WebSVN - Projects - Blame - Rev 2425 - /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>();
2425	-	52	List<int> wpOffset = new List<int>();
2405	-	53	Circle cWPBound = new Circle();
		54	double dWPMaxRange = 0;
		55
2324	-	56	#region NC-Errors
2287	-	57	String[] NC_Error = new string[44]
		58	{
		59	"No Error",
2381	-	60	"FC not compatible",
		61	"MK3Mag not compatible",
		62	"no FC communication",
		63	"no compass communication",
		64	"no GPS communication",
		65	"bad compass value",
		66	"RC Signal lost",
		67	"FC spi rx error",
		68	"ERR: no NC communication",
		69	"ERR: FC Nick Gyro",
		70	"ERR: FC Roll Gyro",
		71	"ERR: FC Yaw Gyro",
		72	"ERR: FC Nick ACC",
		73	"ERR: FC Roll ACC",
		74	"ERR: FC Z-ACC",
		75	"ERR: Pressure sensor",
		76	"ERR: FC I2C",
		77	"ERR: Bl Missing",
		78	"Mixer Error",
		79	"FC: Carefree Error",
		80	"ERR: GPS lost",
		81	"ERR: Magnet Error",
		82	"Motor restart",
		83	"BL Limitation",
		84	"Waypoint range",
		85	"ERR:No SD-Card",
		86	"ERR:SD Logging aborted",
		87	"ERR:Flying range!",
		88	"ERR:Max Altitude",
		89	"No GPS Fix",
		90	"compass not calibrated",
		91	"ERR:BL selftest",
		92	"no ext. compass",
		93	"compass sensor",
		94	"FAILSAFE pos.!",
		95	"ERR:Redundancy",
		96	"Redundancy test",
		97	"GPS Update rate",
		98	"ERR:Canbus",
		99	"ERR: 5V RC-Supply",
		100	"ERR:Power-Supply",
		101	"ACC not calibr.",
		102	"ERR:Parachute!"
2287	-	103	};
2381	-	104	String[] NC_Error_Link = new string[44]
		105	{
		106	"",
		107	"http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		108	"http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		109	"http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		110	"http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		111	"http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		112	"http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		113	"http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		114	"http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		115	"http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		116	"http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		117	"http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		118	"http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		119	"http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		120	"http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		121	"http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		122	"http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		123	"http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		124	"http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		125	"http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		126	"http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		127	"http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		128	"http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		129	"http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		130	"http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		131	"http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		132	"http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		133	"http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		134	"http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		135	"http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		136	"http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		137	"http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		138	"http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		139	"http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		140	"http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		141	"http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		142	"http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		143	"http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		144	"http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		145	"http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		146	"http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		147	"http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		148	"http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		149	"http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		150	};
		151
2324	-	152	#endregion NC-Errors
2287	-	153	[FlagsAttribute]
		154	enum NC_HWError0 : short
		155	{
		156	None = 0,
		157	SPI_RX = 1,
		158	COMPASS_RX = 2,
		159	FC_INCOMPATIBLE = 4,
		160	COMPASS_INCOMPATIBLE = 8,
		161	GPS_RX = 16,
		162	COMPASS_VALUE = 32
		163	};
		164	[FlagsAttribute]
		165	enum FC_HWError0 : short
		166	{
		167	None = 0,
		168	GYRO_NICK = 1,
		169	GYRO_ROLL = 2,
		170	GYRO_YAW = 4,
		171	ACC_NICK = 8,
		172	ACC_ROLL = 16,
		173	ACC_TOP = 32,
		174	PRESSURE = 64,
		175	CAREFREE = 128
		176	};
		177	[FlagsAttribute]
		178	enum FC_HWError1 : short
		179	{
		180	None = 0,
		181	I2C = 1,
		182	BL_MISSING = 2,
		183	SPI_RX = 4,
		184	PPM = 8,
		185	MIXER = 16,
		186	RC_VOLTAGE = 32,
		187	ACC_NOT_CAL = 64,
		188	RES3 = 128
		189	};
		190	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		191	// Various colors for logging info
		192	private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red };
		193
		194	bool _bCBInit = true;
		195	bool _init = true;
		196	bool check_HWError = false;
		197
		198	string filePath = Directory.GetCurrentDirectory();
		199	bool bReadContinously = false;
		200	bool _debugDataAutorefresh = true;
		201	bool _navCtrlDataAutorefresh = true;
		202	bool _blctrlDataAutorefresh = true;
		203	bool _OSDAutorefresh = true;
		204	bool _bErrorLog = false;
		205	bool _bConnErr = false;
		206	bool _bFollowCopter = false;
2324	-	207	bool _bGPXLog = false;
2376	-	208	bool _Simulate = false;
2287	-	209
		210	bool _bSaveWinStateNormal = true;
		211	bool _bSaveWinStateFull = true;
		212
		213	double scaleNormalAll = 1;
		214	double scaleNormalTopBar = 1;
		215	double scaleNormalMotors = 1;
		216	double scaleNormalOSD = 1;
		217	double scaleNormalLOG = 1;
		218	double scaleNormalHorizon = 1;
		219
		220	double scaleFullAll = 1;
		221	double scaleFullTopBar = 1;
		222	double scaleFullMotors = 1;
		223	double scaleFullOSD = 1;
		224	double scaleFullLOG = 1;
		225	double scaleFullHorizon = 1;
		226
		227	int _iCtrlAct = 0;
		228	int iOSDPage = 0;
		229	int iOSDMax = 0;
		230	int _iLifeCounter = 0;
		231	int crcError = 0;
		232
2291	-	233	bool _bSatFix = false;
		234	Storyboard stbSatFixLostAnim;
		235	bool _bAnimSatFixActive = false;
		236	bool _bVoiceSatFixActive = false;
		237	bool _bVoiceSatFixPlay = false;
		238	int _iSatsLast = 0;
		239	int _iSatsJitter = 0;
		240
		241	bool _bMagneticFieldOK = false;
		242	Storyboard stbMagneticFieldAnim;
		243	bool _bAnimMagneticFieldActive = false;
		244	bool _bVoiceMagneticFieldActive = false;
		245	bool _bVoiceMagneticFieldPlay = false;
		246	int _iMagneticFieldLast = 0;
		247	int _iMagneticFieldJitter = 0;
		248
		249	bool _bRCLevelOK = false;
		250	Storyboard stbRCLevelAnim;
		251	bool _bAnimRCLevelActive = false;
		252	bool _bVoiceRCLevelActive = false;
		253	bool _bVoiceRCLevelPlay = false;
		254	int _iRCLevelLast = 0;
		255	int _iRCLevelJitter = 0;
		256
2287	-	257	int _iMotors = 4;
		258	int _LipoCells = 4;
		259
		260	double _dLipoVMax = 16.88;
		261	double _dLipoVMin = 12;
		262	double _dThresholdVoltageWarn = 0;
		263	double _dThresholdVoltageCrit = 0;
		264	Storyboard stbVoltageCritAnim;
		265	bool _bCritAnimVoltActive = false;
		266	bool _bCritVoiceVoltActive = false;
2291	-	267	bool _bWarnVoiceVoltActive = false;
2287	-	268	bool _bVoiceVoltPlay = false;
		269	double _dVoltLast = 0;
		270	int _iVoltJitter = 0;
		271
2291	-	272	double _dThresholdDistanceWarn = 100;
		273	Storyboard stbDistanceWarnAnim;
		274	bool _bAnimDistanceActive = false;
		275	bool _bVoiceDistanceActive = false;
		276	bool _bVoiceDistancePlay = false;
		277	double _dDistanceLast = 0;
		278	int _iDistanceJitter = 0;
		279
		280	double _dThresholdDistanceMax = 1000;
		281	int _iThresholdRC = 160;
		282	int _iThresholdMagField = 15;
		283
2295	-	284	bool _bAutoHome = false;
		285	bool _bFirstSatFix = false;
		286	int _iFirstSatFix = 0;
2291	-	287
2287	-	288	double _dTopHeight = 36;
		289
		290	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		291	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		292	string[] serChanTitle = new string[12];
		293
		294	string[] sAnalogLabel = new string[32];
		295	string[] sAnalogData = new string[32];
2324	-	296	int[] iAnalogData = new int[32];
2287	-	297
2424	-	298	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 };
		299	int[] iMotors = new int[] { 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 };
2287	-	300	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		301	/// <summary>
		302	/// interval for sending debugdata (multiplied by 10ms)
		303	/// </summary>
		304	byte debugInterval = 10; //(=> 100ms)
		305	/// <summary>
		306	/// interval for sending BL-CTRL status (multiplied by 10ms)
		307	/// </summary>
		308	byte blctrlInterval = 75;
		309	/// <summary>
		310	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		311	/// </summary>
		312	byte navctrlInterval = 80;
		313	/// <summary>
		314	/// interval for sending OSD page update (multiplied by 10ms)
		315	/// </summary>
		316	byte OSDInterval = 85;
		317	/// <summary>
		318	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		319	/// </summary>
		320	DataTable dtAnalog = new DataTable();
		321	/// <summary>
		322	/// datatable for motordata (current,temp)
		323	/// </summary>
2315	-	324	DataTable dtMotors = new DataTable();
2287	-	325
		326	DataTable dtWaypoints = new DataTable();
2313	-	327	static volatile int _iWPCount = -1;
		328	static volatile int _iWPIndex = -1;
		329	int _iWPTimeout = 1000;
2287	-	330	bool _bGetWP = false;
2328	-	331	bool _bShowWPRoute = false;
2287	-	332	static volatile bool _bGetWPCount = false;
2324	-	333	DataTable dtGPX = new DataTable();
		334	DataRow drGPX;
		335	bool _bAirborne = false;
2355	-	336	int _wpIndex = -1, _wpCount = 0, _wpEdit = -1;
2340	-	337
2287	-	338	DispatcherTimer timer = new DispatcherTimer();
		339
		340	/// <summary>
		341	/// stuff for enabeling touch zoom for the map
		342	/// </summary>
2424	-	343	Point pTouch1 = new Point(0, 0), pTouch2 = new Point(0, 0);
2287	-	344	int iFirstStylusID = -1;
		345	public string connectButtonText
		346	{
		347	get
		348	{
		349	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		350	}
		351	}
		352
		353	WinState winState = new WinState();
2304	-	354	#endregion declarations
2287	-	355	public MainWindow()
		356	{
		357	InitializeComponent();
		358	_initForm();
		359	_dataTablesInit();
		360	_setupMap();
		361	_init = false;
		362	timer.Tick += new EventHandler(timerEvent);
		363	timer.Interval = new TimeSpan(0, 0, 1);
		364	timer.Start();
		365	}
		366
		367	#region init
		368	void _initForm()
		369	{
		370	_readIni();
		371	if (_bSaveWinStateNormal)
		372	_setScaleSliders(false);
2424	-	373	cBoxTimingsDebug.ItemsSource =
		374	cBoxTimingsNav.ItemsSource =
		375	cBoxTimingsBl.ItemsSource =
		376	cBoxTimingsOSD.ItemsSource =
2287	-	377	iTimings;
		378	cBoxLiPoCells.ItemsSource = sLiPoCells;
		379	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		380	_LipoMinMax();
		381	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		382	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		383	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
2291	-	384	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		385	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		386	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		387	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		388	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
2287	-	389
2291	-	390	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		391
2287	-	392	cBoxMotors.ItemsSource = iMotors;
		393	cBoxMotors.SelectedItem = _iMotors;
		394
		395	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		396	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		397	serialPortCtrl.DataReceived += processMessage;
		398
		399	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		400	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		401	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		402	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		403
		404	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		405	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		406	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		407	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
2295	-	408	checkBoxAutoSetHP.IsChecked = _bAutoHome;
2287	-	409	checkBoxFollowCopter.IsChecked = _bFollowCopter;
2324	-	410	checkBoxGPXLog.IsChecked = _bGPXLog;
2328	-	411	checkBoxShowWPRoute.IsChecked = _bShowWPRoute;
2287	-	412
2421	-	413	GridSettings.Visibility = Visibility.Visible;
		414	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
2349	-	415	_initSerialCtrl();
2287	-	416	}
		417	/// <summary>
		418	/// initialize the datatables
		419	/// with columnnames etc
		420	/// </summary>
		421	void _dataTablesInit()
		422	{
2315	-	423	dtMotors.Columns.Add("#");
2313	-	424	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
2315	-	425	dtMotors.Columns.Add("Strom");
2313	-	426	else
2315	-	427	dtMotors.Columns.Add("Current");
		428	dtMotors.Columns.Add("Temp");
		429	dgvMotors1.DataContext = dtMotors.DefaultView;
2287	-	430	_initDTMotors();
		431
2424	-	432	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5, 0, 5, 0));
2287	-	433	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		434	style.Setters.Add(setter);
		435	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		436	style.Setters.Add(setter);
		437	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		438	style.Setters.Add(setter);
2313	-	439
2424	-	440	dtWaypoints.Columns.Add("Index", typeof(int));
2315	-	441	dtWaypoints.Columns.Add("Type", typeof(int));
2424	-	442	dtWaypoints.Columns.Add("Name", typeof(string));
		443	dtWaypoints.Columns.Add("Latitude", typeof(double));
		444	dtWaypoints.Columns.Add("Longitude", typeof(double));
		445	dtWaypoints.Columns.Add("Altitude", typeof(string));
		446	dtWaypoints.Columns.Add("Heading", typeof(string));
		447	dtWaypoints.Columns.Add("Speed", typeof(string));
		448	dtWaypoints.Columns.Add("ClimbRate", typeof(string));
		449	dtWaypoints.Columns.Add("Radius", typeof(string));
		450	dtWaypoints.Columns.Add("HoldTime", typeof(string));
		451	dtWaypoints.Columns.Add("AutoTrigger", typeof(string));
		452	dtWaypoints.Columns.Add("CamAngle", typeof(string));
		453	dtWaypoints.Columns.Add("Event", typeof(string));
		454	dtWaypoints.Columns.Add("Out1Timer", typeof(string));
		455	dtWaypoints.Columns.Add("Status", typeof(string));
2313	-	456	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		457	dgvWP.ItemsSource = dtWaypoints.DefaultView;
2287	-	458	dgvWP.ColumnHeaderStyle = new Style();
		459	dgvWP.ColumnHeaderStyle = style;
2313	-	460
2424	-	461	dtGPX.Columns.Add("Index", typeof(int));
		462	dtGPX.Columns.Add("Latitude", typeof(double));
		463	dtGPX.Columns.Add("Longitude", typeof(double));
		464	dtGPX.Columns.Add("Elevation", typeof(int));
		465	dtGPX.Columns.Add("Time", typeof(string));
2324	-	466	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		467	drGPX = dtGPX.NewRow();
2313	-	468
2287	-	469	}
		470	/// <summary>
2315	-	471	/// initialize the datatable dtMotors for motor values
2313	-	472	/// DataGridView dgvMotors1 is bound to dtMotors1
2287	-	473	/// </summary>
		474	void _initDTMotors()
		475	{
		476	for (int i = 0; i < 12; i++)
		477	{
2315	-	478	if (dtMotors.Rows.Count < 12)
		479	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
2287	-	480	else
		481	{
2315	-	482	dtMotors.Rows[i].SetField(1, "NA");
		483	dtMotors.Rows[i].SetField(2, "NA");
2287	-	484	}
		485	}
		486	}
		487
		488	#endregion init
		489
		490	#region events
		491	private void serialPortCtrl_PortOpened()
		492	{
		493	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		494	_getVersion();
		495	Thread.Sleep(100);
2424	-	496	_getLic();
2287	-	497	//_OSDMenue(0);
		498	//Thread.Sleep(200);
		499	//_sendSerialData();
		500	_readCont(true);
		501	}
		502	private void serialPortCtrl_PortClosed()
		503	{
		504	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		505	_readCont(false);
		506	}
2324	-	507	bool _bToggle = false;
2287	-	508	void timerEvent(object sender, EventArgs e)
		509	{
		510	if (bReadContinously)
		511	{
		512	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		513
		514	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		515
		516	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		517	check_HWError = true;
		518	_getVersion();
		519	Thread.Sleep(10);
		520	if (_OSDAutorefresh)
		521	{
		522	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		523	_initOSDCB();
		524	_OSDMenueAutoRefresh();
		525	}
		526	if (_iLifeCounter > 0)
		527	{
		528	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
2424	-	529	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
2287	-	530	_iLifeCounter = 0;
		531	_bConnErr = false;
2424	-	532	if (_bAirborne && _bGPXLog)
2324	-	533	{
		534	drGPX[0] = dtGPX.Rows.Count;
		535	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		536	}
2327	-	537	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		538	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		539	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
2324	-	540	_bToggle = !_bToggle;
2287	-	541	}
		542	else
		543	{
		544	if (!_bConnErr)
		545	{
		546	Log(LogMsgType.Error, "No communication to NC/FC!");
		547	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
2424	-	548	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
2287	-	549	_bConnErr = true;
		550	}
		551	}
		552	}
		553	}
		554
		555	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		556	{
		557	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		558	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		559	}
		560	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		561	{
		562	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		563	if (GridMotors.IsVisible)
		564	_setMotorGridSize();
		565	}
		566	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		567	{
		568	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		569	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		570	}
		571	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		572	{
		573	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		574	}
		575	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		576	{
		577	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		578	}
		579	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		580	{
		581	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		582	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		583	}
		584
		585	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		586	{
		587	Thread t = new Thread(new ThreadStart(_getWP));
		588	t.Start();
		589	}
		590	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		591	{
2313	-	592	Thread t = new Thread(new ThreadStart(_sendWPList));
		593	t.Start();
2287	-	594	}
		595
		596	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		597	{
		598	if (!serialPortCtrl.Port.IsOpen)
		599	serialPortCtrl.Connect(true);
		600	else
		601	_readCont(!bReadContinously);
		602	}
		603	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		604	{
2347	-	605	_setHomePos();
2287	-	606	}
		607	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		608	{
2347	-	609	_clearHomePos();
2287	-	610	}
		611	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		612	{
		613	if (home != null && MainMap.Markers.Contains(home))
		614	MainMap.Position = home.Position;
		615	}
2295	-	616	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		617	{
		618	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		619	}
2287	-	620	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		621	{
		622	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		623	}
		624	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		625	{
		626	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		627	}
		628
2291	-	629	#region thresholds
2287	-	630	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		631	{
2424	-	632	if (!_init)
2287	-	633	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		634	}
		635	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		636	{
2424	-	637	if (!_init)
2287	-	638	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		639	}
		640	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		641	{
		642	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		643	}
2291	-	644
		645	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		646	{
2424	-	647	if (!_init)
2291	-	648	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		649	}
		650	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		651	{
		652	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		653	}
		654
		655	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		656	{
		657	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		658	}
		659	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		660	{
		661	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		662	}
		663	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		664	{
		665	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		666	}
		667	#endregion thresholds
		668
2287	-	669	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		670	{
		671	_switchToNC();
		672	}
		673
		674	private void Window_Loaded(object sender, RoutedEventArgs e)
		675	{
		676	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
2291	-	677	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		678	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		679	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		680	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
2287	-	681	_setMotorGridSize();
		682	}
2310	-	683	private void Window_Closing(object sender, CancelEventArgs e)
