0;
		3414	break;
		3415	case "textBoxSerial1_val2":
		3416	i = 1;
		3417	break;
		3418	case "textBoxSerial1_val3":
		3419	i = 2;
		3420	break;
		3421	case "textBoxSerial2_val1":
		3422	i = 3;
		3423	break;
		3424	case "textBoxSerial2_val2":
		3425	i = 4;
		3426	break;
		3427	case "textBoxSerial2_val3":
		3428	i = 5;
		3429	break;
		3430	case "textBoxSerial3_val1":
		3431	i = 6;
		3432	break;
		3433	case "textBoxSerial3_val2":
		3434	i = 7;
		3435	break;
		3436	case "textBoxSerial3_val3":
		3437	i = 8;
		3438	break;
		3439	case "textBoxSerial4_val1":
		3440	i = 9;
		3441	break;
		3442	case "textBoxSerial4_val2":
		3443	i = 10;
		3444	break;
		3445	case "textBoxSerial4_val3":
		3446	i = 11;
		3447	break;
		3448	}
		3449	if (i > -1)
		3450	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3451	}
		3452	}
		3453
		3454	#endregion serial channels
2315	-	3455	#region WP
2312	-	3456	void _readWPLFile()
		3457	{
		3458	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3459	fd.Filter = "Waypointlists \| *.wpl";
		3460	fd.Multiselect = false;
		3461	if (fd.ShowDialog().Value)
		3462	{
		3463	string file = fd.SafeFileName;
		3464	IniFile ini = new IniFile(fd.SafeFileName);
		3465	ini.path = fd.FileName;
		3466
		3467	try
		3468	{
		3469	string sVal = ini.IniReadValue("General", "FileVersion");
		3470	if (sVal == "")
		3471	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3472	else
		3473	{
		3474	if (Convert.ToInt16(sVal) < 3)
		3475	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3476	else
		3477	{
		3478	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3479	if (sVal == "")
		3480	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3481	else
		3482	{
		3483	int wpnum = Convert.ToInt16(sVal);
		3484	string wp;
		3485	int i;
2313	-	3486	NumberFormatInfo nfi = new NumberFormatInfo();
		3487	nfi.NumberDecimalSeparator = ".";
2312	-	3488	dtWaypoints.Rows.Clear();
2368	-	3489	_wpEdit = -1;_wpIndex = -1;
2327	-	3490	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	3491	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	3492	wpList.Clear();
		3493	if (mRouteWP != null)
		3494	MainMap.Markers.Remove(mRouteWP);
2363	-	3495	//if (wpActiveMarker != null)
		3496	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	3497	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3498
2312	-	3499	for (int k = 1; k <= wpnum; k++)
		3500	{
		3501	DataRow dr = dtWaypoints.NewRow();
		3502	dr.ItemArray = new object[16];
		3503	object[] o = new object[16];
		3504	i = 0;
		3505	wp = "Point" + k.ToString();
		3506	o[i] = k;
		3507	i++;
		3508	sVal = ini.IniReadValue(wp, "Type");
		3509	if (sVal != "")
2315	-	3510	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3511	i++;
		3512	sVal = ini.IniReadValue(wp, "Prefix");
		3513	if (sVal != "")
2350	-	3514	o[i] = sVal + k.ToString();
		3515	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3516	i++;
2313	-	3517	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3518	if (sVal != "")
2313	-	3519	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3520	i++;
2313	-	3521	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3522	if (sVal != "")
2313	-	3523	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3524	i++;
		3525	sVal = ini.IniReadValue(wp, "Altitude");
		3526	if (sVal != "")
2313	-	3527	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3528	i++;
		3529	sVal = ini.IniReadValue(wp, "Heading");
		3530	if (sVal != "")
		3531	o[i] = Convert.ToInt16(sVal);
		3532	i++;
		3533	sVal = ini.IniReadValue(wp, "Speed");
		3534	if (sVal != "")
2315	-	3535	o[i] = Convert.ToInt16(sVal);
2312	-	3536	i++;
		3537	sVal = ini.IniReadValue(wp, "ClimbRate");
		3538	if (sVal != "")
		3539	o[i] = Convert.ToInt16(sVal);
		3540	i++;
		3541	sVal = ini.IniReadValue(wp, "Radius");
		3542	if (sVal != "")
		3543	o[i] = Convert.ToInt16(sVal);
		3544	i++;
		3545	sVal = ini.IniReadValue(wp, "DelayTime");
		3546	if (sVal != "")
		3547	o[i] = Convert.ToInt16(sVal);
		3548	i++;
		3549	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3550	if (sVal != "")
		3551	o[i] = Convert.ToInt16(sVal); ;
		3552	i++;
		3553	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3554	if (sVal != "")
2313	-	3555	o[i] = Convert.ToInt16(sVal);
2312	-	3556	i++;
		3557	o[i] = 0;
		3558	i++;
		3559	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3560	if (sVal != "")
		3561	o[i] = Convert.ToInt16(sVal);
		3562	i++;
		3563	o[i] = "New";
		3564
		3565	dr.ItemArray = o;
		3566	dtWaypoints.Rows.Add(dr);
2363	-	3567	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1]);
2315	-	3568
2312	-	3569	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3570	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3571	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
2419	-	3572	Thread.Sleep(1);
2312	-	3573	}
2419	-	3574	Dispatcher.Invoke(() => MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]));
		3575	Dispatcher.Invoke(() => MainMap.Zoom = 19);
		3576	// Dispatcher.Invoke(() => MainMap.ZoomAndCenterMarkers(null));
		3577	Dispatcher.Invoke(() => _routeUpdate());
2312	-	3578	}
		3579	}
		3580	}
		3581
		3582	}
		3583	catch (Exception e)
		3584	{
		3585
		3586	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		3587	}
		3588
		3589	}
		3590	}
2350	-	3591	void _saveWPLFile()
		3592	{
		3593	if (dtWaypoints.Rows.Count > 0)
		3594	{
		3595	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		3596	fd.Filter = "Waypointlists \| *.wpl";
		3597	fd.AddExtension = true;
		3598	if (fd.ShowDialog().Value)
		3599	{
		3600	string file = fd.SafeFileName;
		3601	IniFile ini = new IniFile(fd.SafeFileName);
		3602	ini.path = fd.FileName;
		3603	NumberFormatInfo nfi = new NumberFormatInfo();
		3604	nfi.NumberDecimalSeparator = ".";
		3605
		3606	try
		3607	{
		3608	ini.IniWriteValue("General", "FileVersion", "3");
