WebSVN - Projects - Blame - /MKLiveView/v1.0/Source/MainWindow.xaml.cs

Rev	Author	Line No.	Line
2287	-	1	using GMap.NET;
		2	using GMap.NET.MapProviders;
		3	using GMap.NET.WindowsPresentation;
		4	using MKLiveView.GMapCustomMarkers;
		5	using System;
		6	using System.Collections.Generic;
		7	using System.ComponentModel;
		8	using System.Data;
		9	using System.Diagnostics;
		10	using System.IO;
		11	using System.Linq;
		12	using System.Linq.Expressions;
		13	using System.Runtime.InteropServices;
		14	using System.Text;
		15	using System.Threading;
		16	using System.Threading.Tasks;
		17	using System.Windows;
		18	using System.Windows.Controls;
		19	using System.Windows.Data;
		20	using System.Windows.Documents;
		21	using System.Windows.Input;
		22	using System.Windows.Interop;
		23	using System.Windows.Media;
		24	using System.Windows.Media.Animation;
		25	using System.Windows.Media.Imaging;
		26	using System.Windows.Navigation;
		27	using System.Windows.Shapes;
		28	using System.Windows.Threading;
2313	-	29	using System.Globalization;
2324	-	30	using System.Xml;
		31	using System.Xml.Linq;
2287	-	32
		33	namespace MKLiveView
		34	{
		35	/// <summary>
		36	/// Interaktionslogik für MainWindow.xaml
		37	/// </summary>
		38	public partial class MainWindow : Window
		39	{
2304	-	40	#region declarations
2405	-	41	object lockObj = new Object();
		42	MediaPlayer.MediaPlayer mediaPlayer = new MediaPlayer.MediaPlayer();
2304	-	43
2287	-	44	GMapMarker copter;
		45	GMapMarker home;
		46	PointLatLng start;
		47	PointLatLng end;
		48	PointLatLng pHome;
2328	-	49	GMapRoute mRouteWP;
2342	-	50	GMapMarker wpActiveMarker;
2328	-	51	List<PointLatLng> wpList = new List<PointLatLng>();
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
2428	-	1460	if (data[0] < 10)
		1461	_processNCData(data);
		1462	else
		1463	_processNCDataV2(data);
2287	-	1464	break;
		1465
2381	-	1466	//case 'E': //NC error-string
		1467	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1468	// break;
2287	-	1469
		1470	case 'L': //OSD Menue (called by pagenumber)
		1471	_processOSDSingle(data);
		1472	break;
		1473
		1474	case 'H': //OSD Menue (with autoupdate - called by Key)
		1475	_processOSDAuto(data);
		1476	break;
		1477
		1478	case 'X': //Waypoint data
		1479	_processWPData(data);
		1480	break;
		1481
2313	-	1482	case 'W': //return new Waypoint items count after sending waypoint to copter
		1483	_iWPCount = data[0];
		1484	break;
2287	-	1485	//default:
		1486	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1487	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1488	// break;
		1489	}
		1490	}
		1491	//else
		1492	//{
		1493	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1494	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1495	//}
		1496	}
		1497	}
		1498	}
		1499	/// <summary>
		1500	/// Analog label names 'A'
		1501	/// each label name is returned as a single string
		1502	/// and added to string array sAnalogLabel[]
		1503	/// and the datatable dtAnalog
		1504	/// </summary>
		1505	/// <param name="s">the label name</param>
		1506	void _processLabelNames(string s)
		1507	{
		1508	//if (iLableIndex < 32)
		1509	//{
		1510	// sAnalogLabel[iLableIndex] = s;
		1511	// if (dtAnalog.Rows.Count < 32)
		1512	// dtAnalog.Rows.Add(s, "");
		1513	// else
		1514	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1515
		1516	// // _getAnalogLabels(iLableIndex + 1);
		1517	//}
		1518	//Debug.Print(s);
		1519	}
		1520	/// <summary>
		1521	/// Debug values 'D'
		1522	/// </summary>
		1523	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1524	/// <param name="data">the received byte array to process</param>
		1525	void _processDebugVals(byte adr, byte[] data)
		1526	{
		1527	if (data.Length == 66)
		1528	{
2424	-	1529
2287	-	1530	double v;
		1531	int index = 0;
		1532	Int16 i16 = 0;
		1533	double dTemp = 0;
		1534	for (int i = 2; i < 66; i += 2)
		1535	{
		1536	i16 = data[i + 1];
		1537	i16 = (Int16)(i16 << 8);
		1538	iAnalogData[index] = data[i] + i16;
		1539	sAnalogData[index] = (data[i] + i16).ToString();
2424	-	1540	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
2287	-	1541
		1542	if (adr == 2) //NC
		1543	{
		1544	switch (index)
		1545	{
		1546	case 0: //pitch (German: nick)
		1547	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1548	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1549	break;