		684	{
		685	_writeIni();
2424	-	686	if (_bGPXLog && dtGPX.Rows.Count > 0)
2324	-	687	_saveGPXLog();
2310	-	688	}
2379	-	689	private void Window_Closed(object sender, EventArgs e)
		690	{
		691	Application.Current.Shutdown();
		692	}
		693
2287	-	694	#endregion events
		695
		696	#region GMap
		697
		698	void _setupMap()
		699	{
		700	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		701	MainMap.MapProvider = GMapProviders.BingHybridMap;
		702	MainMap.SetPositionByKeywords("Landshut");
		703	MainMap.MinZoom = 0;
		704	MainMap.MaxZoom = 24;
		705	MainMap.Zoom = 16;
		706	MainMap.ShowCenter = true;
		707	MainMap.ShowTileGridLines = false;
		708	sliderMapZoom.Value = 16;
		709	comboBoxMapType.ItemsSource = providerList;
		710	comboBoxMapType.DisplayMemberPath = "Name";
		711	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		712
		713	// acccess mode
		714	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		715	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		716
		717	}
2424	-	718
2287	-	719	/// <summary>
		720	/// selection of relevant map providers --> if You need more, You can change the line:
		721	/// comboBoxMapType.ItemsSource = providerList;
		722	/// to:
		723	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		724	/// in _setupMap()
		725	/// or add items here:
		726	/// </summary>
		727	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		728	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		729	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		730	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		731	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		732
		733	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		734	{
		735	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		736	copter = new GMapMarker(MainMap.Position);
2318	-	737
2424	-	738	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"), "red");
2318	-	739	if (comboBoxCopterColor.SelectionBoxItem != null)
		740	{
		741	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	742	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	743	}
2385	-	744	Dispatcher.Invoke(() => {
		745	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		746	{
		747	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		748	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		749	}
		750	});
2405	-	751	copter.Offset = new System.Windows.Point(-26, -26);
2287	-	752	copter.ZIndex = int.MaxValue;
		753	MainMap.Markers.Add(copter);
		754	copter.Position = MainMap.Position;
		755	}
2347	-	756	void _setHomePos()
2287	-	757	{
		758	pHome = MainMap.Position;
		759	if (!MainMap.Markers.Contains(home))
		760	{
		761	home = new GMapMarker(MainMap.Position);
		762	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
2405	-	763	home.Offset = new System.Windows.Point(-16.5, -16.5);
2287	-	764	// home.ZIndex = int.MaxValue;
		765	MainMap.Markers.Add(home);
		766	}
		767	home.Position = MainMap.Position;
		768	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
2405	-	769
		770	if (checkBoxShowWPMaxRange.IsChecked == true)
		771	{
		772	if (cWPBound != null && cWPBound.Tag != null)
		773	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		774
		775	createCircle(home.Position, dWPMaxRange);
2408	-	776	Dispatcher.Invoke(() =>
		777	{
		778	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		779	{
		780	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		781	cWPBound.setColor(s);
		782	}
		783	});
2405	-	784	}
		785
2287	-	786	}
2347	-	787	void _setActiveWP(int iIndex)
2287	-	788	{
2347	-	789	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
		790	{
		791	Dispatcher.Invoke(() =>
		792	{
		793	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		794	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		795	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		796	MainMap.Markers.Add(wpActiveMarker);
		797	});
		798	}
		799	else
		800	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
		801
2401	-	802	Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m");
2347	-	803	}
		804	void _clearHomePos()
		805	{
2287	-	806	MainMap.Markers.Remove(home);
2405	-	807	if (cWPBound != null && cWPBound.Tag != null)
		808	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2287	-	809	}
2335	-	810	void _clearMapMarkers(Type markerType)
		811	{
		812	for (int k = 0; k < MainMap.Markers.Count;)
		813	{
		814	GMapMarker p = MainMap.Markers[k];
2340	-	815	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	816	MainMap.Markers.Remove(p);
		817	else
		818	k++;
		819	}
2419	-	820	_WPisMouseCaptured = false;
2335	-	821	}
2369	-	822
		823	GMapMarker _findWPMarker(string name)
2368	-	824	{
		825	for (int k = 0; k < MainMap.Markers.Count;)
		826	{
		827	GMapMarker p = MainMap.Markers[k];
		828	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
2369	-	829	if (((CustomMarkerWP)p.Shape).WPText == name)
		830	return p;
2368	-	831	else
		832	k++;
		833	else
		834	k++;
		835	}
2369	-	836	return null;
2368	-	837	}
2369	-	838	void _clearWPMarker(string name)
		839	{
		840	GMapMarker p = _findWPMarker(name);
2424	-	841	if (p != null)
2369	-	842	MainMap.Markers.Remove(p);
		843	}
2368	-	844	void _renameWPMarker(string s1, string s2)
		845	{
2369	-	846	GMapMarker p = _findWPMarker(s1);
		847	if (p != null)
		848	((CustomMarkerWP)p.Shape).WPText = s2;
2368	-	849	}
2372	-	850	void _WPMarkerSetType(string text, int type)
		851	{
		852	GMapMarker p = _findWPMarker(text);
		853	if (p != null)
		854	((CustomMarkerWP)p.Shape).WPType = type;
		855	}
2369	-	856	void _repositionWPMarker(PointLatLng point, string name)
		857	{
		858	GMapMarker p = _findWPMarker(name);
		859	if (p != null)
		860	p.Position = point;
		861	}
		862
2405	-	863	void createCircle(PointLatLng center, double distance)
		864	{
		865
		866	GMapMarker it = new GMapMarker(center);
		867	it.ZIndex = -1;
2424	-	868
2405	-	869	cWPBound.Center = center;
		870	cWPBound.Bound = GMap.NET.PureProjection.GetPointFromDistance(center, distance);
		871	cWPBound.Tag = it;
		872	cWPBound.IsHitTestVisible = false;
		873	UpdateCircle(cWPBound);
		874	it.Shape = cWPBound;
		875	MainMap.Markers.Add(it);
		876	}
		877	// calculates circle radius
		878	void UpdateCircle(Circle c)
		879	{
		880	var pxCenter = MainMap.FromLatLngToLocal(c.Center);
		881	var pxBounds = MainMap.FromLatLngToLocal(c.Bound);
		882
		883	double a = (double)(pxBounds.X - pxCenter.X);
		884	double b = (double)(pxBounds.Y - pxCenter.Y);
		885	var pxCircleRadius = Math.Sqrt(a * a + b * b);
		886
		887	c.Width = c.Height = pxCircleRadius * 2;
		888	//c.Width = 55 + pxCircleRadius * 2;
		889	//c.Height = 55 + pxCircleRadius * 2;
		890	(c.Tag as GMapMarker).Offset = new System.Windows.Point(-c.Width / 2, -c.Height / 2);
		891	}
		892
2287	-	893	// access mode
		894	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		895	{
		896	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		897	MainMap.ReloadMap();
		898	}
		899	// zoom up
		900	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		901	{
		902	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		903	}
		904
		905	// zoom down
		906	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		907	{
		908	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		909	}
		910
		911	// prefetch
		912	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		913	{
		914	RectLatLng area = MainMap.SelectedArea;
		915	if (!area.IsEmpty)
		916	{
		917	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		918	{
		919	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		920
		921	if (res == MessageBoxResult.Yes)
		922	{
		923	TilePrefetcher obj = new TilePrefetcher();
		924	obj.Owner = this;
		925	obj.ShowCompleteMessage = true;
		926	obj.Start(area, i, MainMap.MapProvider, 100);
		927	}
		928	else if (res == MessageBoxResult.No)
		929	{
		930	continue;
		931	}
		932	else if (res == MessageBoxResult.Cancel)
		933	{
		934	break;
		935	}
		936	}
		937	}
		938	else
		939	{
		940	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		941	}
		942	}
		943
		944	// goto by geocoder
		945	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		946	{
		947	_goto_byGeoCoder();
		948	}
		949	// goto by geocoder
		950	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		951	{
		952	if (e.Key == System.Windows.Input.Key.Enter)
		953	_goto_byGeoCoder();
		954	}
		955	void _goto_byGeoCoder()
		956	{
		957	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		958	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		959	{
		960	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		961	}
		962	}
		963	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		964	{
		965	try
		966	{
		967	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		968	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		969
		970	MainMap.Position = new PointLatLng(lat, lng);
		971	}
		972	catch (Exception ex)
		973	{
		974	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		975	}
		976
		977	}
		978
		979	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		980	{
		981	MainMap.ReloadMap();
		982	}
		983
		984	private void MainMap_OnPositionChanged(PointLatLng point)
		985	{
		986	if (_bFollowCopter)
		987	_setCopterData(MainMap.Position);
		988	}
		989
		990	private void MainMap_OnMapZoomChanged()
		991	{
		992	if (_bFollowCopter)
		993	_setCopterData(MainMap.Position);
2424	-	994	if ((int)sliderMapZoom.Value != MainMap.Zoom)
2287	-	995	sliderMapZoom.Value = MainMap.Zoom;
2424	-	996	if (cWPBound != null && cWPBound.Tag != null)
2405	-	997	UpdateCircle(cWPBound);
2287	-	998	}
		999
		1000	void _setCopterData(PointLatLng p)
		1001	{
		1002	Dispatcher.Invoke(() =>
		1003	{
		1004	copter.Position = p;
		1005	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		1006	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		1007	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		1008	});
		1009	if (home != null && MainMap.Markers.Contains(home))
		1010	{
		1011	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		1012	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		1013	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	1014
2424	-	1015	if (d * 1000 < _dThresholdDistanceWarn)
2291	-	1016	{
		1017	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		1018	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		1019	{
		1020	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		1021	_bAnimDistanceActive = false;
		1022	}
		1023	}
		1024	else
		1025	{
		1026	if (_iDistanceJitter < 20)
		1027	{ _iDistanceJitter++; }
		1028	if (_iDistanceJitter == 20)
		1029	{
		1030	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		1031	{
		1032	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		1033	_bAnimDistanceActive = true;
		1034	}
		1035	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		1036	{
2398	-	1037	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\Distance.mp3");
		1038	//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		1039	//t.Start();
2291	-	1040	_bVoiceDistanceActive = true;
		1041	}
		1042	_iDistanceJitter++;
		1043	}
		1044	}
2287	-	1045	}
		1046	}
		1047
		1048	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		1049	{
		1050	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		1051	}
		1052
		1053	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1054	{
		1055	if (MainMap.Zoom != sliderMapZoom.Value)
		1056	MainMap.Zoom = (int)sliderMapZoom.Value;
		1057	}
		1058	#region Touch zooming hackattack ;)
		1059	/// <summary>
		1060	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		1061	/// </summary>
		1062	bool bFirstAccess = true;
		1063	double dDistance = 0;
		1064	int iZoom;
		1065	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1066	{
2419	-	1067	if (!_WPisMouseCaptured)
2287	-	1068	{
2419	-	1069	var id = e.StylusDevice.Id;
		1070	e.StylusDevice.Capture(MainMap);
		1071	if (iFirstStylusID == -1)
		1072	{
		1073	iFirstStylusID = id;
		1074	}
		1075	else
		1076	{
2287	-	1077
2419	-	1078	MainMap.CanDragMap = false;
		1079	}
2287	-	1080	}
		1081	}
		1082	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1083	{
		1084	MainMap.ReleaseStylusCapture();
		1085	iFirstStylusID = -1;
		1086	bFirstAccess = true;
		1087	MainMap.CanDragMap = true;
		1088	iZoom = 0;
		1089	}
		1090	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1091	{
		1092	var id = e.StylusDevice.Id;
		1093	var tp = e.GetPosition(MainMap);
		1094
		1095	// This is the first Stylus point; just record its position.
		1096	if (id == iFirstStylusID)
		1097	{
		1098	pTouch1.X = tp.X;
		1099	pTouch1.Y = tp.Y;
		1100	}
		1101	else
		1102	if (iFirstStylusID > -1)
		1103	{
		1104	pTouch2.X = tp.X;
		1105	pTouch2.Y = tp.Y;
		1106	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1107	if (!bFirstAccess)
		1108	{
		1109	if (distance > dDistance)
		1110	iZoom++;
		1111	else
		1112	if (distance < dDistance)
		1113	iZoom--;
		1114	}
		1115	if (iZoom > 30)
		1116	{
		1117	iZoom = 0;
		1118	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1119	}
		1120	if (iZoom < -30)
		1121	{
		1122	iZoom = 0;
		1123	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1124	}
		1125	dDistance = distance;
		1126	bFirstAccess = false;
		1127	}
		1128	}
		1129	#endregion Touch zooming hackattack ;)
		1130
		1131	#endregion GMap
		1132
		1133	#region settings
		1134	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1135	{
2424	-	1136	if (!_bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
2287	-	1137	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1138	}
		1139	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1140	{
2424	-	1141	if (!_bCBInit && cBoxTimingsNav.SelectedIndex > -1)
2287	-	1142	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1143	}
		1144	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1145	{
		1146	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1147	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1148	}
		1149	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1150	{
		1151	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1152	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1153	}
		1154	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1155	{
		1156	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1157	}
		1158	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1159	{
		1160	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1161	}
		1162	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1163	{
		1164	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1165	}
		1166	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1167	{
		1168	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1169	}
		1170
		1171	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1172	{
		1173	if (cBoxLiPoCells.SelectedIndex > -1)
		1174	{
		1175	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1176	_LipoMinMax();
		1177	}
		1178	}
		1179	void _LipoMinMax()
		1180	{
		1181	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1182	_dLipoVMin = (double)_LipoCells * 3;
		1183	pbTopVoltage.Maximum = _dLipoVMax;
		1184	pbTopVoltage.Minimum = _dLipoVMin;
		1185	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1186	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1187	}
		1188	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1189	{
		1190	if (cBoxMotors.SelectedIndex > -1)
		1191	{
		1192	_iMotors = cBoxMotors.SelectedIndex + 3;
		1193	Dispatcher.Invoke(() =>
		1194	{
		1195	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1196	GridMotors.Height = dgvMotors1.Height + 10;
		1197	});
		1198	}
		1199	}
		1200	void _setMotorGridSize()
		1201	{
		1202	if (dgvMotors1.Columns.Count > 2)
		1203	{
		1204	dgvMotors1.Columns[0].Width = 24;
		1205	dgvMotors1.Columns[1].Width = 50;
		1206	dgvMotors1.Columns[2].Width = 50;
		1207	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1208	GridMotors.Height = dgvMotors1.Height + 10;
		1209	}
		1210
		1211	}
		1212	#endregion settings
		1213
		1214	#region functions
		1215
		1216	#region logging
		1217	/// <summary> Log data to the terminal window. </summary>
		1218	/// <param name="msgtype"> The type of message to be written. </param>
		1219	/// <param name="msg"> The string containing the message to be shown. </param>
		1220	private void Log(LogMsgType msgtype, string msg)
		1221	{
		1222	Dispatcher.Invoke(() =>
		1223	{
2424	-	1224	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1225	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1226	// rtfTerminal.AppendText(msg + "\r");
		1227	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd, rtfTerminal.Document.ContentEnd);
2287	-	1228	tr.Text = msg;
		1229	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1230	rtfTerminal.AppendText("\r");
		1231	rtfTerminal.ScrollToEnd();
		1232	});
		1233	}
2424	-	1234	private void ErrorLog(LogMsgType msgtype, string msg, string linkURL, string linkName)
2287	-	1235	{
2381	-	1236
2287	-	1237	Dispatcher.Invoke(() =>
		1238	{
2381	-	1239	Paragraph para = new Paragraph();
		1240	para.Margin = new Thickness(0); // remove indent between paragraphs
		1241
		1242	Hyperlink link = new Hyperlink();
		1243	if (linkURL != "" && linkName != "")
		1244	{
		1245	link.IsEnabled = true;
		1246	link.Inlines.Add(linkName);
		1247	link.NavigateUri = new Uri(linkURL);
		1248	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1249	}
		1250	//msg = DateTime.Now.ToLongTimeString() + msg;
		1251	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1252	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1253	r.Foreground = new SolidColorBrush(Colors.Black);
		1254	para.Inlines.Add(r);
		1255	para.Inlines.Add(msg);
		1256	para.Inlines.Add(link);
		1257	rtfError.Document.Blocks.Add(para);
		1258	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1259	//tr.Text = msg + link;
		1260	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1261	//rtfError.AppendText("\r");
2287	-	1262	rtfError.ScrollToEnd();
		1263
2381	-	1264	//_bErrorLog = true;
2287	-	1265	});
		1266	}
		1267	/// <summary>
		1268	/// Clear the line in the errorlog window
		1269	/// containing the error string when error has ceased
		1270	/// </summary>
		1271	/// <param name="s">substring of errrormessage</param>
		1272	void _clearErrorLog(string s)
		1273	{
		1274	Dispatcher.Invoke((Action)(() =>
		1275	{
		1276	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1277	TextRange foundRange = FindTextInRange(searchRange, s);
		1278
		1279	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1280
		1281
		1282	if (iStart > -1)
		1283	{
		1284	int iLength = 0;
		1285	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1286	if (iEnd > 0)
		1287	{
		1288	iLength = iEnd + 1;
2424	-	1289	int iHttp = searchRange.Text.IndexOf("http", iEnd);
2287	-	1290	if (iHttp == iLength)
		1291	{
		1292	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1293	if (iEnd2 > iLength)
		1294	{
		1295	iLength = iEnd2 + 1;
2424	-	1296	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
2287	-	1297
		1298	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1299	rtfError.Selection.Text = string.Empty;
		1300	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1301	}
		1302
		1303	}
		1304	else
		1305	{
		1306	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1307	rtfError.Selection.Text = string.Empty;
		1308	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1309	}
		1310	}
		1311	}
		1312	}));
		1313
		1314	}
		1315	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1316	{
		1317	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1318	if (offset < 0)
		1319	return null; // Not found
		1320
		1321	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1322	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1323
		1324	return result;
		1325	}
		1326	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1327	{
		1328	while (position != null)
		1329	{
		1330	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1331	{
		1332	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1333	if (characterCount <= count)
		1334	{
		1335	return position.GetPositionAtOffset(characterCount);
		1336	}
		1337
		1338	characterCount -= count;
		1339	}
		1340
		1341	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1342	if (nextContextPosition == null)
		1343	return position;
		1344
		1345	position = nextContextPosition;
		1346	}
		1347
		1348	return position;
		1349	}
		1350	#endregion logging
		1351
		1352	#region processing received data
		1353
		1354	private void processMessage(byte[] message)
		1355	{
		1356	if (message.Length > 0)
		1357	{
		1358	_iLifeCounter++;
		1359	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1360	//Log(LogMsgType.Incoming, message.Length.ToString());
		1361	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1362	char cmdID;
		1363	byte adr;
		1364	byte[] data;
		1365	byte[] tmp = null;
		1366	if (message[0] != '#')
		1367	{
		1368	int iFound = -1;
		1369	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1370	{ //so this is a workaround to not spam the log box
		1371	if (message[i] == 35)
		1372	{
		1373	iFound = i;
		1374	break;
		1375	}
		1376	}
		1377	if (iFound > 0)
		1378	{
		1379	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1380	tmp = new byte[message.Length - iFound];
		1381	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1382	}
		1383	s = s.Trim('\0', '\n', '\r');
		1384	if (s.Length > 0)
		1385	Log(LogMsgType.Normal, s);
		1386	if (tmp != null)
		1387	{
		1388	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1389	processMessage(tmp);
		1390	}
		1391	}
		1392	//Debug.Print(s);
		1393	else
		1394	{
		1395	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1396
		1397	if (adr == 255) { crcError++; }
		1398	else crcError = 0;
		1399	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1400	//display the active controller (FC / NC)
		1401	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...???