		3609	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		3610	ini.IniWriteValue("General", "Mapfile", "");
		3611	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		3612	{
		3613	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		3614	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		3615	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		3616	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		3617	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		3618	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		3619	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		3620	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		3621	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		3622	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		3623	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		3624	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));
		3625	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		3626	}
		3627	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		3628	}
		3629	catch { }
		3630	}
		3631	}
		3632	else
		3633	MessageBox.Show("Nothing to save...");
		3634	}
		3635	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		3636	{
		3637	_saveWPLFile();
		3638	}
		3639	/// <summary>
		3640	/// set the selected color for the route
		3641	/// </summary>
		3642	/// <param name="color"></param>
		3643	/// <returns></returns>
2328	-	3644	Brush _getBrush(string color)
		3645	{
		3646	switch (color)
		3647	{
		3648	case "red":
		3649	return Brushes.Red;
		3650	case "green":
		3651	return Brushes.Lime;
		3652	case "blue":
		3653	return Brushes.Aqua;
		3654	case "pink":
		3655	return Brushes.Magenta;
		3656	case "yellow":
		3657	return Brushes.Yellow;
		3658	default:
		3659	return Brushes.Magenta;
		3660	}
		3661	}
2359	-	3662	void _routeUpdate()
		3663	{
		3664	Dispatcher.Invoke(() =>
		3665	{
		3666	if (comboBoxRouteColor.SelectionBoxItem != null)
		3667	{
		3668	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3669	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3670	}
		3671	else
		3672	mRouteWP = new GMapRoute(wpList, null);
		3673
		3674	if (_bShowWPRoute)
2368	-	3675	MainMap.Markers.Add(mRouteWP);
2359	-	3676	});
		3677
		3678	MapRoute mr = new MapRoute(wpList, "WPList");
		3679	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		3680	}
2363	-	3681	GMapMarker _createWP(PointLatLng p, string name, int type)
		3682	{
		3683	GMapMarker wpMarker = new GMapMarker(p);
2385	-	3684	Dispatcher.Invoke(()=>
		3685	{
		3686	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
2419	-	3687	wpMarker.Tag = name;
2385	-	3688	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		3689	wpMarker.ZIndex = 100;
		3690	_setMarkerColor(wpMarker, type);
		3691	MainMap.Markers.Add(wpMarker);
		3692	if (type == 0 \|\| type == 3)
		3693	wpList.Add(p);
2419	-	3694	((CustomMarkerWP)wpMarker.Shape).positionChanged += _updateDTWPPos;
		3695	((CustomMarkerWP)wpMarker.Shape).newPosition += _updateDTWPPosFin;
2421	-	3696	((CustomMarkerWP)wpMarker.Shape).mouseCaptured += _WPMouseCaptured;
2385	-	3697	});
2363	-	3698	return wpMarker;
		3699	}
2419	-	3700	bool _WPisMouseCaptured = false;
2421	-	3701	void _WPMouseCaptured(bool isCaptured)
2419	-	3702	{
		3703	_WPisMouseCaptured = isCaptured;
		3704	MainMap.CanDragMap = !isCaptured;
		3705	}
		3706	void _updateDTWPPos(CustomMarkerWP wp)
		3707	{
		3708	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		3709	int index = Convert.ToInt16(sIndex) -1;
		3710	GMapMarker p = ((GMapMarker)wp.DataContext);
		3711	if (p != null && index < dtWaypoints.Rows.Count)
		3712	{
		3713	//Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3714	if(wp.WPType == 0 \| wp.WPType == 3)
2424	-	3715	{
		3716	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		3717	int wpListIndex = wpList.IndexOf(x);
		3718	if (wpListIndex > -1)
		3719	{
		3720	wpList[wpListIndex] = p.Position;
		3721	MainMap.Markers.Remove(mRouteWP);
		3722	_routeUpdate();
		3723	}
2419	-	3724	}
2424	-	3725	dtWaypoints.Rows[index][3] = p.Position.Lat;
		3726	dtWaypoints.Rows[index][4] = p.Position.Lng;
2419	-	3727	}
		3728	}
		3729	void _updateDTWPPosFin(CustomMarkerWP wp)
		3730	{
		3731	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		3732	int index = Convert.ToInt16(sIndex) -1;
		3733	GMapMarker p = ((GMapMarker)wp.DataContext);
		3734	if (p != null && index < dtWaypoints.Rows.Count)
		3735	{
		3736	dtWaypoints.Rows[index][3] = p.Position.Lat;
		3737	dtWaypoints.Rows[index][4] = p.Position.Lng;
2421	-	3738	Dispatcher.Invoke(() =>
		3739	{
		3740	dgvWP.Items.Refresh();
		3741	dgvWP.SelectedIndex = index;
		3742	_dgvWPselectEditRow();
		3743	});
		3744
2419	-	3745	}
		3746
		3747	}
		3748
2315	-	3749	void _setMarkerColor(GMapMarker wpMarker,int iType)
		3750	{
2369	-	3751	if(wpMarker != null)
2315	-	3752	Dispatcher.Invoke(() =>
		3753	{
		3754	switch (iType)
		3755	{
		3756	case 0:
		3757	if (comboBoxWPColor.SelectionBoxItem != null)
		3758	{
		3759	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3760	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3761	}
		3762	else
2372	-	3763	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	3764	break;
		3765	case 1:
		3766	if (comboBoxPOIColor.SelectionBoxItem != null)
		3767	{
		3768	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3769	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3770	}
		3771	else
2372	-	3772	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	3773	break;
		3774	case 2:
		3775	if (comboBoxFSColor.SelectionBoxItem != null)
		3776	{
		3777	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3778	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3779	}
		3780	else
		3781	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3782	break;
2372	-	3783	case 3:
		3784	if (comboBoxLandingColor.SelectionBoxItem != null)
		3785	{
		3786	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		3787	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3788	}
		3789	else
		3790	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		3791	break;
2315	-	3792	default:
		3793	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3794	break;
		3795	}
		3796	});
2312	-	3797
2315	-	3798	}
2372	-	3799	void _MarkerColorSelection(object sender,int type)
		3800	{
2315	-	3801	Dispatcher.Invoke(() =>
		3802	{
2372	-	3803	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	3804	{
		3805	for (int k = 0; k < MainMap.Markers.Count; k++)
		3806	{
		3807	GMapMarker p = MainMap.Markers[k];
2372	-	3808	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	3809	{
2372	-	3810	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	3811	{
2372	-	3812	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	3813	((CustomMarkerWP)(p.Shape)).setColor(s);
		3814	}
		3815	}
		3816	}
		3817	}
		3818	});
2287	-	3819	}
2379	-	3820	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	3821	{
2376	-	3822	_MarkerColorSelection(sender, 0);
		3823	}
		3824	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		3825	{
		3826	_MarkerColorSelection(sender, 1);
		3827	}
		3828	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		3829	{
		3830	_MarkerColorSelection(sender, 2);
		3831	}
		3832	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		3833	{
		3834	_MarkerColorSelection(sender,3);
		3835	}
2385	-	3836	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
2376	-	3837	{
2318	-	3838	Dispatcher.Invoke(() => {
		3839	if (comboBoxCopterColor.SelectionBoxItem != null)
		3840	{
		3841	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	3842	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	3843	}
		3844	else
2385	-	3845	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
2318	-	3846	});
		3847	}
2385	-	3848	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		3849	{
		3850	Dispatcher.Invoke(() => {
		3851	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		3852	{
		3853	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		3854	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		3855	}
		3856	else
		3857	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		3858	});
		3859	}
2328	-	3860	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3861	{
		3862	Dispatcher.Invoke(() =>
		3863	{
		3864	if (comboBoxRouteColor.SelectionBoxItem != null)
		3865	{
		3866	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3867	MainMap.Markers.Remove(mRouteWP);
		3868	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3869	if (_bShowWPRoute)
		3870	MainMap.Markers.Add(mRouteWP);
		3871	}
		3872	});
		3873	}
2408	-	3874	private void comboBoxWPMaxRangeColor_DropDownClosed(object sender, EventArgs e)
		3875	{
		3876	Dispatcher.Invoke(() =>
		3877	{
		3878	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		3879	{
		3880	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		3881	{
		3882	if (cWPBound != null && cWPBound.Tag != null)
		3883	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		3884
		3885	createCircle(home.Position, dWPMaxRange);
		3886	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		3887	cWPBound.setColor(s);
		3888
		3889	}
		3890	}
		3891	});
		3892
		3893	}
2328	-	3894	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3895	{
		3896	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3897	if (_bShowWPRoute)
		3898	{
		3899	if (mRouteWP != null)
		3900	MainMap.Markers.Add(mRouteWP);
		3901	}
		3902	else
		3903	{
		3904	if (mRouteWP != null)
		3905	MainMap.Markers.Remove(mRouteWP);
		3906	}
		3907	}
2315	-	3908	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3909	{
2315	-	3910	_readWPLFile();
2287	-	3911	}
2335	-	3912	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3913	{
		3914	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	3915	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	3916	wpList.Clear();
		3917	if (mRouteWP != null)
		3918	MainMap.Markers.Remove(mRouteWP);
2347	-	3919	//if (wpActiveMarker != null)
		3920	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	3921	dtWaypoints.Rows.Clear();
2356	-	3922	_wpEdit = -1;
2368	-	3923	_wpIndex = -1;
2335	-	3924	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3925	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3926	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3927	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3928	}
2340	-	3929	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3930	{
		3931	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3932	t.Start();
		3933	}
2355	-	3934	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	3935	{
		3936	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3937	{
2372	-	3938	if (_wpCount > 0)
2376	-	3939	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	3940	else
2376	-	3941	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	3942
2372	-	3943	//int index = dgvWP.SelectedIndex;
		3944	//Thread t = new Thread(() => _sendWPList(index));
		3945	//t.Start();
2354	-	3946
		3947	Dispatcher.Invoke(() => {
		3948	DataGridRow row;
2368	-	3949	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	3950	{
2368	-	3951	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	3952	row.Background = new SolidColorBrush(Colors.Transparent);
		3953	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3954	row.BorderThickness = new Thickness(0);
2376	-	3955	dgvWP.UpdateLayout();
2354	-	3956	}
2376	-	3957	//_wpEdit = dgvWP.SelectedIndex;
		3958	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3959	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		3960	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		3961	//row.BorderThickness = new Thickness(2);
2354	-	3962	});
2340	-	3963	}
		3964	}