		1402	{
		1403	_iCtrlAct = adr;
		1404	switch (adr)
		1405	{
		1406	case 1:
		1407	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2424	-	1408	// Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1409	// Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1410	// _setFieldsNA(); //display fields NA for FC
2287	-	1411	break;
		1412	case 2:
		1413	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1414	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1415	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1416	break;
		1417	//case 3:
		1418	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1419	// break;
		1420	//case 4:
		1421	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1422	// break;
		1423	default:
		1424	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1425	break;
		1426	}
2424	-	1427	// _loadLabelNames();
2287	-	1428	}
		1429	// else
		1430	// Debug.Print("Address == 0?");
		1431
		1432	if (data != null && data.Length > 0)
		1433	{
		1434	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1435	s = s.Trim('\0', '\n');
		1436
		1437	switch (cmdID)
		1438	{
		1439	//case 'A': //Label names
		1440	// _processLabelNames(s);
		1441	// break;
		1442
		1443	case 'D': //Debug data
		1444	_processDebugVals(adr, data);
		1445	break;
		1446
		1447	case 'V': //Version
		1448	_processVersion(adr, data);
		1449	break;
		1450
		1451	case 'K'://BL-CTRL data
		1452	_processBLCtrl(data);
		1453	break;
		1454
2424	-	1455	case 'M'://License info
		1456	_processLicense(data);
		1457	break;
		1458
2287	-	1459	case 'O': //NC Data
		1460	_processNCData(data);
		1461	break;
		1462
2381	-	1463	//case 'E': //NC error-string
		1464	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1465	// break;
2287	-	1466
		1467	case 'L': //OSD Menue (called by pagenumber)
		1468	_processOSDSingle(data);
		1469	break;
		1470
		1471	case 'H': //OSD Menue (with autoupdate - called by Key)
		1472	_processOSDAuto(data);
		1473	break;
		1474
		1475	case 'X': //Waypoint data
		1476	_processWPData(data);
		1477	break;
		1478
2313	-	1479	case 'W': //return new Waypoint items count after sending waypoint to copter
		1480	_iWPCount = data[0];
		1481	break;
2287	-	1482	//default:
		1483	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1484	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1485	// break;
		1486	}
		1487	}
		1488	//else
		1489	//{
		1490	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1491	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1492	//}
		1493	}
		1494	}
		1495	}
		1496	/// <summary>
		1497	/// Analog label names 'A'
		1498	/// each label name is returned as a single string
		1499	/// and added to string array sAnalogLabel[]
		1500	/// and the datatable dtAnalog
		1501	/// </summary>
		1502	/// <param name="s">the label name</param>
		1503	void _processLabelNames(string s)
		1504	{
		1505	//if (iLableIndex < 32)
		1506	//{
		1507	// sAnalogLabel[iLableIndex] = s;
		1508	// if (dtAnalog.Rows.Count < 32)
		1509	// dtAnalog.Rows.Add(s, "");
		1510	// else
		1511	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1512
		1513	// // _getAnalogLabels(iLableIndex + 1);
		1514	//}
		1515	//Debug.Print(s);
		1516	}
		1517	/// <summary>
		1518	/// Debug values 'D'
		1519	/// </summary>
		1520	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1521	/// <param name="data">the received byte array to process</param>
		1522	void _processDebugVals(byte adr, byte[] data)
		1523	{
		1524	if (data.Length == 66)
		1525	{
2424	-	1526
2287	-	1527	double v;
		1528	int index = 0;
		1529	Int16 i16 = 0;
		1530	double dTemp = 0;
		1531	for (int i = 2; i < 66; i += 2)
		1532	{
		1533	i16 = data[i + 1];
		1534	i16 = (Int16)(i16 << 8);
		1535	iAnalogData[index] = data[i] + i16;
		1536	sAnalogData[index] = (data[i] + i16).ToString();
2424	-	1537	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
2287	-	1538
		1539	if (adr == 2) //NC
		1540	{
		1541	switch (index)
		1542	{
		1543	case 0: //pitch (German: nick)
		1544	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1545	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1546	break;
		1547	case 1: //roll
		1548	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1549	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1550	break;
		1551	case 4: //altitude
		1552	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1553	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2424	-	1554	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1555	break;
		1556	case 7: //Voltage
		1557	v = (double)iAnalogData[index] / (double)10;
		1558	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1559	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1560	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1561	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1562	{
		1563	if (v == _dVoltLast)
2424	-	1564	if (_iVoltJitter < 20) _iVoltJitter++;
		1565	else
		1566	{
		1567	_iVoltJitter = 0;
		1568	_dVoltLast = v;
		1569	}
2287	-	1570	if (_iVoltJitter == 20)
		1571	{
		1572	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1573
		1574	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1575	{
		1576	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1577	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1578	{
		1579	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1580	_bCritAnimVoltActive = true;
		1581	}
		1582	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1583	{
2398	-	1584	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3");
		1585	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1586	//t.Start();
2287	-	1587	_bCritVoiceVoltActive = true;
		1588	}
		1589	}
		1590	else
		1591	{
		1592	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1593	{
		1594	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1595	_bCritAnimVoltActive = false;
		1596	}
		1597	_bCritVoiceVoltActive = false;
		1598
2291	-	1599	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1600	{
2398	-	1601	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3");
		1602	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1603	//t.Start();
2291	-	1604	_bWarnVoiceVoltActive = true;
2287	-	1605	}
		1606	}
		1607	}
		1608	}
		1609	else
		1610	{
		1611	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1612	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1613	{
		1614	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1615	_bCritAnimVoltActive = false;
		1616	}
		1617	_bCritVoiceVoltActive = false;
2291	-	1618	_bWarnVoiceVoltActive = false;
2287	-	1619	_iVoltJitter = 0;
		1620	}
		1621	break;
		1622	case 8: // Current
		1623	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1624	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1625	break;
		1626	case 10: //heading
2291	-	1627	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2399	-	1628	if (!_Simulate) //use NavData for simulation
		1629	{
		1630	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1631	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		1632	}
2287	-	1633	break;
		1634	case 12: // SPI error
2291	-	1635	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1636	break;
		1637	case 14: //i2c error
2291	-	1638	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1639	break;
		1640	case 20: //Earthmagnet field
2291	-	1641	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1642	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
2424	-	1643
2291	-	1644	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1645	{
		1646	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1647	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1648	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1649	{
		1650	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1651	_bAnimMagneticFieldActive = false;
		1652	}
		1653	}
		1654	else
		1655	{
		1656	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
2424	-	1657	if (_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
2291	-	1658	{
		1659	if (_iMagneticFieldJitter < 20)
		1660	_iMagneticFieldJitter++;
		1661	}
		1662	else
		1663	{
		1664	_iMagneticFieldJitter = 0;
		1665	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1666	}
2424	-	1667	if (_iMagneticFieldJitter == 20)
2291	-	1668	{
		1669	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1670	{
		1671	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1672	_bAnimMagneticFieldActive = true;
		1673	}
		1674	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1675	{
2398	-	1676	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1677	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1678	//t.Start();
2291	-	1679	_bVoiceMagneticFieldActive = true;
		1680	}
		1681	}
		1682	}
2287	-	1683	break;
		1684	case 21: //GroundSpeed
2424	-	1685	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1686	if (!_Simulate)
		1687	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2287	-	1688	break;
2291	-	1689
		1690	///******** needs testing --> not sure what position this is *************
2287	-	1691	case 28: //Distance East from saved home position -> calculate distance with distance N + height
2424	-	1692	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1693	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1694	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1695	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1696	dTemp = Math.Sqrt(dTemp) / (double)10;
		1697	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1698	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
2287	-	1699	break;
2291	-	1700
2287	-	1701	case 31: //Sats used
2424	-	1702	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1703	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
2287	-	1704	break;
		1705	}
		1706	}
		1707	index++;
		1708	}
		1709	}
		1710	else
		1711	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1712	}
		1713	/// <summary>
		1714	/// Version string 'V'
		1715	/// </summary>
		1716	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1717	/// <param name="data">the received byte array to process</param>
		1718	void _processVersion(byte adr, byte[] data)
		1719	{
		1720	if (data.Length == 12)
		1721	{
		1722	if (!check_HWError)
		1723	{
		1724	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1725	string sVersion = "";
		1726	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1727	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1728	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1729	Log(LogMsgType.Incoming, sVersion);
		1730	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1731	Log(LogMsgType.Incoming, sVersion);
		1732	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1733	}
		1734	if (data[5] > 0) //error0
		1735	{
		1736	if (adr == 1)
2424	-	1737	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(), "", "");
2287	-	1738	if (adr == 2)
2424	-	1739	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(), "", "");
2287	-	1740	}
		1741	if (data[6] > 0) //error1
		1742	{
		1743	if (adr == 1)
2424	-	1744	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(), "", "");
2287	-	1745	if (adr == 2)
2424	-	1746	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(), "", ""); //@moment NC has only one error field
2287	-	1747	}
2381	-	1748	//if ((data[5] + data[6] == 0) && _bErrorLog)
		1749	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
2287	-	1750
		1751	}
		1752	check_HWError = false;
		1753	}
2424	-	1754
		1755	void _processLicense(byte[] data)
		1756	{
		1757	if (data.Length > 480)
		1758	{
		1759	Dispatcher.Invoke(() => {
		1760	tbDataLicenseUser.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 1, 127));
		1761	tbDataLicenseMail.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 129, 127));
		1762	tbDataLicenseFeature.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 257, 127));
		1763	tbDataLicenseExpire.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 385, 11));
		1764	tbDataLicenseLicense.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 397, 16));
		1765	});
		1766	}
		1767	}
2287	-	1768	/// <summary>
		1769	/// BL-Ctrl data 'K'
		1770	/// for FC you have to use a customized firmware
		1771	/// </summary>
		1772	/// <param name="data">the received byte array to process</param>
		1773	void _processBLCtrl(byte[] data)
		1774	{
		1775	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1776	{
		1777	bool bAvailable = false;
		1778	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1779	{
		1780
		1781	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1782	bAvailable = true;
		1783	else
		1784	bAvailable = false;
		1785
		1786	if (data[i] < _iMotors)
		1787	{
		1788	if (bAvailable)
		1789	{
2315	-	1790	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1791	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1792	}
		1793	else
		1794	{
2315	-	1795	dtMotors.Rows[data[i]].SetField(1, "NA");
		1796	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1797	}
		1798	}
		1799	//if (data[i] > 3 && data[i] < 8)
		1800	//{
		1801	// if (bAvailable)
		1802	// {
		1803	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1804	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1805	// }
		1806	// else
		1807	// {
		1808	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1809	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1810	// }
		1811	//}
		1812	}
		1813	}
		1814	}
		1815	/// <summary>
		1816	/// Navi-Ctrl data 'O'
		1817	/// GPS-Position, capacatiy, flying time...
		1818	/// </summary>
		1819	/// <param name="data">the received byte array to process</param>
		1820	void _processNCData(byte[] data)
		1821	{
		1822	int i_32, i_16, iVal;
		1823	double d;
		1824	i_32 = data[4];
		1825	iVal = i_32 << 24;
		1826	i_32 = data[3];
		1827	iVal += i_32 << 16;
		1828	i_32 = data[2];
		1829	iVal += i_32 << 8;
		1830	iVal += data[1];
		1831	d = (double)iVal / Math.Pow(10, 7);
2324	-	1832	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1833
2287	-	1834	PointLatLng p = new PointLatLng();
		1835
		1836	p.Lng = d;
		1837	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1838	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1839
		1840	i_32 = data[8];
		1841	iVal = i_32 << 24;
		1842	i_32 = data[7];
		1843	iVal += i_32 << 16;
		1844	i_32 = data[6];
		1845	iVal += i_32 << 8;
		1846	iVal += data[5];
		1847	d = (double)iVal / Math.Pow(10, 7);
2324	-	1848	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1849	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1850	p.Lat = d;
2399	-	1851
2291	-	1852	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1853	{
		1854	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1855	if(_bAutoHome && !_bFirstSatFix)
		1856	{
		1857	if (_iFirstSatFix < 3)
		1858	_iFirstSatFix++;
		1859	else
		1860	{
		1861	_bFirstSatFix = true;
2347	-	1862	Dispatcher.Invoke(() => _setHomePos());
2295	-	1863	}
		1864	}
2291	-	1865	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1866	{
		1867	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1868	_bAnimSatFixActive = false;
		1869	}
		1870	if (!_bFollowCopter)
		1871	{
		1872	_setCopterData(p);
		1873	if (!MainMap.ViewArea.Contains(p))
		1874	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1875
2291	-	1876	}
		1877	else
2287	-	1878	Dispatcher.Invoke(() => MainMap.Position = p);
		1879	}
		1880	else
2291	-	1881	{
		1882	if(_bSatFix)
		1883	{
		1884	if (data[50] == _iSatsLast)
		1885	{
		1886	if (_iSatsJitter < 20) _iSatsJitter++;
		1887	}
		1888	else
		1889	{
		1890	_iSatsJitter = 0;
		1891	_iSatsLast = data[50];
		1892	}
2287	-	1893
2291	-	1894	if (_iSatsJitter == 20)
		1895	{
		1896	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1897	{
		1898	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1899	_bAnimSatFixActive = true;
		1900	}
		1901	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1902	{
2405	-	1903	_bVoiceSatFixActive = true;
2398	-	1904	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		1905	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		1906	//th.Start();
2291	-	1907	}
		1908
		1909	_bSatFix = false;
		1910	}
		1911	}
		1912	}
		1913
2399	-	1914	//Distance to next WP
2287	-	1915	i_16 = data[28];
		1916	i_16 = (Int16)(i_16 << 8);
		1917	iVal = data[27] + i_16;
2399	-	1918	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		1919	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
2401	-	1920	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	1921
		1922	i_16 = data[45];
		1923	i_16 = (Int16)(i_16 << 8);
		1924	iVal = data[44] + i_16;
		1925	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1926	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1927
		1928	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2355	-	1929	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2401	-	1930	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString()));
2399	-	1931	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
2342	-	1932	{
2425	-	1933	_setActiveWP(data[48]- 1);
2355	-	1934	if((data[67] & 2) == 2)
		1935	Dispatcher.Invoke(() => {
		1936	DataGridRow row;
		1937	if (_wpIndex > -1)
		1938	{
2425	-	1939	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2355	-	1940	row.Background = new SolidColorBrush(Colors.Transparent);
		1941	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1942	row.BorderThickness = new Thickness(0);
		1943	}
2425	-	1944
2355	-	1945	_wpIndex = data[48] - 1;
2425	-	1946	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2366	-	1947	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		1948	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	1949	row.BorderThickness = new Thickness(2);
		1950	dgvWP.UpdateLayout();
		1951	});
2425	-	1952	_wpIndex = data[48]- 1;
2342	-	1953	}
2347	-	1954	else
		1955	{
		1956	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	1957	{
2347	-	1958	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	1959	Dispatcher.Invoke(() =>
		1960	{
		1961	DataGridRow row;
2368	-	1962	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	1963	{
2425	-	1964	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2355	-	1965	row.Background = new SolidColorBrush(Colors.Transparent);
		1966	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1967	row.BorderThickness = new Thickness(0);
		1968	_wpIndex = -1;
		1969	}
		1970	});
		1971
		1972	}
2347	-	1973	}
2342	-	1974
2287	-	1975	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	1976	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2401	-	1977	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	1978	_wpCount = data[49];
2287	-	1979	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1980
		1981	//--------------- Capacity used ------------------------
		1982	i_16 = data[81];
		1983	i_16 = (Int16)(i_16 << 8);
		1984	iVal = data[80] + i_16;
		1985	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1986	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1987
2398	-	1988	//--------------- Ground speed ------------------------
		1989	i_16 = data[59];
		1990	i_16 = (Int16)(i_16 << 8);
		1991	iVal = data[58] + i_16;
2399	-	1992	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		1993	if(_Simulate)
		1994	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
2398	-	1995
		1996	//--------------- Heading north ------------------------
		1997	i_16 = data[61];
		1998	i_16 = (Int16)(i_16 << 8);
		1999	iVal = data[60] + i_16;
		2000	Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
		2001
		2002	//--------------- Heading compass ------------------------
		2003	i_16 = data[63];
		2004	i_16 = (Int16)(i_16 << 8);
		2005	iVal = data[62] + i_16;
		2006	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
2399	-	2007	if (_Simulate)
		2008	{
		2009	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2010	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2011	}
2287	-	2012	//--------------- Flying time ------------------------
		2013	i_16 = data[56];
		2014	i_16 = (Int16)(i_16 << 8);
		2015	iVal = data[55] + i_16;
		2016	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2017	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2018	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2019	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		2020
		2021	//--------------- RC quality ------------------------
		2022	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		2023	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		2024
2291	-	2025	if(data[66] > _iThresholdRC)
		2026	{
		2027	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2028	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2029	{
		2030	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2031	_bAnimRCLevelActive = false;
		2032	}
		2033	}
		2034	else
		2035	{
		2036	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2037	if (_iRCLevelJitter == 20)
		2038	{
		2039	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2040	{
		2041	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2042	_bAnimRCLevelActive = true;
		2043	}
		2044	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2045	{
2405	-	2046	_bVoiceRCLevelActive = true;
2398	-	2047	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2048	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2049	//th.Start();
2291	-	2050	}
		2051	_iRCLevelJitter++;
		2052	}
		2053	}
		2054
2405	-	2055	//Waypoint max range (by license)
		2056	if(dWPMaxRange != (double)data[70])
		2057	{
		2058	dWPMaxRange = (double)data[70];
		2059	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2060	{
		2061	if (cWPBound != null && cWPBound.Tag != null)
		2062	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2063
		2064	createCircle(home.Position, dWPMaxRange);
2408	-	2065	Dispatcher.Invoke(() =>
		2066	{
		2067	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2068	{
		2069	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2070	cWPBound.setColor(s);
		2071	}
		2072	});
2405	-	2073	}
		2074	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m"));
		2075	}
2399	-	2076	//Target hold time
		2077	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
2401	-	2078	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s"));
2399	-	2079
2287	-	2080	//--------------- NC Error ------------------------
		2081	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		2082	if (data[69] > 0)
		2083	_readNCError();
		2084	if (data[69] > 0 & data[69] < 44)
2381	-	2085	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		2086	//else
		2087	// if (_bErrorLog) _clearErrorLog("NC Error");
2287	-	2088
2298	-	2089	//-------------FC / NC Status Flags
		2090	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2091	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2092	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2093	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2094	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2095	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2096
		2097	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2098	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2099	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2100	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2101	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2102	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
		2103	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2104	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2105
		2106	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2107	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2108	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2109	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2110	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2111	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2112	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	2113
		2114	//Sidebar StatusSymbols
		2115	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2116	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
		2117	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
		2118
		2119	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2120	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
		2121	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
		2122
		2123	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	2124	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
		2125	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	-	2126
		2127	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2128	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
		2129	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
		2130
		2131	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	2132	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
		2133	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
		2134	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	-	2135
2324	-	2136	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	2137	}
		2138	/// <summary>
		2139	/// Navi-Ctrl WP data struct 'X'
		2140	/// called by index
		2141	/// </summary>
		2142	/// <param name="data">the received byte array to process</param>
		2143	void _processWPData(byte[] data)
		2144	{
2313	-	2145	_iWPCount = data[0];
2287	-	2146	_bGetWPCount = false;
		2147	if (data.Length >= 28)
		2148	{
		2149	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		2150	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		2151	if (_bGetWP)
		2152	{
		2153	if (data[1] == 1)
2315	-	2154	{
2333	-	2155	Dispatcher.Invoke(() =>
		2156	{
2356	-	2157	wpList.Clear();
		2158	_clearMapMarkers(typeof(CustomMarkerWP));
		2159	if (mRouteWP != null)
		2160	MainMap.Markers.Remove(mRouteWP);
		2161	if (wpActiveMarker != null)
		2162	MainMap.Markers.Remove(wpActiveMarker);
		2163	lblWPRouteDistance.Content = "0 m";
		2164	dtWaypoints.Rows.Clear();
2368	-	2165	_wpEdit = -1;_wpIndex = -1;
2425	-	2166	wpOffset.Clear();
2318	-	2167	});
2315	-	2168	}
2287	-	2169	DataRow dr = dtWaypoints.NewRow();
		2170	dr = Waypoints.toDataRow(data, dr);
2313	-	2171	dtWaypoints.Rows.Add(dr);
2425	-	2172	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1],(int)data[1]-1);
2313	-	2173	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2174	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	2175	if (data[1] == data[0])
		2176	{
		2177	_bGetWP = false;
2368	-	2178	_routeUpdate();
2287	-	2179	}
		2180
		2181	}
		2182	}
		2183	else
		2184	{
		2185	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		2186	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		2187	}
		2188	}
		2189	/// <summary>
		2190	/// OSD Menue 'L'
		2191	/// single page called by pagenumber
		2192	/// no autoupdate
		2193	/// </summary>
		2194	/// <param name="data">the received byte array to process</param>
		2195	void _processOSDSingle(byte[] data)
		2196	{
		2197	if (data.Length == 84)
		2198	{
		2199	string sMessage = "";
		2200	iOSDPage = data[0];
		2201	iOSDMax = data[1];
		2202	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		2203	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		2204	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2205	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2206	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2207	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2208	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2209	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2210
		2211	}
		2212	//else
		2213	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2214
		2215	}
		2216	/// <summary>
		2217	/// OSD Menue 'H'
		2218	/// called by keys (0x01,0x02,0x03,0x04)
		2219	/// autoupdate
		2220	/// </summary>
		2221	/// <param name="data">the received byte array to process</param>
		2222	void _processOSDAuto(byte[] data)
		2223	{
		2224	if (data.Length == 81)
		2225	{
		2226	string sMessage = "";
		2227	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2228	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2229	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2230	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2231	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2232
		2233	}
		2234	//else
		2235	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2236	}
		2237
		2238	#endregion processing received data
		2239
		2240	#region controller messages
		2241	/// <summary> send message to controller to request data
		2242	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2243	/// </summary>
		2244	/// <param name="CMDID"> the command ID </param>
		2245	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2246	private void _sendControllerMessage(char CMDID, byte address)
		2247	{
		2248	if (serialPortCtrl.Port.IsOpen)
		2249	{
		2250	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2251	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2252	serialStream.Write(bytes, 0, bytes.Length);
		2253
		2254	}
		2255	else
		2256	Log(LogMsgType.Error, "NOT CONNECTED!");
		2257	}
		2258	/// <summary> send message to controller to request data
		2259	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2260	/// </summary>
		2261	/// <param name="CMDID"> the command ID </param>
		2262	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2263	/// <param name="data"> additional data for the request</param>
		2264	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2265	{
		2266	if (serialPortCtrl.Port.IsOpen)
		2267	{
		2268	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2269	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2270	serialStream.Write(bytes, 0, bytes.Length);
		2271
		2272	}
		2273	else
		2274	Log(LogMsgType.Error, "NOT CONNECTED!");
		2275	}
		2276
		2277	/// <summary>
		2278	/// start/stop continous polling of controller values
		2279	/// </summary>
		2280	/// <param name="b">start/stop switch</param>
		2281	void _readCont(bool b)
		2282	{
		2283	bReadContinously = b;
		2284	if (bReadContinously)
		2285	{
		2286	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2287	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2288	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2289	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2290	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2291	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2292	}
		2293	else
		2294	{
		2295	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2296	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2297	_bConnErr = false;
		2298	}
		2299	_iLifeCounter = 0;
		2300	}
		2301
		2302	private void _getVersion()
		2303	{
		2304	_sendControllerMessage('v', 0);
		2305	}
		2306	/// <summary>
		2307	/// get FC version struct via NC
		2308	/// by sending '1' as data (not documented in wiki...)
		2309	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2310	/// </summary>
		2311	/// <param name="ctrl">controller number 1=FC</param>
		2312	private void _getVersion(byte ctrl)
		2313	{
		2314	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2315	}
		2316	/// <summary>
		2317	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2318	/// </summary>
		2319	private void _switchToNC()
		2320	{
		2321	if (serialPortCtrl.Port.IsOpen)
		2322	{
		2323	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2324	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2325	serialStream.Write(bytes, 0, bytes.Length);
		2326
		2327	Thread.Sleep(100);
		2328	_getVersion();
		2329	Thread.Sleep(100);
2424	-	2330	_getLic();
2287	-	2331	// _OSDMenue(0);
		2332	}
		2333	else
		2334	Log(LogMsgType.Error, "NOT CONNECTED!");
		2335	}
		2336	/// <summary>
		2337	/// switch to FC
		2338	/// </summary>
		2339	private void _switchToFC()
		2340	{
		2341	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2342	Thread.Sleep(100);
		2343	_getVersion();
		2344	Thread.Sleep(100);
		2345	// _OSDMenue(0);
		2346	}
		2347	/// <summary>
		2348	/// send RESET signal to FC
		2349	/// </summary>
		2350	private void _resetCtrl()
		2351	{
		2352	_sendControllerMessage('R', 1);
		2353	}
		2354	/// <summary>
		2355	/// poll the debug data (4sec subscription)
		2356	/// </summary>
		2357	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2358	private void _readDebugData(bool auto)
		2359	{
		2360	byte interval = auto ? debugInterval : (byte)0;
		2361	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2362	}
		2363	/// <summary>
		2364	/// poll the BL-CTRL status via NC (4sec subscription)
		2365	/// </summary>
		2366	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2367	private void _readBLCtrl(bool auto)
		2368	{
		2369	byte interval = auto ? blctrlInterval : (byte)0;
		2370	_sendControllerMessage('k', 0, new byte[1] { interval });
		2371	}
		2372	/// <summary>
		2373	/// poll the NC data struct (4sec subscription)
		2374	/// </summary>
		2375	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2376	private void _readNavData(bool auto)
		2377	{
		2378	byte interval = auto ? navctrlInterval : (byte)0;
		2379	_sendControllerMessage('o', 2, new byte[1] { interval });
		2380	}
		2381	/// <summary>
2424	-	2382	/// request the license info
		2383	/// </summary>
		2384	void _getLic()
		2385	{
		2386	if (serialPortCtrl.Port.IsOpen)
		2387	{
		2388	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2389	byte[] bytes = FlightControllerMessage.CreateMessage('m', 2, new byte[1] { (byte)1 });
		2390	serialStream.Write(bytes, 0, bytes.Length);
		2391	}
		2392	else
		2393	Log(LogMsgType.Error, "NOT CONNECTED!");
		2394
		2395	}
		2396	/// <summary>
2287	-	2397	/// get the errortext for pending NC error
		2398	/// </summary>
		2399	private void _readNCError()
		2400	{
		2401	_sendControllerMessage('e', 2);
		2402	}
		2403	/// <summary>
		2404	/// request the Waypoint at index
		2405	/// </summary>
		2406	/// <param name="index"></param>
		2407	void _getpWP(int index)
		2408	{
		2409	if (serialPortCtrl.Port.IsOpen)
		2410	{
		2411	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2412	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2413	serialStream.Write(bytes, 0, bytes.Length);
		2414	}
		2415	else
		2416	Log(LogMsgType.Error, "NOT CONNECTED!");
		2417
		2418	}
		2419	void _getWP()
		2420	{
2335	-	2421	int iTimeout = 0;
2287	-	2422	_bGetWPCount = true;
2315	-	2423	_getpWP(1); //get the itemscount of wp
2335	-	2424	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2425	{
		2426	Thread.Sleep(10);
		2427	iTimeout++;
		2428	}
		2429	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2430	_getWPList();
		2431	}
		2432	void _getWPList()
		2433	{
		2434	_bGetWP = true;
2313	-	2435	int iTimeout=0;
		2436	for (int j = 0; j < _iWPCount; j++)
2287	-	2437	{
		2438	_getpWP(j + 1);
2313	-	2439	iTimeout = 0;
		2440	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2441	{
		2442	Thread.Sleep(1);
		2443	iTimeout++;
		2444	}
2287	-	2445	}
2419	-	2446	Dispatcher.Invoke(() =>
		2447	{
		2448	// MainMap.ZoomAndCenterMarkers(null);
		2449	MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]);
		2450	MainMap.Zoom = 19;
		2451	});
2287	-	2452	}
2363	-	2453	/// <summary>
		2454	/// Wrapper for _clearCopterWPList()
		2455	/// necessary, cause it is called by threadnew which does not like return values...