2385	-	3965	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		3966	{
		3967	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3968	{
		3969
		3970	object[] o = new object[16];
		3971	o[0] = dgvWP.SelectedIndex + 1;
		3972	o[1] = cbWPEditType.SelectedIndex;
		3973	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3974	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3975	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		3976	o[5] = tbWPEditAlt.Text;
		3977	switch (cbWPEditHeading.SelectedIndex)
		3978	{
		3979	case 0:
		3980	o[6] = "0";
		3981	break;
		3982	case 1:
		3983	o[6] = "-" + tbWPEditHeading.Text;
		3984	break;
		3985	case 2:
		3986	o[6] = tbWPEditHeading.Text;
		3987	break;
		3988	}
		3989	switch (cbWPEditSpeed.SelectedIndex)
		3990	{
		3991	case 0:
		3992	o[7] = "0";
		3993	break;
		3994	case 1:
		3995	o[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3996	break;
		3997	case 2:
		3998	o[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3999	break;
		4000	}
		4001	switch (cbWPEditClimbrate.SelectedIndex)
		4002	{
		4003	case 0:
		4004	o[8] = "255";
		4005	break;
		4006	case 1:
		4007	o[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		4008	break;
		4009	}
		4010	o[9] = tbWPEditRadius.Text;
		4011	o[10] = tbWPEditHoldtime.Text;
		4012	o[11] = tbWPEditAutoTrigger.Text;
		4013	switch (cbWPEditCamAngle.SelectedIndex)
		4014	{
		4015	case 0:
		4016	o[12] = "0";
		4017	break;
		4018	case 1:
		4019	o[12] = "255";
		4020	break;
		4021	case 2:
		4022	o[12] = tbWPEditCamAngle.Text;
		4023	break;
		4024	}
		4025	o[13] = 0;
		4026	o[14] = tbWPEditOut1.Text;
		4027	DataRow dr = dtWaypoints.NewRow();
		4028	dr.ItemArray = o;
		4029
		4030	if (_wpCount > 0)
		4031	_sendWayPoint(dr, -1, 'w', false);
		4032	else
		4033	_sendWayPoint(dr, 1, 'w', false);
2399	-	4034
		4035	if(_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count)
		4036	_sendWayPoint(dtWaypoints.Rows[_wpIndex], _wpIndex + 1, 's', false);
2385	-	4037	}
		4038	}
2376	-	4039	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		4040	{
		4041	_Simulate = !_Simulate;
		4042	if (dtWaypoints.Rows.Count > 0)
		4043	{
		4044	DataRow dr = dtWaypoints.Rows[0];
		4045	dr[13] = _Simulate ? 3 : 0;
2379	-	4046	_sendWayPoint(dr, 0, 's', true);
2381	-	4047	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
2376	-	4048	}
		4049	}
2355	-	4050	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		4051	{
2359	-	4052	_dgvWPselectEditRow();
		4053	}
		4054	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		4055	{
		4056	}
		4057	void _dgvWPselectEditRow()
		4058	{
2355	-	4059	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4060	{
2368	-	4061	Dispatcher.Invoke(() => {
2355	-	4062	DataGridRow row;
2421	-	4063	dgvWP.UpdateLayout();
2368	-	4064	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	4065	{
		4066	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4067	row.Background = new SolidColorBrush(Colors.Transparent);
		4068	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4069	row.BorderThickness = new Thickness(0);
		4070	}
		4071	_wpEdit = dgvWP.SelectedIndex;
		4072	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4073	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		4074	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		4075	row.BorderThickness = new Thickness(2);
		4076	dgvWP.UpdateLayout();
2340	-	4077
2355	-	4078	_setWPEditFields(_wpEdit);
		4079	});
		4080	}
		4081	}
		4082	void _setWPEditFields(int index)
		4083	{
		4084	int iVal;
2421	-	4085	lblWPEditIndex.Content = dtWaypoints.Rows[index][0].ToString();
2355	-	4086	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		4087	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		4088	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		4089	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		4090	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		4091	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		4092	if (iVal == 0)
		4093	{
		4094	cbWPEditHeading.SelectedIndex = 0;
		4095	tbWPEditHeading.Text = " - - -";
		4096	tbWPEditHeading.IsReadOnly = true;
		4097	}
		4098	if (iVal > 0 && iVal < 360)
		4099	{
		4100	cbWPEditHeading.SelectedIndex = 2;
		4101	tbWPEditHeading.Text = iVal.ToString();
		4102	tbWPEditHeading.IsReadOnly = false;
		4103	}
		4104	if (iVal < 0)
		4105	{
		4106	cbWPEditHeading.SelectedIndex = 1;
		4107	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		4108	tbWPEditHeading.IsReadOnly = false;
		4109	}
		4110	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		4111	if (iVal == 0)
		4112	{
		4113	cbWPEditSpeed.SelectedIndex = 0;
		4114	tbWPEditSpeed.Text = "MAX";
		4115	tbWPEditSpeed.IsReadOnly = true;
		4116	}
		4117	if (iVal > 0 && iVal < 248)
		4118	{
		4119	cbWPEditSpeed.SelectedIndex = 1;
		4120	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		4121	tbWPEditSpeed.IsReadOnly = false;
		4122	}
		4123	if (iVal > 247)
		4124	{
		4125	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		4126	tbWPEditSpeed.Text = "";
		4127	tbWPEditSpeed.IsReadOnly = true;
		4128	}
		4129	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		4130	if (iVal == 255)
		4131	{
		4132	cbWPEditClimbrate.SelectedIndex = 0;
		4133	tbWPEditClimbrate.Text = "AUTO";
		4134	tbWPEditClimbrate.IsReadOnly = true;
		4135	}
		4136	else
		4137	{
		4138	cbWPEditClimbrate.SelectedIndex = 1;
		4139	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		4140	tbWPEditClimbrate.IsReadOnly = false;
		4141	}
		4142	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		4143	tbWPEditRadius.Text = iVal.ToString();
		4144	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		4145	tbWPEditHoldtime.Text = iVal.ToString();
		4146	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		4147	tbWPEditAutoTrigger.Text = iVal.ToString();