		2456	/// </summary>
2340	-	2457	void clearCopterWPList()
2313	-	2458	{
2340	-	2459	_clearCopterWPList();
		2460	}
2363	-	2461	/// <summary>
		2462	/// clear the WP list of the copter
		2463	/// by sending 'invalid' and index '0'
		2464	/// </summary>
		2465	/// <returns></returns>
2340	-	2466	bool _clearCopterWPList()
		2467	{
2335	-	2468	int iTimeout = 0;
2313	-	2469	if (serialPortCtrl.Port.IsOpen)
		2470	{
		2471	byte[] bData = new byte[30];
		2472	for (int i = 0; i < 30; i++)
		2473	bData[i] = 0;
		2474	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2475	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2476	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2477
2313	-	2478	_iWPCount = -1;
2340	-	2479	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2480	{
2313	-	2481	Thread.Sleep(10);
2335	-	2482	iTimeout++;
		2483	}
2313	-	2484	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2485	if (_iWPCount > -1)
2340	-	2486	return true;
		2487	else
		2488	Log(LogMsgType.Error, "Timeout while sending list!");
		2489	}
		2490	else
		2491	Log(LogMsgType.Error, "NOT CONNECTED!");
		2492
		2493	return false;
		2494	}
		2495	void _sendWPList()
		2496	{
2362	-	2497	_sendWPList(0);
		2498	}
		2499	void _sendWPList(int iStart)
		2500	{
2340	-	2501	int iTimeout = 0;
		2502	if (serialPortCtrl.Port.IsOpen)
		2503	{
		2504	if (_clearCopterWPList())
2313	-	2505	{
2362	-	2506	int k = 1;
		2507	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	2508	{
2362	-	2509	k = iStart > 0 ? k : -1;
2376	-	2510	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	2511
2335	-	2512	_iWPCount = -1;
		2513	iTimeout = 0;
		2514	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2515	{
		2516	Thread.Sleep(10);
		2517	iTimeout++;
		2518	}
		2519	if (_iWPCount == -1)
		2520	{
		2521	Log(LogMsgType.Error, "Timeout while sending list!");
		2522	break;
		2523	}
		2524	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	2525	k++;
2335	-	2526	}
2313	-	2527	}
		2528	}
		2529	else
		2530	Log(LogMsgType.Error, "NOT CONNECTED!");
		2531
		2532	}
2376	-	2533	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	2534	{
2313	-	2535
2340	-	2536	if (serialPortCtrl.Port.IsOpen)
		2537	{
		2538	byte[] bData = new byte[30];
		2539	for (int i = 0; i < 30; i++)
		2540	bData[i] = 0;
		2541	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2542	byte[] bytes;
		2543	int iVal;
		2544	double dVal;
		2545	NumberFormatInfo nfi = new NumberFormatInfo();
		2546	nfi.NumberDecimalSeparator = ",";
		2547
		2548	//longitude
		2549	dVal = Convert.ToDouble(dr[4], nfi);
		2550	iVal = (int)(dVal * Math.Pow(10, 7));
		2551	bData[0] = (byte)(iVal & 0xff);
		2552	bData[1] = (byte)((iVal >> 8) & 0xff);
		2553	bData[2] = (byte)((iVal >> 16) & 0xff);
		2554	bData[3] = (byte)(iVal >> 24);
		2555	//latitude
		2556	dVal = Convert.ToDouble(dr[3], nfi);
		2557	iVal = (int)(dVal * Math.Pow(10, 7));
		2558	bData[4] = (byte)(iVal & 0xff);
		2559	bData[5] = (byte)((iVal >> 8) & 0xff);
		2560	bData[6] = (byte)((iVal >> 16) & 0xff);
		2561	bData[7] = (byte)(iVal >> 24);
		2562	//altitude
		2563	dVal = Convert.ToDouble(dr[5], nfi);
		2564	iVal = (int)(dVal * 10);
		2565	bData[8] = (byte)(iVal & 0xff);
		2566	bData[9] = (byte)((iVal >> 8) & 0xff);
		2567	bData[10] = (byte)((iVal >> 16) & 0xff);
		2568	bData[11] = (byte)(iVal >> 24);
2376	-	2569	if(bSim)
		2570	bData[12] = 3; //Status 'SIMULATE'
2340	-	2571	//Status 'NEWDATA'
2376	-	2572	else
		2573	bData[12] = 1;
2340	-	2574	//heading
		2575	iVal = Convert.ToInt16(dr[6]);
		2576	bData[13] = (byte)(iVal & 0xff);
		2577	bData[14] = (byte)((iVal >> 8) & 0xff);
		2578	//ToleranceRadius
		2579	bData[15] = Convert.ToByte(dr[9]);
		2580	//HoldTime
		2581	bData[16] = Convert.ToByte(dr[10]);
		2582	//Event_Flag
		2583	bData[17] = Convert.ToByte(dr[13]);
		2584	//Index
2379	-	2585	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
2340	-	2586	//Type
		2587	bData[19] = Convert.ToByte(dr[1]);
		2588	//WP_EventChannelValue
		2589	bData[20] = Convert.ToByte(dr[14]);
		2590	//AltitudeRate
		2591	bData[21] = Convert.ToByte(dr[8]);
		2592	//Speed
		2593	bData[22] = Convert.ToByte(dr[7]);
		2594	//CamAngle
		2595	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2596	//Name
2362	-	2597	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		2598	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	2599	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2600	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2601	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2602	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2603	//Autotrigger
		2604	bData[28] = Convert.ToByte(dr[11]);
		2605
2356	-	2606	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	2607	serialStream.Write(bytes, 0, bytes.Length);
		2608
		2609	return true;
		2610	}
		2611
		2612	return false;
		2613	}
2287	-	2614	#region OSD-Menue
		2615
		2616	/// <summary>
		2617	/// one time query of the OSD Menue with pagenumber
		2618	/// </summary>
		2619	/// <param name="iMenue">Menue page</param>
		2620	void _OSDMenue(int iMenue)
		2621	{
		2622	if (serialPortCtrl.Port.IsOpen)
		2623	{
		2624	if (iMenue > iOSDMax)
		2625	iMenue = 0;
		2626	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2627	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2628	serialStream.Write(bytes, 0, bytes.Length);
		2629	}
		2630	else
		2631	Log(LogMsgType.Error, "NOT CONNECTED!");
		2632
		2633	}
		2634	/// <summary>
		2635	/// call the OSDMenue and start autorefresh
		2636	/// usually by sending a menuekey
		2637	/// 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)
		2638	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2639	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2640	/// </summary>
		2641	void _OSDMenueAutoRefresh()
		2642	{
		2643	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2644	}
		2645	void _OSDMenueAutoRefresh(byte key)
		2646	{
		2647	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2648	}
		2649	/// <summary>
		2650	/// initialize the OSD menue combobox
		2651	/// combox is filled by numbers from 0 to max pagenumber
		2652	/// </summary>
		2653	void _initOSDCB()
		2654	{
		2655	_bCBInit = true;
		2656	if (iOSDMax == 0)
		2657	{
		2658	_OSDMenue(0);
		2659	Thread.Sleep(10);
		2660	}
		2661	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2662	for (int i = 0; i <= iOSDMax; i++)
		2663	{
		2664	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2665	}
		2666	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2667	_bCBInit = false;
		2668	}
		2669	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2670	{
		2671	iOSDPage++;
		2672	if (iOSDPage > iOSDMax)
		2673	iOSDPage = 0;
		2674
		2675	_OSDMenue(iOSDPage);
		2676	}
		2677	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2678	{
		2679	iOSDPage--;
		2680	if (iOSDPage < 0)
		2681	iOSDPage = iOSDMax;
		2682
		2683	_OSDMenue(iOSDPage);
		2684	}
		2685	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2686	{
		2687	_OSDMenueAutoRefresh(8);
		2688	}
		2689	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2690	{
		2691	_OSDMenueAutoRefresh(4);
		2692	}
		2693	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2694	{
		2695	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2696	_OSDMenue(cbOSD.SelectedIndex);
		2697	}
		2698	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2699	{
		2700	Dispatcher.Invoke(() =>
		2701	{
		2702	TextRange tr;
		2703	if (bNew)
		2704	{
		2705	rtfOSD.SelectAll();
		2706	rtfOSD.Selection.Text = string.Empty;
		2707	}
		2708	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2709	tr.Text = msg;
		2710	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2711	// rtfOSD.AppendText("\r");
		2712	rtfOSD.ScrollToEnd();
		2713
		2714	});
		2715	}
		2716
		2717	#endregion OSD-Menue
		2718
		2719	#endregion controller messages
		2720
2398	-	2721	void _mediaPlayer(object file)
2295	-	2722	{
2405	-	2723	Monitor.TryEnter(lockObj);
		2724	try
2295	-	2725	{
2405	-	2726	if (File.Exists((string)file))
		2727	{
		2728
		2729	mediaPlayer.Open((string)file);
		2730	mediaPlayer.Play();
		2731	}
		2732
2295	-	2733	}
2405	-	2734	finally
		2735	{
		2736	Monitor.Exit(lockObj);
		2737	}
2295	-	2738	}
2310	-	2739
2362	-	2740	#region ui
2310	-	2741	/// <summary>
		2742	/// Switch between fullscreen and normal window mode
		2743	/// save & restore scaling settings
		2744	/// </summary>
		2745	/// <param name="sender"></param>
		2746	/// <param name="e"></param>
2287	-	2747	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2748	{
		2749	if (winState.isMaximized)
		2750	{
		2751	winState.Restore(this);
		2752	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2753	if(_bSaveWinStateFull)
		2754	_saveScaleSliders(true);
		2755	if(_bSaveWinStateNormal)
		2756	_setScaleSliders(false);
		2757	}
		2758	else
		2759	{
		2760	winState.Maximize(this);
		2761	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2762	if(_bSaveWinStateNormal)
		2763	_saveScaleSliders(false);
		2764	if(_bSaveWinStateFull)
		2765	_setScaleSliders(true);
		2766	}
		2767	}
		2768
		2769	/// <summary>
		2770	/// reset the scaling of all UI elements to default
		2771	/// </summary>
		2772	/// <param name="sender"></param>
		2773	/// <param name="e"></param>
		2774	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2775	{
		2776	UIScaleHorizonSlider.Value =
		2777	UIScaleLOGSlider.Value =
		2778	UIScaleMotorsSlider.Value =
		2779	UIScaleOSDSlider.Value =
		2780	UIScaleSlider.Value =
		2781	UIScaleTopSlider.Value = 1;
		2782	}
		2783	/// <summary>
		2784	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2785	/// </summary>
		2786	/// <param name="sender"></param>
		2787	/// <param name="e"></param>
		2788	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2789	{
		2790	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2791	if (GridMotors != null)
		2792	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2793	if (GridSideBar != null)
		2794	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
2401	-	2795	if (WPStatus != null)
		2796	WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom);
2287	-	2797	if (GridOSD != null)
2401	-	2798	{
		2799	if(WPStatus.Visibility == Visibility.Visible)
		2800	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2801	else
		2802	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2803	}
2287	-	2804	if (GridData != null)
		2805	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2806	if (GridWP != null)
		2807	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2808	}
2419	-	2809	private void UIScaleOSDSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2810	{
		2811	if (!_init)
		2812	{
		2813	if (WPStatus != null && (WPStatus.Visibility == Visibility.Visible))
		2814	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2815	else
		2816	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2817	}
		2818	}
		2819
2310	-	2820	/// <summary>
		2821	/// restore the saved scalings for the fullscreen/normal window mode
		2822	/// </summary>
		2823	/// <param name="bFull">the mode the window is set to</param>
2287	-	2824	void _setScaleSliders(bool bFull)
		2825	{
		2826	if(bFull)
		2827	{
		2828	UIScaleSlider.Value = scaleFullAll;
		2829	UIScaleTopSlider.Value = scaleFullTopBar;
		2830	UIScaleMotorsSlider.Value = scaleFullMotors;
		2831	UIScaleOSDSlider.Value = scaleFullOSD;
		2832	UIScaleLOGSlider.Value = scaleFullLOG;
		2833	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2834	}
		2835	else
		2836	{
		2837	UIScaleSlider.Value = scaleNormalAll;
		2838	UIScaleTopSlider.Value = scaleNormalTopBar;
		2839	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2840	UIScaleOSDSlider.Value = scaleNormalOSD;
		2841	UIScaleLOGSlider.Value = scaleNormalLOG;
		2842	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2843	}
		2844	}
		2845
2310	-	2846	/// <summary>
		2847	/// save the scalings for the actual window mode
		2848	/// </summary>
		2849	/// <param name="bFull">the actual window mode</param>
2287	-	2850	void _saveScaleSliders(bool bFull)
		2851	{
		2852
		2853	if (bFull)
		2854	{
		2855	scaleFullAll = UIScaleSlider.Value;
		2856	scaleFullTopBar = UIScaleTopSlider.Value;
		2857	scaleFullMotors = UIScaleMotorsSlider.Value;
		2858	scaleFullOSD = UIScaleOSDSlider.Value;
		2859	scaleFullLOG = UIScaleLOGSlider.Value;
		2860	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2861	}
		2862	else
		2863	{
		2864	scaleNormalAll = UIScaleSlider.Value;
		2865	scaleNormalTopBar = UIScaleTopSlider.Value;
		2866	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2867	scaleNormalOSD = UIScaleOSDSlider.Value;
		2868	scaleNormalLOG = UIScaleLOGSlider.Value;
		2869	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2870	}
		2871	}
2362	-	2872	#endregion ui
2287	-	2873
		2874	/// <summary>
		2875	/// read settings from ini-file
		2876	/// </summary>
		2877	void _readIni()
		2878	{
		2879	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2880	_writeIni();
		2881	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2882	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2883	try
		2884	{
2287	-	2885
2312	-	2886	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2887	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2888	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2889	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2890	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2891	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2892	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2893	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2894
2312	-	2895	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2896	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2897	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2898	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2899	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2900	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2901	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2902	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2903
2312	-	2904	sVal = ini.IniReadValue("topBar", "voltage");
		2905	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2906	sVal = ini.IniReadValue("topBar", "capacity");
		2907	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2908	sVal = ini.IniReadValue("topBar", "current");
		2909	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2910	sVal = ini.IniReadValue("topBar", "flightTime");
		2911	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2912	sVal = ini.IniReadValue("topBar", "distanceHP");
		2913	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2914	sVal = ini.IniReadValue("topBar", "height");
		2915	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2916	sVal = ini.IniReadValue("topBar", "speed");
		2917	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2918	sVal = ini.IniReadValue("topBar", "magneticField");
		2919	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2920	sVal = ini.IniReadValue("topBar", "satellites");
		2921	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2922	sVal = ini.IniReadValue("topBar", "rc");
		2923	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2924
2312	-	2925	sVal = ini.IniReadValue("style", "saveFullScreen");
		2926	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2927	sVal = ini.IniReadValue("style", "saveNormalState");
		2928	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2929
2312	-	2930	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2931	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2932	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2933	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2934	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2935	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2936	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2937	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2938	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2939	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2940	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2941	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2942
2312	-	2943	sVal = ini.IniReadValue("style", "scaleFullAll");
		2944	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2945	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2946	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2947	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2948	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2949	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2950	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2951	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2952	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2953	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2954	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2955
2312	-	2956	sVal = ini.IniReadValue("general", "LiPoCells");
		2957	_LipoCells = Convert.ToInt16(sVal);
		2958	sVal = ini.IniReadValue("general", "Motors");
		2959	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2960
2312	-	2961	sVal = ini.IniReadValue("map", "followMe");
		2962	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2963	sVal = ini.IniReadValue("map", "AutoSetHome");
		2964	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2965	sVal = ini.IniReadValue("map", "GPXLog");
		2966	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2967
2312	-	2968	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2969	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2970	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2971	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2972	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2973	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2974	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2975	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2976	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2977	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2978	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2979	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2980	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2981	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2982	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2983	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2984	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2985	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2986	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2987	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2988	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2989	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2990
		2991	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2992	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2993	sVal = ini.IniReadValue("waypoints", "poicolor");
		2994	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2995	sVal = ini.IniReadValue("waypoints", "fscolor");
		2996	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2997	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2998	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2385	-	2999	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		3000	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
2379	-	3001	sVal = ini.IniReadValue("waypoints", "landingcolor");
		3002	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	3003	sVal = ini.IniReadValue("waypoints", "routecolor");
		3004	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		3005	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		3006	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2408	-	3007	sVal = ini.IniReadValue("waypoints", "showWPMaxRange");
		3008	if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal);
		3009	sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor");
		3010	if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal);
2349	-	3011
		3012	for (int i = 0; i < 12; i++)
		3013	{
		3014	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		3015	if (sVal != "")
		3016	serChan[i] = Convert.ToInt16(sVal);
		3017	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		3018	if (sVal != "")
		3019	serChanTitle[i] = sVal;
		3020	for (int y = 0; i < 4 && y < 3; y++)
		3021	{
		3022	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		3023	if (sVal != "")
		3024	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		3025	}
		3026	}
		3027
2312	-	3028	}
		3029	catch (Exception e)
		3030	{
2287	-	3031
2312	-	3032	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		3033	}
		3034
2287	-	3035	}
		3036
		3037	/// <summary>
		3038	/// save settings to ini-file
		3039	/// </summary>
		3040	void _writeIni()
		3041	{
		3042
		3043	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3044	ini.path = filePath + "\\MKLiveViewSettings.ini";
		3045
2312	-	3046	try
		3047	{
2287	-	3048
2312	-	3049	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		3050	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		3051	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		3052	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	3053
2312	-	3054	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		3055	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		3056	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		3057	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	3058
2312	-	3059	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		3060	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	3061
2312	-	3062	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		3063	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	3064	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	3065
2312	-	3066	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		3067	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		3068	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		3069	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		3070	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		3071	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		3072	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		3073	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		3074	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		3075	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	3076
2312	-	3077	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		3078	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	3079
2312	-	3080	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		3081	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		3082	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		3083	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		3084	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		3085	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	3086
2312	-	3087	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		3088	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		3089	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		3090	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		3091	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		3092	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	3093
2312	-	3094	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		3095
		3096	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		3097	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		3098	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		3099	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		3100	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		3101	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		3102	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		3103	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		3104	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		3105	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		3106	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	3107
		3108	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		3109	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		3110	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		3111	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2385	-	3112	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
2379	-	3113	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
2328	-	3114	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		3115	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2408	-	3116	ini.IniWriteValue("waypoints", "showWPMaxRange", ((bool)checkBoxShowWPMaxRange.IsChecked).ToString());
		3117	ini.IniWriteValue("waypoints", "WPMaxRangecolor", comboBoxWPMaxRangeColor.SelectedIndex.ToString());
2349	-	3118
		3119	for (int i = 0; i < 12; i++)
		3120	{
		3121	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		3122	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		3123	for (int y = 0; i < 4 && y < 3; y++)
		3124	{
		3125	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		3126	}
		3127	}
		3128
2312	-	3129	}
		3130	catch (Exception e)
		3131	{
		3132
		3133	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);
		3134	}
2287	-	3135	}
2350	-	3136
2349	-	3137	#region serial channels
		3138	/// <summary>
		3139	/// Sending the serial channel values
		3140	/// </summary>
		3141	void _sendSerialData()
		3142	{
		3143	byte[] serData = new byte[12];
		3144	for (int i = 0; i < 12; i++)
		3145	{
		3146	serData[i] = unchecked((byte)(serChan[i] - 127));
		3147	}
		3148	_sendControllerMessage('y', 1, serData);
		3149	}
		3150	/// <summary>
		3151	/// init the controls for displaying
		3152	/// and setting serial control channels
		3153	/// </summary>
		3154	void _initSerialCtrl()
		3155	{
		3156	SerChan1ScaleSlider.Value = serChan[0];
		3157	textBoxSerial1.Text = serChanTitle[0];
		3158	SerChan2ScaleSlider.Value = serChan[1];
		3159	textBoxSerial2.Text = serChanTitle[1];
2350	-	3160	SerChan3ScaleSlider.Value = serChan[2];
		3161	textBoxSerial3.Text = serChanTitle[2];
2349	-	3162	//SerChan4ScaleSlider.Value = serChan[3];
		3163	//textBoxSerial4.Text = serChanTitle[3];
		3164	//trckbarSerial5.Value = serChan[4];
		3165	//textBoxSerial5.Text = serChanTitle[4];
		3166	//trckbarSerial6.Value = serChan[5];
		3167	//textBoxSerial6.Text = serChanTitle[5];
		3168	//trckbarSerial7.Value = serChan[6];
		3169	//textBoxSerial7.Text = serChanTitle[6];
		3170	//trckbarSerial8.Value = serChan[7];
		3171	//textBoxSerial8.Text = serChanTitle[7];
2312	-	3172
2349	-	3173	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		3174	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		3175	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		3176	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		3177	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		3178	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	3179	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		3180	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		3181	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	3182	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		3183	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		3184	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		3185	}
		3186	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3187	{
		3188	if (!_init)
		3189	{
		3190	serChan[0] = (int)SerChan1ScaleSlider.Value;
		3191	_sendSerialData();
		3192	}
		3193	}
		3194	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		3195	{
		3196	if (!_init)
		3197	{
		3198	serChanTitle[0] = textBoxSerial1.Text;
		3199	}
		3200	}
		3201	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		3202	{
		3203	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		3204	{
		3205	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		3206	}
		3207	}
		3208	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		3209	{
		3210	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		3211	{
		3212	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		3213	}
		3214	}
		3215	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		3216	{
		3217	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		3218	{
		3219	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		3220	}
		3221	}
		3222	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		3223	{
		3224	if (textBoxSerial1_val1.Text.Length > 0)
		3225	{
		3226	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		3227	}
		3228	}
		3229	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		3230	{
		3231	SerChan1ScaleSlider.Value = 0;
		3232	}
		3233	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		3234	{
		3235	SerChan1ScaleSlider.Value = 127;
		3236	}
		3237	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		3238	{
		3239	SerChan1ScaleSlider.Value = 254;
		3240	}
		3241	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		3242	{
		3243	if (textBoxSerial1_val2.Text.Length > 0)
		3244	{
		3245	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		3246	}
		3247	}
		3248	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		3249	{
		3250	if (textBoxSerial1_val3.Text.Length > 0)
		3251	{
		3252	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		3253	}
		3254	}
		3255
		3256	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3257	{
		3258	if (!_init)
		3259	{
		3260	serChan[1] = (int)SerChan2ScaleSlider.Value;
		3261	_sendSerialData();
		3262	}
		3263	}
		3264	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		3265	{
		3266	if (!_init)
		3267	{
		3268	serChanTitle[1] = textBoxSerial2.Text;
		3269	}
		3270	}
		3271	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		3272	{
		3273	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		3274	{
		3275	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		3276	}
		3277	}
		3278	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		3279	{
		3280	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		3281	{
		3282	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		3283	}
		3284	}
		3285	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		3286	{
		3287	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		3288	{
		3289	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3290	}
		3291	}
		3292	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3293	{
		3294	SerChan2ScaleSlider.Value = 0;
		3295	}
		3296	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3297	{
		3298	SerChan2ScaleSlider.Value = 127;
		3299	}
		3300	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3301	{
		3302	SerChan2ScaleSlider.Value = 254;
		3303	}
		3304	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3305	{
		3306	if (textBoxSerial2_val1.Text.Length > 0)
		3307	{
		3308	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3309	}
		3310	}
		3311	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3312	{
		3313	if (textBoxSerial2_val2.Text.Length > 0)
		3314	{
		3315	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3316	}
		3317	}
		3318	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3319	{
		3320	if (textBoxSerial2_val3.Text.Length > 0)
		3321	{
		3322	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3323	}
		3324	}
2350	-	3325
		3326	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3327	{
		3328	if (!_init)
		3329	{
		3330	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3331	_sendSerialData();
		3332	}
		3333	}
		3334	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3335	{
		3336	if (!_init)
		3337	{
		3338	serChanTitle[2] = textBoxSerial3.Text;
		3339	}
		3340	}
		3341	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3342	{
		3343	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3344	{
		3345	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3346	}
		3347	}
		3348	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3349	{
		3350	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3351	{
		3352	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3353	}
		3354	}
		3355	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3356	{
		3357	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3358	{
		3359	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3360	}
		3361	}
		3362	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3363	{
		3364	SerChan3ScaleSlider.Value = 0;
		3365	}
		3366	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3367	{
		3368	SerChan3ScaleSlider.Value = 127;
		3369	}
		3370	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3371	{
		3372	SerChan3ScaleSlider.Value = 254;
		3373	}
		3374	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3375	{
		3376	if (textBoxSerial3_val1.Text.Length > 0)
		3377	{
		3378	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3379	}
		3380	}
		3381	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3382	{
		3383	if (textBoxSerial3_val2.Text.Length > 0)
		3384	{
		3385	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3386	}
		3387	}
		3388	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3389	{
		3390	if (textBoxSerial3_val3.Text.Length > 0)
		3391	{
		3392	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3393	}
		3394	}
2349	-	3395	/// <summary>
		3396	/// checks the input of a textbox
		3397	/// for valid data
		3398	/// in this case values 0-254
		3399	/// </summary>
		3400	/// <param name="sender"></param>
		3401	/// <param name="e"></param>
		3402	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3403	{
		3404	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3405	e.Handled = true;
		3406	else
		3407	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3408	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3409	e.Handled = true;
		3410	else
		3411	{
		3412	int i = -1;
		3413	switch (((TextBox)sender).Name)
		3414	{
		3415	case "textBoxSerial1_val1":
		3416	i = 0;
		3417	break;
		3418	case "textBoxSerial1_val2":
		3419	i = 1;
		3420	break;
		3421	case "textBoxSerial1_val3":
		3422	i = 2;
		3423	break;
		3424	case "textBoxSerial2_val1":
		3425	i = 3;
		3426	break;
		3427	case "textBoxSerial2_val2":
		3428	i = 4;
		3429	break;
		3430	case "textBoxSerial2_val3":
		3431	i = 5;
		3432	break;
		3433	case "textBoxSerial3_val1":
		3434	i = 6;
		3435	break;
		3436	case "textBoxSerial3_val2":
		3437	i = 7;
		3438	break;
		3439	case "textBoxSerial3_val3":
		3440	i = 8;
		3441	break;
		3442	case "textBoxSerial4_val1":
		3443	i = 9;
		3444	break;
		3445	case "textBoxSerial4_val2":
		3446	i = 10;
		3447	break;
		3448	case "textBoxSerial4_val3":
		3449	i = 11;
		3450	break;
		3451	}
		3452	if (i > -1)
		3453	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3454	}
		3455	}
		3456
		3457	#endregion serial channels
2315	-	3458	#region WP
2312	-	3459	void _readWPLFile()
		3460	{
		3461	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3462	fd.Filter = "Waypointlists \| *.wpl";
		3463	fd.Multiselect = false;
		3464	if (fd.ShowDialog().Value)
		3465	{
		3466	string file = fd.SafeFileName;
		3467	IniFile ini = new IniFile(fd.SafeFileName);
		3468	ini.path = fd.FileName;
		3469
		3470	try
		3471	{
		3472	string sVal = ini.IniReadValue("General", "FileVersion");
		3473	if (sVal == "")
		3474	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3475	else
		3476	{
		3477	if (Convert.ToInt16(sVal) < 3)
		3478	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3479	else
		3480	{
		3481	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3482	if (sVal == "")
		3483	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3484	else
		3485	{
		3486	int wpnum = Convert.ToInt16(sVal);
		3487	string wp;
		3488	int i;
2313	-	3489	NumberFormatInfo nfi = new NumberFormatInfo();
		3490	nfi.NumberDecimalSeparator = ".";
2312	-	3491	dtWaypoints.Rows.Clear();
2368	-	3492	_wpEdit = -1;_wpIndex = -1;
2425	-	3493	wpOffset.Clear();
2327	-	3494	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	3495	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	3496	wpList.Clear();
		3497	if (mRouteWP != null)
		3498	MainMap.Markers.Remove(mRouteWP);
2363	-	3499	//if (wpActiveMarker != null)
		3500	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	3501	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3502
2312	-	3503	for (int k = 1; k <= wpnum; k++)
		3504	{
		3505	DataRow dr = dtWaypoints.NewRow();
		3506	dr.ItemArray = new object[16];
		3507	object[] o = new object[16];
		3508	i = 0;
		3509	wp = "Point" + k.ToString();
		3510	o[i] = k;
		3511	i++;
		3512	sVal = ini.IniReadValue(wp, "Type");
		3513	if (sVal != "")
2315	-	3514	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3515	i++;
		3516	sVal = ini.IniReadValue(wp, "Prefix");
		3517	if (sVal != "")
2350	-	3518	o[i] = sVal + k.ToString();
		3519	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3520	i++;
2313	-	3521	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3522	if (sVal != "")
2313	-	3523	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3524	i++;
2313	-	3525	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3526	if (sVal != "")
2313	-	3527	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3528	i++;
		3529	sVal = ini.IniReadValue(wp, "Altitude");
		3530	if (sVal != "")
2313	-	3531	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3532	i++;
		3533	sVal = ini.IniReadValue(wp, "Heading");
		3534	if (sVal != "")
		3535	o[i] = Convert.ToInt16(sVal);
		3536	i++;
		3537	sVal = ini.IniReadValue(wp, "Speed");
		3538	if (sVal != "")
2315	-	3539	o[i] = Convert.ToInt16(sVal);
2312	-	3540	i++;
		3541	sVal = ini.IniReadValue(wp, "ClimbRate");
		3542	if (sVal != "")
		3543	o[i] = Convert.ToInt16(sVal);
		3544	i++;
		3545	sVal = ini.IniReadValue(wp, "Radius");
		3546	if (sVal != "")
		3547	o[i] = Convert.ToInt16(sVal);
		3548	i++;
		3549	sVal = ini.IniReadValue(wp, "DelayTime");
		3550	if (sVal != "")
		3551	o[i] = Convert.ToInt16(sVal);
		3552	i++;
		3553	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3554	if (sVal != "")
		3555	o[i] = Convert.ToInt16(sVal); ;
		3556	i++;
		3557	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3558	if (sVal != "")
2313	-	3559	o[i] = Convert.ToInt16(sVal);
2312	-	3560	i++;
		3561	o[i] = 0;
		3562	i++;
		3563	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3564	if (sVal != "")
		3565	o[i] = Convert.ToInt16(sVal);
		3566	i++;
		3567	o[i] = "New";
		3568
		3569	dr.ItemArray = o;
		3570	dtWaypoints.Rows.Add(dr);
2425	-	3571	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1], (int)o[0]-1);
2315	-	3572
2312	-	3573	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3574	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3575	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
2419	-	3576	Thread.Sleep(1);
2312	-	3577	}
2419	-	3578	Dispatcher.Invoke(() => MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]));
		3579	Dispatcher.Invoke(() => MainMap.Zoom = 19);
		3580	// Dispatcher.Invoke(() => MainMap.ZoomAndCenterMarkers(null));
		3581	Dispatcher.Invoke(() => _routeUpdate());
2312	-	3582	}
		3583	}
		3584	}
		3585
		3586	}
		3587	catch (Exception e)
		3588	{
		3589
		3590	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		3591	}
		3592
		3593	}
		3594	}
2350	-	3595	void _saveWPLFile()
		3596	{
		3597	if (dtWaypoints.Rows.Count > 0)
		3598	{
		3599	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		3600	fd.Filter = "Waypointlists \| *.wpl";
		3601	fd.AddExtension = true;
		3602	if (fd.ShowDialog().Value)
		3603	{
		3604	string file = fd.SafeFileName;
		3605	IniFile ini = new IniFile(fd.SafeFileName);
		3606	ini.path = fd.FileName;
		3607	NumberFormatInfo nfi = new NumberFormatInfo();
		3608	nfi.NumberDecimalSeparator = ".";
		3609
		3610	try
		3611	{
		3612	ini.IniWriteValue("General", "FileVersion", "3");
		3613	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		3614	ini.IniWriteValue("General", "Mapfile", "");
		3615	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		3616	{
		3617	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		3618	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		3619	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		3620	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		3621	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		3622	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		3623	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		3624	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		3625	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		3626	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		3627	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		3628	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));
		3629	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		3630	}
		3631	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		3632	}
		3633	catch { }
		3634	}
		3635	}
		3636	else
		3637	MessageBox.Show("Nothing to save...");
		3638	}
		3639	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		3640	{
		3641	_saveWPLFile();
		3642	}
		3643	/// <summary>
		3644	/// set the selected color for the route
		3645	/// </summary>
		3646	/// <param name="color"></param>
		3647	/// <returns></returns>
2328	-	3648	Brush _getBrush(string color)
		3649	{
		3650	switch (color)
		3651	{
		3652	case "red":
		3653	return Brushes.Red;
		3654	case "green":
		3655	return Brushes.Lime;
		3656	case "blue":
		3657	return Brushes.Aqua;
		3658	case "pink":
		3659	return Brushes.Magenta;
		3660	case "yellow":
		3661	return Brushes.Yellow;
		3662	default:
		3663	return Brushes.Magenta;
		3664	}
		3665	}
2359	-	3666	void _routeUpdate()
		3667	{
		3668	Dispatcher.Invoke(() =>
		3669	{
		3670	if (comboBoxRouteColor.SelectionBoxItem != null)
		3671	{
		3672	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3673	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3674	}
		3675	else
		3676	mRouteWP = new GMapRoute(wpList, null);
		3677
		3678	if (_bShowWPRoute)
2368	-	3679	MainMap.Markers.Add(mRouteWP);
2359	-	3680	});
		3681
		3682	MapRoute mr = new MapRoute(wpList, "WPList");
		3683	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		3684	}
2425	-	3685	GMapMarker _createWP(PointLatLng p, string name, int type, int index)
2363	-	3686	{
		3687	GMapMarker wpMarker = new GMapMarker(p);
2385	-	3688	Dispatcher.Invoke(()=>
		3689	{
		3690	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
2419	-	3691	wpMarker.Tag = name;
2385	-	3692	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		3693	wpMarker.ZIndex = 100;
		3694	_setMarkerColor(wpMarker, type);
		3695	MainMap.Markers.Add(wpMarker);
		3696	if (type == 0 \|\| type == 3)
2425	-	3697	{
2385	-	3698	wpList.Add(p);
2425	-	3699	wpOffset.Add(index);