		4148	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		4149	if (iVal == 0)
		4150	{
		4151	cbWPEditCamAngle.SelectedIndex = 0;
		4152	tbWPEditCamAngle.Text = " - - - ";
		4153	tbWPEditCamAngle.IsReadOnly = true;
		4154	}
		4155	if (iVal < 0 \| iVal == 255)
		4156	{
		4157	cbWPEditCamAngle.SelectedIndex = 1;
		4158	tbWPEditCamAngle.Text = "AUTO";
		4159	tbWPEditCamAngle.IsReadOnly = true;
		4160	}
		4161	if (iVal > 0 & iVal < 255)
		4162	{
		4163	cbWPEditCamAngle.SelectedIndex = 2;
		4164	tbWPEditCamAngle.Text = iVal.ToString();
		4165	tbWPEditCamAngle.IsReadOnly = false;
		4166	}
		4167	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		4168	tbWPEditOut1.Text = iVal.ToString();
		4169
		4170	}
2421	-	4171	private void btnWPEditmoveUp_Click(object sender, RoutedEventArgs e)
		4172	{
		4173	if (dgvWP.SelectedIndex > 0 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4174	{
		4175	int index = dgvWP.SelectedIndex;
		4176	DataRow dr = dtWaypoints.Rows[index];
		4177	DataRow newRow = dtWaypoints.NewRow();
		4178	newRow.ItemArray = dr.ItemArray;
		4179	dtWaypoints.Rows.Remove(dr);
		4180	dtWaypoints.Rows.InsertAt(newRow, index - 1);
		4181	dtWaypoints.Rows[index][0] = 100;
		4182	dtWaypoints.Rows[index - 1][0] = index;
		4183	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index - 1][2].ToString());
		4184	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		4185	dtWaypoints.Rows[index - 1][2] = dtWaypoints.Rows[index - 1][2].ToString().Substring(0, 1) + index.ToString();
		4186	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index - 1][2].ToString();
		4187	dtWaypoints.Rows[index][0] = index + 1;
		4188	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		4189	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		4190	dgvWP.Items.Refresh();
		4191	dgvWP.SelectedIndex = index - 1;
		4192	_dgvWPselectEditRow();
2424	-	4193	if (((int)dtWaypoints.Rows[index][1] == 0 \| (int)dtWaypoints.Rows[index][1] == 3) && ((int)dtWaypoints.Rows[index - 1][1] == 0 \| (int)dtWaypoints.Rows[index - 1][1] == 3))// && wpList.Count > index)
		4194	{
		4195	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		4196	int wpListIndex = wpList.IndexOf(x);
		4197	if (wpListIndex > 0)
		4198	{
		4199	wpList.RemoveAt(wpListIndex);
		4200	wpList.Insert(wpListIndex - 1, x);
		4201	MainMap.Markers.Remove(mRouteWP);
		4202	_routeUpdate();
		4203	}
		4204	}
2421	-	4205	}
		4206	}
2355	-	4207
2421	-	4208	private void btnWPEditmoveDown_Click(object sender, RoutedEventArgs e)
		4209	{
		4210	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count - 1)
		4211	{
		4212	int index = dgvWP.SelectedIndex;
		4213	DataRow dr = dtWaypoints.Rows[index];
		4214	DataRow newRow = dtWaypoints.NewRow();
		4215	newRow.ItemArray = dr.ItemArray;
		4216	dtWaypoints.Rows.Remove(dr);
		4217	dtWaypoints.Rows.InsertAt(newRow, index + 1);
		4218	dtWaypoints.Rows[index][0] = 100;
		4219	dtWaypoints.Rows[index + 1][0] = index + 2;
		4220	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index + 1][2].ToString());
		4221	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		4222	dtWaypoints.Rows[index + 1][2] = dtWaypoints.Rows[index + 1][2].ToString().Substring(0, 1) + (index+2).ToString();
		4223	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index + 1][2].ToString();
		4224	dtWaypoints.Rows[index][0] = index + 1;
		4225	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		4226	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		4227	dgvWP.Items.Refresh();
		4228	dgvWP.SelectedIndex = index + 1;
		4229	_dgvWPselectEditRow();
2424	-	4230	if (((int)dtWaypoints.Rows[index][1] == 0 \| (int)dtWaypoints.Rows[index][1] == 3) && ((int)dtWaypoints.Rows[index+1][1] == 0 \| (int)dtWaypoints.Rows[index+1][1] == 3))// && wpList.Count > index)
		4231	{
		4232	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		4233	int wpListIndex = wpList.IndexOf(x);
		4234	if (wpListIndex > -1)
		4235	{
		4236	wpList.RemoveAt(wpListIndex);
		4237	if (wpList.Count > wpListIndex)
		4238	wpList.Insert(wpListIndex + 1, x);
		4239	else
		4240	wpList.Add(x);
		4241	MainMap.Markers.Remove(mRouteWP);
		4242	_routeUpdate();
		4243	}
		4244	}
2421	-	4245	}
		4246
		4247	}
		4248
2361	-	4249	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		4250	{
2363	-	4251	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4252	{
2369	-	4253	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	4254	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		4255	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		4256	int i = wpList.IndexOf(pOld);
2363	-	4257	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		4258	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4259	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4260	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	4261	if (i > -1)
		4262	{
		4263	if((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		4264	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		4265	else
		4266	wpList.Remove(pOld);
		4267	}
		4268	else
		4269	{
		4270	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		4271	{
		4272	int found = 0;
		4273	for (int k = 0; k < dgvWP.SelectedIndex; k++)
		4274	if ((int)dtWaypoints.Rows[k][1] == 0)
		4275	found++;
		4276	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		4277	}
		4278	}
2363	-	4279	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		4280	switch (cbWPEditHeading.SelectedIndex)
		4281	{
		4282	case 0:
		4283	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		4284	break;
		4285	case 1:
		4286	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		4287	break;
		4288	case 2:
		4289	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		4290	break;
		4291	}
		4292	switch (cbWPEditSpeed.SelectedIndex)
		4293	{
		4294	case 0:
		4295	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		4296	break;
		4297	case 1:
		4298	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4299	break;
		4300	case 2:
		4301	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4302	break;
		4303	}
		4304	switch (cbWPEditClimbrate.SelectedIndex)
		4305	{
		4306	case 0:
		4307	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		4308	break;
		4309	case 1:
		4310	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		4311	break;
		4312	}
		4313	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		4314	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		4315	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		4316	switch (cbWPEditCamAngle.SelectedIndex)
		4317	{
		4318	case 0:
		4319	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		4320	break;
		4321	case 1:
		4322	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		4323	break;
		4324	case 2:
		4325	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		4326	break;
		4327	}
		4328	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	4329
2369	-	4330	// _clearMapMarkers(typeof(CustomMarkerWP));
		4331	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		4332	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	4333	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	4334	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	4335	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	4336	// wpList.Clear();
2363	-	4337	if (mRouteWP != null)
		4338	MainMap.Markers.Remove(mRouteWP);
		4339
2369	-	4340	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		4341	//{
		4342	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		4343	//}
2363	-	4344	_routeUpdate();
		4345	dgvWP.Items.Refresh();
		4346
		4347	}
		4348
2361	-	4349	}
		4350	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		4351	{
2368	-	4352	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4353	{
		4354	int index = dgvWP.SelectedIndex;
		4355	Dispatcher.Invoke(() => {
		4356	DataGridRow row;
		4357	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		4358	{
		4359	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4360	row.Background = new SolidColorBrush(Colors.Transparent);
		4361	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4362	row.BorderThickness = new Thickness(0);
		4363	}
2372	-	4364	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	4365	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
		4366	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	4367	if (wpActiveMarker != null)
		4368	MainMap.Markers.Remove(wpActiveMarker);
2368	-	4369	dtWaypoints.Rows[index].Delete();
		4370	_wpIndex = -1;
		4371	_wpEdit = -1;
		4372	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		4373	{
		4374	dtWaypoints.Rows[i][0] = i + 1;
		4375	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		4376	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		4377	_renameWPMarker(s1, s2);
		4378	dtWaypoints.Rows[i][2] = s2;
		4379	}
		4380	lblWPCount.Content = dtWaypoints.Rows.Count;
		4381	if (mRouteWP != null)
		4382	MainMap.Markers.Remove(mRouteWP);
		4383	_routeUpdate();
2361	-	4384
2368	-	4385	dgvWP.UpdateLayout();
		4386	});
		4387	}
2361	-	4388	}
2366	-	4389	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		4390	{
		4391	_wpWEdit(sender);
		4392	}
2361	-	4393	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		4394	{
2366	-	4395	_wpWEdit(sender);
		4396	}
2369	-	4397	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		4398	{
		4399	_wpWEdit(sender);
		4400	}
2366	-	4401	void _wpWEdit(object sender)
		4402	{
2369	-	4403	// if (!((TextBox)sender).IsReadOnly)
2361	-	4404	{
		4405	KeyPad.Keypad k = new KeyPad.Keypad(this);
		4406
2363	-	4407	switch (((TextBox)sender).Name)
		4408	{
		4409	case "tbWPEditLat":
		4410	k.Title = "Latitude";
		4411	k.LENGTH = 17;
		4412	k.MAX = 359.9;
		4413	break;
		4414	case "tbWPEditLon":
		4415	k.Title = "Longitude";
		4416	k.LENGTH = 17;
		4417	k.MAX = 359.9;
		4418	break;
		4419	case "tbWPEditAlt":
		4420	k.Title = "Altitude";
		4421	k.LENGTH = 3;
		4422	k.MAX = 254;
		4423	k.disableDecimal();
		4424	break;
		4425	case "tbWPEditHeading":
		4426	k.Title = "Heading";
		4427	k.LENGTH = 3;
		4428	k.MAX = 359;
		4429	k.MIN = 1;
		4430	k.disableDecimal();
		4431	break;
		4432	case "tbWPEditSpeed":
		4433	k.Title = "Speed";
		4434	k.LENGTH = 4;
		4435	k.MAX = 24.7;
		4436	k.MIN = 0.1;
		4437	break;
		4438	case "tbWPEditClimbrate":
		4439	k.Title = "Climbrate";
		4440	k.LENGTH = 4;
		4441	k.MAX = 25.4;
		4442	k.MIN = 0.1;
		4443	break;
		4444	case "tbWPEditRadius":
		4445	k.Title = "Radius";
		4446	k.LENGTH = 3;
		4447	k.MAX = 254;
		4448	k.disableDecimal();
		4449	break;
		4450	case "tbWPEditHoldtime":
		4451	k.Title = "Holdtime";
		4452	k.LENGTH = 3;
		4453	k.MAX = 254;
		4454	break;
		4455	case "tbWPEditAutoTrigger":
		4456	k.Title = "Autotrigger";
		4457	k.LENGTH = 3;
		4458	k.MAX = 254;
		4459	k.disableDecimal();
		4460	break;
		4461	case "tbWPEditCamAngle":
		4462	k.Title = "Camera angle";
		4463	k.LENGTH = 3;
		4464	k.MAX = 254;
		4465	k.MIN = 1;
		4466	k.disableDecimal();
		4467	break;
		4468	case "tbWPEditOut1":
		4469	k.Title = "OUT1 timer interval";
		4470	k.LENGTH = 3;
		4471	k.MAX = 254;
		4472	k.disableDecimal();
		4473	break;
		4474	}
		4475	k.Result = ((TextBox)sender).Text;
2366	-	4476	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	4477	((TextBox)sender).Text = k.Result;
2361	-	4478	}
2366	-	4479
2361	-	4480	}
		4481	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	4482	{
2359	-	4483	object[] o = new object[16];
2356	-	4484
2359	-	4485	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		4486	o[1] = 0;
		4487	// cbWPEditType.SelectedIndex = 0;
		4488	// tbWPEditPrefix.Text = "P";
		4489	o[2] = "P" + o[0].ToString();
		4490	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4491	o[3] = copter.Position.Lat;