		3700	}
2419	-	3701	((CustomMarkerWP)wpMarker.Shape).positionChanged += _updateDTWPPos;
		3702	((CustomMarkerWP)wpMarker.Shape).newPosition += _updateDTWPPosFin;
2421	-	3703	((CustomMarkerWP)wpMarker.Shape).mouseCaptured += _WPMouseCaptured;
2385	-	3704	});
2363	-	3705	return wpMarker;
		3706	}
2419	-	3707	bool _WPisMouseCaptured = false;
2421	-	3708	void _WPMouseCaptured(bool isCaptured)
2419	-	3709	{
		3710	_WPisMouseCaptured = isCaptured;
		3711	MainMap.CanDragMap = !isCaptured;
		3712	}
		3713	void _updateDTWPPos(CustomMarkerWP wp)
		3714	{
		3715	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		3716	int index = Convert.ToInt16(sIndex) -1;
		3717	GMapMarker p = ((GMapMarker)wp.DataContext);
		3718	if (p != null && index < dtWaypoints.Rows.Count)
		3719	{
		3720	//Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3721	if(wp.WPType == 0 \| wp.WPType == 3)
2424	-	3722	{
		3723	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		3724	int wpListIndex = wpList.IndexOf(x);
		3725	if (wpListIndex > -1)
		3726	{
		3727	wpList[wpListIndex] = p.Position;
		3728	MainMap.Markers.Remove(mRouteWP);
		3729	_routeUpdate();
		3730	}
2419	-	3731	}
2424	-	3732	dtWaypoints.Rows[index][3] = p.Position.Lat;
		3733	dtWaypoints.Rows[index][4] = p.Position.Lng;
2419	-	3734	}
		3735	}
		3736	void _updateDTWPPosFin(CustomMarkerWP wp)
		3737	{
		3738	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		3739	int index = Convert.ToInt16(sIndex) -1;
		3740	GMapMarker p = ((GMapMarker)wp.DataContext);
		3741	if (p != null && index < dtWaypoints.Rows.Count)
		3742	{
		3743	dtWaypoints.Rows[index][3] = p.Position.Lat;
		3744	dtWaypoints.Rows[index][4] = p.Position.Lng;
2421	-	3745	Dispatcher.Invoke(() =>
		3746	{
		3747	dgvWP.Items.Refresh();
		3748	dgvWP.SelectedIndex = index;
		3749	_dgvWPselectEditRow();
		3750	});
		3751
2419	-	3752	}
		3753
		3754	}
2425	-	3755	/// <summary>
		3756	/// find the index of of a wp from datatable in the waypointlist wpList
		3757	/// </summary>
		3758	/// <param name="dtIndex">the index of wp in datatable (0-based)</param>
		3759	/// <returns></returns>
		3760	int _getWPIndexfromList(int dtIndex)
		3761	{
		3762	if ((int)dtWaypoints.Rows[dtIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dtIndex][1] == 3)
		3763	{
		3764	GMapMarker wp = _findWPMarker((string)dtWaypoints.Rows[dtIndex][2]);
		3765	if (wp != null)
		3766	return wpList.IndexOf(wp.Position);
		3767	}
		3768	return -1;
		3769	}
		3770	/// <summary>
		3771	/// find the index of of a wp from datatable in the waypointlist wpList
		3772	/// </summary>
		3773	/// <param name="name">the name of the wp</param>
		3774	/// <returns></returns>
		3775	int _getWPIndexfromList(string name)
		3776	{
		3777	GMapMarker wp = _findWPMarker(name);
		3778	if ((wp != null && wp.Shape != null) && ((CustomMarkerWP)wp.Shape).WPType == 0 \| ((CustomMarkerWP)wp.Shape).WPType == 3)
		3779	return wpList.IndexOf(wp.Position);
		3780	else
		3781	return -1;
		3782	}
		3783	int _getWPListOffset(int index)
		3784	{
		3785	int k = 0;
		3786	for(int i = 0; i < wpOffset.Count;i++)
		3787	{
		3788	if (wpOffset[i] <= index)
		3789	k++;
		3790	}
2419	-	3791
2425	-	3792	return k;
		3793	}
2315	-	3794	void _setMarkerColor(GMapMarker wpMarker,int iType)
		3795	{
2369	-	3796	if(wpMarker != null)
2315	-	3797	Dispatcher.Invoke(() =>
		3798	{
		3799	switch (iType)
		3800	{
		3801	case 0:
		3802	if (comboBoxWPColor.SelectionBoxItem != null)
		3803	{
		3804	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3805	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3806	}
		3807	else
2372	-	3808	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	3809	break;
		3810	case 1:
		3811	if (comboBoxPOIColor.SelectionBoxItem != null)
		3812	{
		3813	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3814	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3815	}
		3816	else
2372	-	3817	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	3818	break;
		3819	case 2:
		3820	if (comboBoxFSColor.SelectionBoxItem != null)
		3821	{
		3822	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3823	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3824	}
		3825	else
		3826	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3827	break;
2372	-	3828	case 3:
		3829	if (comboBoxLandingColor.SelectionBoxItem != null)
		3830	{
		3831	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		3832	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3833	}
		3834	else
		3835	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		3836	break;
2315	-	3837	default:
		3838	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3839	break;
		3840	}
		3841	});
2312	-	3842
2315	-	3843	}
2372	-	3844	void _MarkerColorSelection(object sender,int type)
		3845	{
2315	-	3846	Dispatcher.Invoke(() =>
		3847	{
2372	-	3848	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	3849	{
		3850	for (int k = 0; k < MainMap.Markers.Count; k++)
		3851	{
		3852	GMapMarker p = MainMap.Markers[k];
2372	-	3853	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	3854	{
2372	-	3855	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	3856	{
2372	-	3857	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	3858	((CustomMarkerWP)(p.Shape)).setColor(s);
		3859	}
		3860	}
		3861	}
		3862	}
		3863	});
2287	-	3864	}
2379	-	3865	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	3866	{
2376	-	3867	_MarkerColorSelection(sender, 0);
		3868	}
		3869	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		3870	{
		3871	_MarkerColorSelection(sender, 1);
		3872	}
		3873	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		3874	{
		3875	_MarkerColorSelection(sender, 2);
		3876	}
		3877	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		3878	{
		3879	_MarkerColorSelection(sender,3);
		3880	}
2385	-	3881	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
2376	-	3882	{
2318	-	3883	Dispatcher.Invoke(() => {
		3884	if (comboBoxCopterColor.SelectionBoxItem != null)
		3885	{
		3886	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	3887	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	3888	}
		3889	else
2385	-	3890	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
2318	-	3891	});
		3892	}
2385	-	3893	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		3894	{
		3895	Dispatcher.Invoke(() => {
		3896	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		3897	{
		3898	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		3899	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		3900	}
		3901	else
		3902	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		3903	});
		3904	}
2328	-	3905	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3906	{
		3907	Dispatcher.Invoke(() =>
		3908	{
		3909	if (comboBoxRouteColor.SelectionBoxItem != null)
		3910	{
		3911	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3912	MainMap.Markers.Remove(mRouteWP);
		3913	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3914	if (_bShowWPRoute)
		3915	MainMap.Markers.Add(mRouteWP);
		3916	}
		3917	});
		3918	}
2408	-	3919	private void comboBoxWPMaxRangeColor_DropDownClosed(object sender, EventArgs e)
		3920	{
		3921	Dispatcher.Invoke(() =>
		3922	{
		3923	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		3924	{
		3925	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		3926	{
		3927	if (cWPBound != null && cWPBound.Tag != null)
		3928	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		3929
		3930	createCircle(home.Position, dWPMaxRange);
		3931	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		3932	cWPBound.setColor(s);
		3933
		3934	}
		3935	}
		3936	});
		3937
		3938	}
2328	-	3939	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3940	{
		3941	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3942	if (_bShowWPRoute)
		3943	{
		3944	if (mRouteWP != null)
		3945	MainMap.Markers.Add(mRouteWP);
		3946	}
		3947	else
		3948	{
		3949	if (mRouteWP != null)
		3950	MainMap.Markers.Remove(mRouteWP);
		3951	}
		3952	}
2315	-	3953	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3954	{
2315	-	3955	_readWPLFile();
2287	-	3956	}
2335	-	3957	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3958	{
		3959	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	3960	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	3961	wpList.Clear();
		3962	if (mRouteWP != null)
		3963	MainMap.Markers.Remove(mRouteWP);
2347	-	3964	//if (wpActiveMarker != null)
		3965	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	3966	dtWaypoints.Rows.Clear();
2356	-	3967	_wpEdit = -1;
2368	-	3968	_wpIndex = -1;
2425	-	3969	wpOffset.Clear();
2335	-	3970	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3971	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3972	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3973	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3974	}
2340	-	3975	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3976	{
		3977	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3978	t.Start();
		3979	}
2355	-	3980	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	3981	{
		3982	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3983	{
2372	-	3984	if (_wpCount > 0)
2376	-	3985	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	3986	else
2376	-	3987	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	3988
2372	-	3989	//int index = dgvWP.SelectedIndex;
		3990	//Thread t = new Thread(() => _sendWPList(index));
		3991	//t.Start();
2354	-	3992
		3993	Dispatcher.Invoke(() => {
		3994	DataGridRow row;
2368	-	3995	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	3996	{
2368	-	3997	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	3998	row.Background = new SolidColorBrush(Colors.Transparent);
		3999	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4000	row.BorderThickness = new Thickness(0);
2376	-	4001	dgvWP.UpdateLayout();
2354	-	4002	}
2376	-	4003	//_wpEdit = dgvWP.SelectedIndex;
		4004	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4005	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		4006	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		4007	//row.BorderThickness = new Thickness(2);
2354	-	4008	});
2340	-	4009	}
		4010	}
2385	-	4011	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		4012	{
		4013	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4014	{
		4015
		4016	object[] o = new object[16];
		4017	o[0] = dgvWP.SelectedIndex + 1;
		4018	o[1] = cbWPEditType.SelectedIndex;
		4019	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4020	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4021	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		4022	o[5] = tbWPEditAlt.Text;
		4023	switch (cbWPEditHeading.SelectedIndex)
		4024	{
		4025	case 0:
		4026	o[6] = "0";
		4027	break;
		4028	case 1:
		4029	o[6] = "-" + tbWPEditHeading.Text;
		4030	break;
		4031	case 2:
		4032	o[6] = tbWPEditHeading.Text;
		4033	break;
		4034	}
		4035	switch (cbWPEditSpeed.SelectedIndex)
		4036	{
		4037	case 0:
		4038	o[7] = "0";
		4039	break;
		4040	case 1:
		4041	o[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4042	break;
		4043	case 2:
		4044	o[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4045	break;
		4046	}
		4047	switch (cbWPEditClimbrate.SelectedIndex)
		4048	{
		4049	case 0:
		4050	o[8] = "255";
		4051	break;
		4052	case 1:
		4053	o[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		4054	break;
		4055	}
		4056	o[9] = tbWPEditRadius.Text;
		4057	o[10] = tbWPEditHoldtime.Text;
		4058	o[11] = tbWPEditAutoTrigger.Text;
		4059	switch (cbWPEditCamAngle.SelectedIndex)
		4060	{
		4061	case 0:
		4062	o[12] = "0";
		4063	break;
		4064	case 1:
		4065	o[12] = "255";
		4066	break;
		4067	case 2:
		4068	o[12] = tbWPEditCamAngle.Text;
		4069	break;
		4070	}
		4071	o[13] = 0;
		4072	o[14] = tbWPEditOut1.Text;
		4073	DataRow dr = dtWaypoints.NewRow();
		4074	dr.ItemArray = o;
		4075
		4076	if (_wpCount > 0)
		4077	_sendWayPoint(dr, -1, 'w', false);
		4078	else
		4079	_sendWayPoint(dr, 1, 'w', false);
2399	-	4080
		4081	if(_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count)
		4082	_sendWayPoint(dtWaypoints.Rows[_wpIndex], _wpIndex + 1, 's', false);
2385	-	4083	}
		4084	}
2376	-	4085	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		4086	{
		4087	_Simulate = !_Simulate;
		4088	if (dtWaypoints.Rows.Count > 0)
		4089	{
		4090	DataRow dr = dtWaypoints.Rows[0];
		4091	dr[13] = _Simulate ? 3 : 0;
2379	-	4092	_sendWayPoint(dr, 0, 's', true);
2381	-	4093	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
2376	-	4094	}
		4095	}
2355	-	4096	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		4097	{
2359	-	4098	_dgvWPselectEditRow();
		4099	}
		4100	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		4101	{
		4102	}
		4103	void _dgvWPselectEditRow()
		4104	{
2355	-	4105	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4106	{
2368	-	4107	Dispatcher.Invoke(() => {
2355	-	4108	DataGridRow row;
2421	-	4109	dgvWP.UpdateLayout();
2368	-	4110	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	4111	{
		4112	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4113	row.Background = new SolidColorBrush(Colors.Transparent);
		4114	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4115	row.BorderThickness = new Thickness(0);
		4116	}
		4117	_wpEdit = dgvWP.SelectedIndex;
		4118	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4119	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		4120	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		4121	row.BorderThickness = new Thickness(2);
		4122	dgvWP.UpdateLayout();
2340	-	4123
2355	-	4124	_setWPEditFields(_wpEdit);
		4125	});
		4126	}
		4127	}
		4128	void _setWPEditFields(int index)
		4129	{
		4130	int iVal;
2421	-	4131	lblWPEditIndex.Content = dtWaypoints.Rows[index][0].ToString();
2355	-	4132	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		4133	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		4134	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		4135	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		4136	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		4137	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		4138	if (iVal == 0)
		4139	{
		4140	cbWPEditHeading.SelectedIndex = 0;
		4141	tbWPEditHeading.Text = " - - -";
		4142	tbWPEditHeading.IsReadOnly = true;
		4143	}
		4144	if (iVal > 0 && iVal < 360)
		4145	{
		4146	cbWPEditHeading.SelectedIndex = 2;
		4147	tbWPEditHeading.Text = iVal.ToString();
		4148	tbWPEditHeading.IsReadOnly = false;
		4149	}
		4150	if (iVal < 0)
		4151	{
		4152	cbWPEditHeading.SelectedIndex = 1;
		4153	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		4154	tbWPEditHeading.IsReadOnly = false;
		4155	}
		4156	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		4157	if (iVal == 0)
		4158	{
		4159	cbWPEditSpeed.SelectedIndex = 0;
		4160	tbWPEditSpeed.Text = "MAX";
		4161	tbWPEditSpeed.IsReadOnly = true;
		4162	}
		4163	if (iVal > 0 && iVal < 248)
		4164	{
		4165	cbWPEditSpeed.SelectedIndex = 1;
		4166	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		4167	tbWPEditSpeed.IsReadOnly = false;
		4168	}
		4169	if (iVal > 247)
		4170	{
		4171	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		4172	tbWPEditSpeed.Text = "";
		4173	tbWPEditSpeed.IsReadOnly = true;
		4174	}
		4175	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		4176	if (iVal == 255)
		4177	{
		4178	cbWPEditClimbrate.SelectedIndex = 0;
		4179	tbWPEditClimbrate.Text = "AUTO";
		4180	tbWPEditClimbrate.IsReadOnly = true;
		4181	}
		4182	else
		4183	{
		4184	cbWPEditClimbrate.SelectedIndex = 1;
		4185	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		4186	tbWPEditClimbrate.IsReadOnly = false;
		4187	}
		4188	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		4189	tbWPEditRadius.Text = iVal.ToString();
		4190	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		4191	tbWPEditHoldtime.Text = iVal.ToString();
		4192	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		4193	tbWPEditAutoTrigger.Text = iVal.ToString();
		4194	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		4195	if (iVal == 0)
		4196	{
		4197	cbWPEditCamAngle.SelectedIndex = 0;
		4198	tbWPEditCamAngle.Text = " - - - ";
		4199	tbWPEditCamAngle.IsReadOnly = true;
		4200	}
		4201	if (iVal < 0 \| iVal == 255)
		4202	{
		4203	cbWPEditCamAngle.SelectedIndex = 1;
		4204	tbWPEditCamAngle.Text = "AUTO";
		4205	tbWPEditCamAngle.IsReadOnly = true;
		4206	}
		4207	if (iVal > 0 & iVal < 255)
		4208	{
		4209	cbWPEditCamAngle.SelectedIndex = 2;
		4210	tbWPEditCamAngle.Text = iVal.ToString();
		4211	tbWPEditCamAngle.IsReadOnly = false;
		4212	}
		4213	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		4214	tbWPEditOut1.Text = iVal.ToString();
		4215
		4216	}
2421	-	4217	private void btnWPEditmoveUp_Click(object sender, RoutedEventArgs e)
		4218	{
		4219	if (dgvWP.SelectedIndex > 0 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4220	{
		4221	int index = dgvWP.SelectedIndex;
2425	-	4222	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)
		4223	{
		4224	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		4225	int wpListIndex = wpList.IndexOf(x);
		4226	if (wpListIndex > 0)
		4227	{
		4228	wpList.RemoveAt(wpListIndex);
		4229	wpList.Insert(wpListIndex - 1, x);
		4230	MainMap.Markers.Remove(mRouteWP);
		4231	_routeUpdate();
		4232	}
		4233	}
2421	-	4234	DataRow dr = dtWaypoints.Rows[index];
		4235	DataRow newRow = dtWaypoints.NewRow();
		4236	newRow.ItemArray = dr.ItemArray;
		4237	dtWaypoints.Rows.Remove(dr);
		4238	dtWaypoints.Rows.InsertAt(newRow, index - 1);
		4239	dtWaypoints.Rows[index][0] = 100;
		4240	dtWaypoints.Rows[index - 1][0] = index;
		4241	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index - 1][2].ToString());
		4242	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		4243	dtWaypoints.Rows[index - 1][2] = dtWaypoints.Rows[index - 1][2].ToString().Substring(0, 1) + index.ToString();
		4244	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index - 1][2].ToString();
		4245	dtWaypoints.Rows[index][0] = index + 1;
		4246	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		4247	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		4248	dgvWP.Items.Refresh();
		4249	dgvWP.SelectedIndex = index - 1;
		4250	_dgvWPselectEditRow();
2425	-	4251	if (wpOffset.Contains(index)) // calculating offset for wpList (index is 0-based - offset starts with index 1)
2424	-	4252	{
2425	-	4253	int iOffset = wpOffset.IndexOf(index);
		4254	if (iOffset > 0) // if not first element
2424	-	4255	{
2425	-	4256	if (wpOffset[iOffset - 1] < index-1) //if previous element is not immediately before actual offset
		4257	wpOffset[iOffset] = index-1; //then decrease offset value by one
2424	-	4258	}
2425	-	4259	else
		4260	wpOffset[iOffset] = index-1; //if first element, decrease offset by one
2424	-	4261	}
2425	-	4262	else //selected line is POI
		4263	{
		4264	if (wpOffset.Contains(index - 1)) // if next point is WP
		4265	{
		4266	int iOffset = wpOffset.IndexOf(index - 1);
		4267	wpOffset[iOffset] = index; //decrease linenumber of following WP
		4268	}
		4269	}
		4270
2421	-	4271	}
		4272	}
2355	-	4273
2421	-	4274	private void btnWPEditmoveDown_Click(object sender, RoutedEventArgs e)
		4275	{
		4276	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count - 1)
		4277	{
		4278	int index = dgvWP.SelectedIndex;
2425	-	4279	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)
		4280	{
		4281	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		4282	int wpListIndex = wpList.IndexOf(x);
		4283	if (wpListIndex > -1)
		4284	{
		4285	wpList.RemoveAt(wpListIndex);
		4286	if (wpList.Count > wpListIndex)
		4287	wpList.Insert(wpListIndex + 1, x);
		4288	else
		4289	wpList.Add(x);
		4290	MainMap.Markers.Remove(mRouteWP);
		4291	_routeUpdate();
		4292	}
		4293	}
2421	-	4294	DataRow dr = dtWaypoints.Rows[index];
		4295	DataRow newRow = dtWaypoints.NewRow();
		4296	newRow.ItemArray = dr.ItemArray;
		4297	dtWaypoints.Rows.Remove(dr);
		4298	dtWaypoints.Rows.InsertAt(newRow, index + 1);
		4299	dtWaypoints.Rows[index][0] = 100;
		4300	dtWaypoints.Rows[index + 1][0] = index + 2;
		4301	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index + 1][2].ToString());
		4302	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		4303	dtWaypoints.Rows[index + 1][2] = dtWaypoints.Rows[index + 1][2].ToString().Substring(0, 1) + (index+2).ToString();
		4304	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index + 1][2].ToString();
		4305	dtWaypoints.Rows[index][0] = index + 1;
		4306	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		4307	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		4308	dgvWP.Items.Refresh();
		4309	dgvWP.SelectedIndex = index + 1;
		4310	_dgvWPselectEditRow();
2425	-	4311	if(wpOffset.Contains(index)) // If selected line is WP
2424	-	4312	{
2425	-	4313	int iOffset = wpOffset.IndexOf(index);
		4314	if(iOffset < wpOffset.Count -1) // if not last element
2424	-	4315	{
2425	-	4316	if (wpOffset[iOffset + 1] > index + 1) //if next element is not immediately after actual offset
		4317	wpOffset[iOffset] = index + 1; //then increase offset value by one
2424	-	4318	}
2425	-	4319	else
		4320	wpOffset[iOffset] = index + 1; //if last element increase offset by one
2424	-	4321	}