		4492	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4493	o[4] = copter.Position.Lng;
		4494	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		4495	o[5] = iAnalogData[4].ToString();
2356	-	4496
2359	-	4497	// cbWPEditHeading.SelectedIndex = 2;
		4498	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		4499	// tbWPEditHeading.IsReadOnly = false;
2356	-	4500
2359	-	4501	// cbWPEditSpeed.SelectedIndex = 1;
		4502	// tbWPEditSpeed.Text = "5.0";
		4503	// tbWPEditSpeed.IsReadOnly = false;
2372	-	4504	o[7] = "10";
2356	-	4505
2359	-	4506	// cbWPEditClimbrate.SelectedIndex = 1;
		4507	// tbWPEditClimbrate.Text = "5.0";
		4508	// tbWPEditClimbrate.IsReadOnly = false;
2372	-	4509	o[8] = "10";
2356	-	4510
2359	-	4511	// tbWPEditRadius.Text = "10";
2372	-	4512	o[9] = "5";
2359	-	4513	// tbWPEditHoldtime.Text = "5";
		4514	o[10] = "5";
		4515	// tbWPEditAutoTrigger.Text = "0";
		4516	o[11] = "0";
		4517	// cbWPEditCamAngle.SelectedIndex = 1;
		4518	// tbWPEditCamAngle.Text = "AUTO";
		4519	// tbWPEditCamAngle.IsReadOnly = true;
		4520	o[12] = "255";
2356	-	4521
2359	-	4522	o[13] = "0";
		4523	// tbWPEditOut1.Text = "0";
		4524	o[14] = "0";
		4525	o[15] = "0";
		4526
		4527	dtWaypoints.Rows.Add(o);
2368	-	4528	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1]);
2359	-	4529	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4530	if (mRouteWP != null)
		4531	MainMap.Markers.Remove(mRouteWP);
		4532	_routeUpdate();
		4533	Dispatcher.Invoke(() => {
		4534	dgvWP.Items.Refresh();
		4535	dgvWP.SelectedIndex = (int)o[0] -1;
		4536	dgvWP.UpdateLayout();
		4537	_dgvWPselectEditRow();
		4538	});
2356	-	4539	}
2405	-	4540	private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e)
		4541	{
		4542	if (WPStatus.Visibility == Visibility.Visible)
		4543	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		4544	else
		4545	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		4546	}
		4547	private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e)
		4548	{
		4549	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		4550	{
		4551	if (cWPBound != null && cWPBound.Tag != null)
		4552	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2356	-	4553
2408	-	4554	createCircle(home.Position, dWPMaxRange);
2419	-	4555	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		4556	{
		4557	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		4558	cWPBound.setColor(s);
		4559	}
2405	-	4560	}
2408	-	4561
2405	-	4562	if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null))
		4563	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		4564	}
2315	-	4565	#endregion WP
2324	-	4566	#region GPX
		4567	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		4568	{
		4569	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		4570	}
		4571	void _gpxAdd(double lat,double lon, int elevation)
		4572	{
		4573	DataRow dr = dtGPX.NewRow();
		4574	dr[0] = dtGPX.Rows.Count - 1;
		4575	dr[1] = lat;
		4576	dr[2] = lon;
		4577	dr[3] = elevation;
		4578	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		4579	dtGPX.Rows.Add(dr);
		4580	}
		4581	void _saveGPXLog()
		4582	{
		4583	if (!Directory.Exists("GPXLog"))
		4584	Directory.CreateDirectory("GPXLog");
		4585	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		4586	XmlTextWriter myXmlTextWriter = null;
		4587	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		4588	NumberFormatInfo nfi = new NumberFormatInfo();
		4589	nfi.NumberDecimalSeparator = ".";
2315	-	4590
2324	-	4591	try
		4592	{
		4593	myXmlTextWriter.Formatting = Formatting.Indented;
		4594
		4595	myXmlTextWriter.WriteStartDocument();
		4596
		4597	myXmlTextWriter.WriteStartElement("gpx");
		4598
		4599	myXmlTextWriter.WriteAttributeString("version", "1.0");
		4600	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		4601	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		4602	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		4603	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		4604
		4605	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		4606
		4607	myXmlTextWriter.WriteStartElement("trk");
		4608	myXmlTextWriter.WriteStartElement("trkseg");
		4609	for(int i = 0; i< dtGPX.Rows.Count;i++)
		4610	{
		4611	myXmlTextWriter.WriteStartElement("trkpt");
		4612	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		4613	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		4614	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		4615	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		4616	myXmlTextWriter.WriteEndElement();
		4617	}
		4618	myXmlTextWriter.WriteEndElement();
		4619	myXmlTextWriter.WriteEndElement();
		4620	myXmlTextWriter.WriteEndElement();
		4621	}
		4622	catch (Exception e)
		4623	{
		4624	Console.WriteLine("Exception: {0}", e.ToString());
		4625	}
		4626	finally
		4627	{
		4628	if (myXmlTextWriter != null)
		4629	{
		4630	myXmlTextWriter.Close();
		4631	}
		4632	}
		4633	}
		4634	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		4635	{
		4636	_loadGPXLog();
		4637	}
2327	-	4638	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		4639	{
		4640	_clearMapMarkers(typeof(GMapRoute));
		4641	}
2324	-	4642	void _loadGPXLog()
		4643	{
		4644
		4645	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4646	fd.Filter = "GPX-Logfile \| *.gpx";
		4647	fd.Multiselect = false;
		4648	if (fd.ShowDialog().Value)
		4649	{
		4650	string file = fd.FileName;
		4651	try
		4652	{
		4653	XDocument gpxDoc = XDocument.Load(file);
		4654	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		4655
		4656	NumberFormatInfo nfi = new NumberFormatInfo();
		4657	nfi.NumberDecimalSeparator = ".";
		4658
		4659	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		4660	select new
		4661	{
		4662	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		4663	Segs = (
		4664	from trackpoint in track.Descendants(gpx + "trkpt")
		4665	select new
		4666	{
		4667	Latitude = trackpoint.Attribute("lat").Value,
		4668	Longitude = trackpoint.Attribute("lon").Value,
		4669	Elevation = trackpoint.Element(gpx + "ele") != null ?
		4670	trackpoint.Element(gpx + "ele").Value : null,
		4671	Time = trackpoint.Element(gpx + "time") != null ?
		4672	trackpoint.Element(gpx + "time").Value : null
		4673	}
		4674	)
		4675	};
		4676
		4677	List<PointLatLng> wpl = new List<PointLatLng>();
		4678	foreach(var trk in tracks)
		4679	{
		4680	foreach(var trkseg in trk.Segs)
		4681	{
		4682	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		4683	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		4684	}
		4685
		4686	}
		4687	if(wpl.Count() > 0)
		4688	{
2327	-	4689	_clearMapMarkers(typeof(GMapRoute));
2324	-	4690	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	4691	Dispatcher.Invoke(() =>
		4692	{
		4693	GMapRoute mRoute;
		4694	if (comboBoxRouteColor.SelectionBoxItem != null)
		4695	{
		4696	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	4697	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	4698	}
		4699	else
2366	-	4700	mRoute = new GMapRoute(wpl, null);
2324	-	4701
2328	-	4702	MainMap.Markers.Add(mRoute);
		4703	});
2324	-	4704	}
		4705
		4706	}
		4707	catch (Exception e)
		4708	{
		4709	Console.WriteLine("Exception: {0}", e.ToString());
		4710	}
		4711	}
		4712	}
		4713	#endregion GPX
2315	-	4714	#endregion functions
2287	-	4715	}
2315	-	4716	/// <summary>
		4717	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		4718	/// </summary>
2313	-	4719	public class waypointsConverter : IValueConverter
		4720	{
		4721	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		4722	{
		4723	if (value != null)
		4724	{
		4725	switch ((string)parameter)
		4726	{
		4727	case "Latitude":
		4728	return value.ToString() + " °";
		4729	case "Longitude":
		4730	return value.ToString() + " °";
		4731	case "Radius":
		4732	return value.ToString() + " m";
		4733	case "Altitude":
		4734	return value.ToString() + " m";
		4735	case "ClimbRate":
		4736	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		4737	case "DelayTime":
		4738	return value.ToString() + " s";
		4739	case "Heading":
		4740	return Waypoints.Heading(System.Convert.ToInt32(value));
		4741	case "Speed":
		4742	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		4743	case "CamAngle":
		4744	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		4745	case "Type":
		4746	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		4747	case "AutoTrigger":
		4748	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		4749	case "Status":
2355	-	4750	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	4751	}
		4752
		4753	return value.ToString();
		4754	}
		4755	else return value;
		4756	}
		4757
		4758	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		4759	{
		4760	throw new NotImplementedException();
		4761	}
		4762	}
		4763
2287	-	4764	public class IniFile
		4765	{
		4766	public string path;
		4767
		4768	[DllImport("kernel32")]
		4769	private static extern long WritePrivateProfileString(string section,
		4770	string key, string val, string filePath);
		4771
		4772	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		4773	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		4774	uint nSize, string lpFileName);
		4775
		4776	[DllImport("kernel32")]
		4777	private static extern int GetPrivateProfileString(string section,
		4778	string key, string def, StringBuilder retVal,
		4779	int size, string filePath);
		4780
		4781	public IniFile(string INIPath)
		4782	{
		4783	path = INIPath;
		4784	}
		4785
		4786	public void IniWriteValue(string Section, string Key, string Value)
		4787	{
		4788	WritePrivateProfileString(Section, Key, Value, this.path);
		4789	}
		4790
		4791	public string IniReadValue(string Section, string Key)
		4792	{
		4793	StringBuilder temp = new StringBuilder(255);
		4794	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		4795	return temp.ToString();
		4796	}
		4797	//Ini_sections auslesen in String-Array
		4798	public string[] IniSectionNames()
		4799	{
		4800
		4801	// uint MAX_BUFFER = 32767;
		4802	uint MAX_BUFFER = 8388608;
		4803	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		4804	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		4805	if (bytesReturned == 0)
		4806	{
		4807	Marshal.FreeCoTaskMem(pReturnedString);
		4808	return null;
		4809	}
		4810	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		4811	Marshal.FreeCoTaskMem(pReturnedString);
		4812	//use of Substring below removes terminating null for split
		4813	return local.Substring(0, local.Length - 1).Split('\0');
		4814
		4815
		4816	}
		4817	}
		4818
		4819	/// <summary>
		4820	/// Selected Win AI Function Calls
		4821	/// </summary>
		4822	public class WinApi
		4823	{
		4824	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		4825	public static extern int GetSystemMetrics(int which);
		4826	[DllImport("user32.dll")]
		4827	public static extern void
		4828	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		4829	int X, int Y, int width, int height, uint flags);
		4830
		4831	private const int SM_CXSCREEN = 0;
		4832	private const int SM_CYSCREEN = 1;
		4833	private static IntPtr HWND_TOP = IntPtr.Zero;
		4834	private const int SWP_SHOWWINDOW = 64; // 0x0040
		4835
		4836	public static int ScreenX
		4837	{
		4838	get { return GetSystemMetrics(SM_CXSCREEN); }
		4839	}
		4840
		4841	public static int ScreenY
		4842	{
		4843	get { return GetSystemMetrics(SM_CYSCREEN); }
		4844	}
		4845
		4846	public static void SetWinFullScreen(IntPtr hwnd)
		4847	{
		4848	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		4849	}
		4850	}
		4851	/// <summary>
		4852	/// Class used to preserve / restore state of the window
		4853	/// </summary>
		4854	public class WinState
		4855	{
		4856	private WindowState winState;
		4857	private WindowStyle brdStyle;
		4858	private bool topMost;
		4859	private Rect restore;
		4860	private bool IsMaximized = false;
		4861
		4862	public bool isMaximized
		4863	{
		4864	get { return IsMaximized; }
		4865	}
		4866	public void Maximize(Window targetForm)
		4867	{
		4868	if (!IsMaximized)
		4869	{
		4870	IsMaximized = true;
		4871	Save(targetForm);
		4872	targetForm.WindowState = WindowState.Maximized;
		4873	targetForm.WindowStyle = WindowStyle.None;
		4874	targetForm.Topmost = true;
		4875	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		4876	}
		4877	}
		4878
		4879	public void Save(Window targetForm)
		4880	{
		4881	winState = targetForm.WindowState;
		4882	brdStyle = targetForm.WindowStyle;
		4883	topMost = targetForm.Topmost;
		4884	restore = targetForm.RestoreBounds;
		4885	}
		4886	public void Restore(Window targetForm)
		4887	{
		4888	targetForm.WindowState = winState;
		4889	targetForm.WindowStyle = brdStyle;
		4890	targetForm.Topmost = topMost;
		4891
		4892	targetForm.Left = restore.Left;
		4893	targetForm.Top = restore.Top;
		4894	targetForm.Height = restore.Height;
		4895	targetForm.Width = restore.Width;
		4896	IsMaximized = false;
		4897	}
		4898	}
		4899
		4900	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs - Rev 2424