2425	-	4322	else //selected line is POI
		4323	{
		4324	if (wpOffset.Contains(index + 1)) // if next point is WP
		4325	{
		4326	int iOffset = wpOffset.IndexOf(index + 1);
		4327	wpOffset[iOffset] = index; //decrease linenumber of following WP
		4328	}
		4329	}
2421	-	4330	}
		4331
		4332	}
		4333
2361	-	4334	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		4335	{
2363	-	4336	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4337	{
2369	-	4338	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	4339	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		4340	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		4341	int i = wpList.IndexOf(pOld);
2363	-	4342	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		4343	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4344	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4345	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	4346	if (i > -1)
		4347	{
2425	-	4348	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
2372	-	4349	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		4350	else
2425	-	4351	{
2372	-	4352	wpList.Remove(pOld);
2425	-	4353	wpOffset.Remove(wpOffset[i]);
		4354	}
2372	-	4355	}
		4356	else
		4357	{
		4358	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		4359	{
		4360	int found = 0;
		4361	for (int k = 0; k < dgvWP.SelectedIndex; k++)
2425	-	4362	{
		4363	if ((int)dtWaypoints.Rows[k][1] == 0 \|\| (int)dtWaypoints.Rows[k][1] == 3)
		4364	{
2372	-	4365	found++;
2425	-	4366	}
		4367	}
2372	-	4368	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
2425	-	4369	wpOffset.Insert(found, dgvWP.SelectedIndex);
2372	-	4370	}
		4371	}
2363	-	4372	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		4373	switch (cbWPEditHeading.SelectedIndex)
		4374	{
		4375	case 0:
		4376	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		4377	break;
		4378	case 1:
		4379	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		4380	break;
		4381	case 2:
		4382	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		4383	break;
		4384	}
		4385	switch (cbWPEditSpeed.SelectedIndex)
		4386	{
		4387	case 0:
		4388	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		4389	break;
		4390	case 1:
		4391	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4392	break;
		4393	case 2:
		4394	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4395	break;
		4396	}
		4397	switch (cbWPEditClimbrate.SelectedIndex)
		4398	{
		4399	case 0:
		4400	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		4401	break;
		4402	case 1:
		4403	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		4404	break;
		4405	}
		4406	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		4407	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		4408	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		4409	switch (cbWPEditCamAngle.SelectedIndex)
		4410	{
		4411	case 0:
		4412	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		4413	break;
		4414	case 1:
		4415	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		4416	break;
		4417	case 2:
		4418	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		4419	break;
		4420	}
		4421	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	4422
2369	-	4423	// _clearMapMarkers(typeof(CustomMarkerWP));
		4424	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		4425	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	4426	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	4427	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	4428	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	4429	// wpList.Clear();
2363	-	4430	if (mRouteWP != null)
		4431	MainMap.Markers.Remove(mRouteWP);
		4432
2369	-	4433	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		4434	//{
		4435	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		4436	//}
2363	-	4437	_routeUpdate();
		4438	dgvWP.Items.Refresh();
		4439
		4440	}
		4441
2361	-	4442	}
		4443	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		4444	{
2368	-	4445	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4446	{
		4447	int index = dgvWP.SelectedIndex;
		4448	Dispatcher.Invoke(() => {
		4449	DataGridRow row;
		4450	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		4451	{
		4452	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4453	row.Background = new SolidColorBrush(Colors.Transparent);
		4454	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4455	row.BorderThickness = new Thickness(0);
		4456	}
2372	-	4457	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	4458	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
2425	-	4459	else
		4460	wpOffset.Remove((int)dtWaypoints.Rows[index][0] + 1);
2368	-	4461	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	4462	if (wpActiveMarker != null)
		4463	MainMap.Markers.Remove(wpActiveMarker);
2368	-	4464	dtWaypoints.Rows[index].Delete();
		4465	_wpIndex = -1;
		4466	_wpEdit = -1;
		4467	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		4468	{
		4469	dtWaypoints.Rows[i][0] = i + 1;
		4470	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		4471	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		4472	_renameWPMarker(s1, s2);
		4473	dtWaypoints.Rows[i][2] = s2;
		4474	}
		4475	lblWPCount.Content = dtWaypoints.Rows.Count;
		4476	if (mRouteWP != null)
		4477	MainMap.Markers.Remove(mRouteWP);
		4478	_routeUpdate();
2361	-	4479
2368	-	4480	dgvWP.UpdateLayout();
		4481	});
		4482	}
2361	-	4483	}
2366	-	4484	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		4485	{
		4486	_wpWEdit(sender);
		4487	}
2361	-	4488	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		4489	{
2366	-	4490	_wpWEdit(sender);
		4491	}
2369	-	4492	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		4493	{
		4494	_wpWEdit(sender);
		4495	}
2366	-	4496	void _wpWEdit(object sender)
		4497	{
2369	-	4498	// if (!((TextBox)sender).IsReadOnly)
2361	-	4499	{
		4500	KeyPad.Keypad k = new KeyPad.Keypad(this);
		4501
2363	-	4502	switch (((TextBox)sender).Name)
		4503	{
		4504	case "tbWPEditLat":
		4505	k.Title = "Latitude";
		4506	k.LENGTH = 17;
		4507	k.MAX = 359.9;
		4508	break;
		4509	case "tbWPEditLon":
		4510	k.Title = "Longitude";
		4511	k.LENGTH = 17;
		4512	k.MAX = 359.9;
		4513	break;
		4514	case "tbWPEditAlt":
		4515	k.Title = "Altitude";
		4516	k.LENGTH = 3;
		4517	k.MAX = 254;
		4518	k.disableDecimal();
		4519	break;
		4520	case "tbWPEditHeading":
		4521	k.Title = "Heading";
		4522	k.LENGTH = 3;
		4523	k.MAX = 359;
		4524	k.MIN = 1;
		4525	k.disableDecimal();
		4526	break;
		4527	case "tbWPEditSpeed":
		4528	k.Title = "Speed";
		4529	k.LENGTH = 4;
		4530	k.MAX = 24.7;
		4531	k.MIN = 0.1;
		4532	break;
		4533	case "tbWPEditClimbrate":
		4534	k.Title = "Climbrate";
		4535	k.LENGTH = 4;
		4536	k.MAX = 25.4;
		4537	k.MIN = 0.1;
		4538	break;
		4539	case "tbWPEditRadius":
		4540	k.Title = "Radius";
		4541	k.LENGTH = 3;
		4542	k.MAX = 254;
		4543	k.disableDecimal();
		4544	break;
		4545	case "tbWPEditHoldtime":
		4546	k.Title = "Holdtime";
		4547	k.LENGTH = 3;
		4548	k.MAX = 254;
		4549	break;
		4550	case "tbWPEditAutoTrigger":
		4551	k.Title = "Autotrigger";
		4552	k.LENGTH = 3;
		4553	k.MAX = 254;
		4554	k.disableDecimal();
		4555	break;
		4556	case "tbWPEditCamAngle":
		4557	k.Title = "Camera angle";
		4558	k.LENGTH = 3;
		4559	k.MAX = 254;
		4560	k.MIN = 1;
		4561	k.disableDecimal();
		4562	break;
		4563	case "tbWPEditOut1":
		4564	k.Title = "OUT1 timer interval";
		4565	k.LENGTH = 3;
		4566	k.MAX = 254;
		4567	k.disableDecimal();
		4568	break;
		4569	}
		4570	k.Result = ((TextBox)sender).Text;
2366	-	4571	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	4572	((TextBox)sender).Text = k.Result;
2361	-	4573	}
2366	-	4574
2361	-	4575	}
		4576	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	4577	{
2359	-	4578	object[] o = new object[16];
2356	-	4579
2359	-	4580	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		4581	o[1] = 0;
		4582	// cbWPEditType.SelectedIndex = 0;
		4583	// tbWPEditPrefix.Text = "P";
		4584	o[2] = "P" + o[0].ToString();
		4585	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4586	o[3] = copter.Position.Lat;
		4587	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4588	o[4] = copter.Position.Lng;
		4589	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		4590	o[5] = iAnalogData[4].ToString();
2356	-	4591
2359	-	4592	// cbWPEditHeading.SelectedIndex = 2;
		4593	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		4594	// tbWPEditHeading.IsReadOnly = false;
2356	-	4595
2359	-	4596	// cbWPEditSpeed.SelectedIndex = 1;
		4597	// tbWPEditSpeed.Text = "5.0";
		4598	// tbWPEditSpeed.IsReadOnly = false;
2372	-	4599	o[7] = "10";
2356	-	4600
2359	-	4601	// cbWPEditClimbrate.SelectedIndex = 1;
		4602	// tbWPEditClimbrate.Text = "5.0";
		4603	// tbWPEditClimbrate.IsReadOnly = false;
2372	-	4604	o[8] = "10";
2356	-	4605
2359	-	4606	// tbWPEditRadius.Text = "10";
2372	-	4607	o[9] = "5";
2359	-	4608	// tbWPEditHoldtime.Text = "5";
		4609	o[10] = "5";
		4610	// tbWPEditAutoTrigger.Text = "0";
		4611	o[11] = "0";
		4612	// cbWPEditCamAngle.SelectedIndex = 1;
		4613	// tbWPEditCamAngle.Text = "AUTO";
		4614	// tbWPEditCamAngle.IsReadOnly = true;
		4615	o[12] = "255";
2356	-	4616
2359	-	4617	o[13] = "0";
		4618	// tbWPEditOut1.Text = "0";
		4619	o[14] = "0";
		4620	o[15] = "0";
		4621
		4622	dtWaypoints.Rows.Add(o);
2425	-	4623	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1],(int)o[0]-1);
2359	-	4624	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4625	if (mRouteWP != null)
		4626	MainMap.Markers.Remove(mRouteWP);
		4627	_routeUpdate();
		4628	Dispatcher.Invoke(() => {
		4629	dgvWP.Items.Refresh();
		4630	dgvWP.SelectedIndex = (int)o[0] -1;
		4631	dgvWP.UpdateLayout();
		4632	_dgvWPselectEditRow();
		4633	});
2356	-	4634	}
2405	-	4635	private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e)
		4636	{
		4637	if (WPStatus.Visibility == Visibility.Visible)
		4638	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		4639	else
		4640	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		4641	}
		4642	private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e)
		4643	{
		4644	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		4645	{
		4646	if (cWPBound != null && cWPBound.Tag != null)
		4647	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2356	-	4648
2408	-	4649	createCircle(home.Position, dWPMaxRange);
2419	-	4650	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		4651	{
		4652	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		4653	cWPBound.setColor(s);
		4654	}
2405	-	4655	}
2408	-	4656
2405	-	4657	if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null))
		4658	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		4659	}
2315	-	4660	#endregion WP
2324	-	4661	#region GPX
		4662	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		4663	{
		4664	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		4665	}
		4666	void _gpxAdd(double lat,double lon, int elevation)
		4667	{
		4668	DataRow dr = dtGPX.NewRow();
		4669	dr[0] = dtGPX.Rows.Count - 1;
		4670	dr[1] = lat;
		4671	dr[2] = lon;
		4672	dr[3] = elevation;
		4673	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		4674	dtGPX.Rows.Add(dr);
		4675	}
		4676	void _saveGPXLog()
		4677	{
		4678	if (!Directory.Exists("GPXLog"))
		4679	Directory.CreateDirectory("GPXLog");
		4680	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		4681	XmlTextWriter myXmlTextWriter = null;
		4682	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		4683	NumberFormatInfo nfi = new NumberFormatInfo();
		4684	nfi.NumberDecimalSeparator = ".";
2315	-	4685
2324	-	4686	try
		4687	{
		4688	myXmlTextWriter.Formatting = Formatting.Indented;
		4689
		4690	myXmlTextWriter.WriteStartDocument();
		4691
		4692	myXmlTextWriter.WriteStartElement("gpx");
		4693
		4694	myXmlTextWriter.WriteAttributeString("version", "1.0");
		4695	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		4696	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		4697	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		4698	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		4699
		4700	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		4701
		4702	myXmlTextWriter.WriteStartElement("trk");
		4703	myXmlTextWriter.WriteStartElement("trkseg");
		4704	for(int i = 0; i< dtGPX.Rows.Count;i++)
		4705	{
		4706	myXmlTextWriter.WriteStartElement("trkpt");
		4707	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		4708	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		4709	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		4710	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		4711	myXmlTextWriter.WriteEndElement();
		4712	}
		4713	myXmlTextWriter.WriteEndElement();
		4714	myXmlTextWriter.WriteEndElement();
		4715	myXmlTextWriter.WriteEndElement();
		4716	}
		4717	catch (Exception e)
		4718	{
		4719	Console.WriteLine("Exception: {0}", e.ToString());
		4720	}
		4721	finally
		4722	{
		4723	if (myXmlTextWriter != null)
		4724	{
		4725	myXmlTextWriter.Close();
		4726	}
		4727	}
		4728	}
2425	-	4729
		4730	private void Grid_TouchDown(object sender, TouchEventArgs e)
		4731	{
		4732
		4733	}
		4734
2324	-	4735	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		4736	{
		4737	_loadGPXLog();
		4738	}
2327	-	4739	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		4740	{
		4741	_clearMapMarkers(typeof(GMapRoute));
		4742	}
2324	-	4743	void _loadGPXLog()
		4744	{
		4745
		4746	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4747	fd.Filter = "GPX-Logfile \| *.gpx";
		4748	fd.Multiselect = false;
		4749	if (fd.ShowDialog().Value)
		4750	{
		4751	string file = fd.FileName;
		4752	try
		4753	{
		4754	XDocument gpxDoc = XDocument.Load(file);
		4755	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		4756
		4757	NumberFormatInfo nfi = new NumberFormatInfo();
		4758	nfi.NumberDecimalSeparator = ".";
		4759
		4760	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		4761	select new
		4762	{
		4763	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		4764	Segs = (
		4765	from trackpoint in track.Descendants(gpx + "trkpt")
		4766	select new
		4767	{
		4768	Latitude = trackpoint.Attribute("lat").Value,
		4769	Longitude = trackpoint.Attribute("lon").Value,
		4770	Elevation = trackpoint.Element(gpx + "ele") != null ?
		4771	trackpoint.Element(gpx + "ele").Value : null,
		4772	Time = trackpoint.Element(gpx + "time") != null ?
		4773	trackpoint.Element(gpx + "time").Value : null
		4774	}
		4775	)
		4776	};
		4777
		4778	List<PointLatLng> wpl = new List<PointLatLng>();
		4779	foreach(var trk in tracks)
		4780	{
		4781	foreach(var trkseg in trk.Segs)
		4782	{
		4783	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		4784	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		4785	}
		4786
		4787	}
		4788	if(wpl.Count() > 0)
		4789	{
2327	-	4790	_clearMapMarkers(typeof(GMapRoute));
2324	-	4791	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	4792	Dispatcher.Invoke(() =>
		4793	{
		4794	GMapRoute mRoute;
		4795	if (comboBoxRouteColor.SelectionBoxItem != null)
		4796	{
		4797	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	4798	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	4799	}
		4800	else
2366	-	4801	mRoute = new GMapRoute(wpl, null);
2324	-	4802
2328	-	4803	MainMap.Markers.Add(mRoute);
		4804	});
2324	-	4805	}
		4806
		4807	}
		4808	catch (Exception e)
		4809	{
		4810	Console.WriteLine("Exception: {0}", e.ToString());
		4811	}
		4812	}
		4813	}
		4814	#endregion GPX
2315	-	4815	#endregion functions
2287	-	4816	}
2425	-	4817
		4818	/// <summary>
2315	-	4819	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		4820	/// </summary>
2313	-	4821	public class waypointsConverter : IValueConverter
		4822	{
		4823	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		4824	{
		4825	if (value != null)
		4826	{
		4827	switch ((string)parameter)
		4828	{
		4829	case "Latitude":
		4830	return value.ToString() + " °";
		4831	case "Longitude":
		4832	return value.ToString() + " °";
		4833	case "Radius":
		4834	return value.ToString() + " m";
		4835	case "Altitude":
		4836	return value.ToString() + " m";
		4837	case "ClimbRate":
		4838	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		4839	case "DelayTime":
		4840	return value.ToString() + " s";
		4841	case "Heading":
		4842	return Waypoints.Heading(System.Convert.ToInt32(value));
		4843	case "Speed":
		4844	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		4845	case "CamAngle":
		4846	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		4847	case "Type":
		4848	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		4849	case "AutoTrigger":
		4850	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		4851	case "Status":
2355	-	4852	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	4853	}
		4854
		4855	return value.ToString();
		4856	}
		4857	else return value;
		4858	}
		4859
		4860	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		4861	{
		4862	throw new NotImplementedException();
		4863	}
		4864	}
2287	-	4865	public class IniFile
		4866	{
		4867	public string path;
		4868
		4869	[DllImport("kernel32")]
		4870	private static extern long WritePrivateProfileString(string section,
		4871	string key, string val, string filePath);
		4872
		4873	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		4874	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		4875	uint nSize, string lpFileName);
		4876
		4877	[DllImport("kernel32")]
		4878	private static extern int GetPrivateProfileString(string section,
		4879	string key, string def, StringBuilder retVal,
		4880	int size, string filePath);
		4881
		4882	public IniFile(string INIPath)
		4883	{
		4884	path = INIPath;
		4885	}
		4886
		4887	public void IniWriteValue(string Section, string Key, string Value)
		4888	{
		4889	WritePrivateProfileString(Section, Key, Value, this.path);
		4890	}
		4891
		4892	public string IniReadValue(string Section, string Key)
		4893	{
		4894	StringBuilder temp = new StringBuilder(255);
		4895	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		4896	return temp.ToString();
		4897	}
		4898	//Ini_sections auslesen in String-Array
		4899	public string[] IniSectionNames()
		4900	{
		4901
		4902	// uint MAX_BUFFER = 32767;
		4903	uint MAX_BUFFER = 8388608;
		4904	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		4905	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		4906	if (bytesReturned == 0)
		4907	{
		4908	Marshal.FreeCoTaskMem(pReturnedString);
		4909	return null;
		4910	}
		4911	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		4912	Marshal.FreeCoTaskMem(pReturnedString);
		4913	//use of Substring below removes terminating null for split
		4914	return local.Substring(0, local.Length - 1).Split('\0');
		4915
		4916
		4917	}
		4918	}
		4919	/// <summary>
		4920	/// Selected Win AI Function Calls
		4921	/// </summary>
		4922	public class WinApi
		4923	{
		4924	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		4925	public static extern int GetSystemMetrics(int which);
		4926	[DllImport("user32.dll")]
		4927	public static extern void
		4928	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		4929	int X, int Y, int width, int height, uint flags);
		4930
		4931	private const int SM_CXSCREEN = 0;
		4932	private const int SM_CYSCREEN = 1;
		4933	private static IntPtr HWND_TOP = IntPtr.Zero;
		4934	private const int SWP_SHOWWINDOW = 64; // 0x0040
		4935
		4936	public static int ScreenX
		4937	{
		4938	get { return GetSystemMetrics(SM_CXSCREEN); }
		4939	}
		4940
		4941	public static int ScreenY
		4942	{
		4943	get { return GetSystemMetrics(SM_CYSCREEN); }
		4944	}
		4945
		4946	public static void SetWinFullScreen(IntPtr hwnd)
		4947	{
		4948	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		4949	}
		4950	}
		4951	/// <summary>
		4952	/// Class used to preserve / restore state of the window
		4953	/// </summary>
		4954	public class WinState
		4955	{
		4956	private WindowState winState;
		4957	private WindowStyle brdStyle;
		4958	private bool topMost;
		4959	private Rect restore;
		4960	private bool IsMaximized = false;
		4961
		4962	public bool isMaximized
		4963	{
		4964	get { return IsMaximized; }
		4965	}
		4966	public void Maximize(Window targetForm)
		4967	{
		4968	if (!IsMaximized)
		4969	{
		4970	IsMaximized = true;
		4971	Save(targetForm);
		4972	targetForm.WindowState = WindowState.Maximized;
		4973	targetForm.WindowStyle = WindowStyle.None;
		4974	targetForm.Topmost = true;
		4975	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		4976	}
		4977	}
		4978
		4979	public void Save(Window targetForm)
		4980	{
		4981	winState = targetForm.WindowState;
		4982	brdStyle = targetForm.WindowStyle;
		4983	topMost = targetForm.Topmost;
		4984	restore = targetForm.RestoreBounds;
		4985	}
		4986	public void Restore(Window targetForm)
		4987	{
		4988	targetForm.WindowState = winState;
		4989	targetForm.WindowStyle = brdStyle;
		4990	targetForm.Topmost = topMost;
		4991
		4992	targetForm.Left = restore.Left;
		4993	targetForm.Top = restore.Top;
		4994	targetForm.Height = restore.Height;
		4995	targetForm.Width = restore.Width;
		4996	IsMaximized = false;
		4997	}
		4998	}
		4999
		5000	}

Subversion Repositories Projects

(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs - Rev 2425