		1550	case 1: //roll
		1551	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1552	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1553	break;
		1554	case 4: //altitude
		1555	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1556	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2424	-	1557	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1558	break;
		1559	case 7: //Voltage
		1560	v = (double)iAnalogData[index] / (double)10;
		1561	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1562	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1563	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1564	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1565	{
		1566	if (v == _dVoltLast)
2424	-	1567	if (_iVoltJitter < 20) _iVoltJitter++;
		1568	else
		1569	{
		1570	_iVoltJitter = 0;
		1571	_dVoltLast = v;
		1572	}
2287	-	1573	if (_iVoltJitter == 20)
		1574	{
		1575	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1576
		1577	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1578	{
		1579	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1580	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1581	{
		1582	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1583	_bCritAnimVoltActive = true;
		1584	}
		1585	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1586	{
2398	-	1587	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3");
		1588	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1589	//t.Start();
2287	-	1590	_bCritVoiceVoltActive = true;
		1591	}
		1592	}
		1593	else
		1594	{
		1595	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1596	{
		1597	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1598	_bCritAnimVoltActive = false;
		1599	}
		1600	_bCritVoiceVoltActive = false;
		1601
2291	-	1602	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1603	{
2398	-	1604	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3");
		1605	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1606	//t.Start();
2291	-	1607	_bWarnVoiceVoltActive = true;
2287	-	1608	}
		1609	}
		1610	}
		1611	}
		1612	else
		1613	{
		1614	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1615	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1616	{
		1617	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1618	_bCritAnimVoltActive = false;
		1619	}
		1620	_bCritVoiceVoltActive = false;
2291	-	1621	_bWarnVoiceVoltActive = false;
2287	-	1622	_iVoltJitter = 0;
		1623	}
		1624	break;
		1625	case 8: // Current
		1626	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1627	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1628	break;
		1629	case 10: //heading
2291	-	1630	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2399	-	1631	if (!_Simulate) //use NavData for simulation
		1632	{
		1633	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1634	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		1635	}
2287	-	1636	break;
		1637	case 12: // SPI error
2291	-	1638	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1639	break;
		1640	case 14: //i2c error
2291	-	1641	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1642	break;
		1643	case 20: //Earthmagnet field
2291	-	1644	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1645	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
2424	-	1646
2291	-	1647	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1648	{
		1649	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1650	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1651	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1652	{
		1653	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1654	_bAnimMagneticFieldActive = false;
		1655	}
		1656	}
		1657	else
		1658	{
		1659	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
2424	-	1660	if (_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
2291	-	1661	{
		1662	if (_iMagneticFieldJitter < 20)
		1663	_iMagneticFieldJitter++;
		1664	}
		1665	else
		1666	{
		1667	_iMagneticFieldJitter = 0;
		1668	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1669	}
2424	-	1670	if (_iMagneticFieldJitter == 20)
2291	-	1671	{
		1672	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1673	{
		1674	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1675	_bAnimMagneticFieldActive = true;
		1676	}
		1677	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1678	{
2398	-	1679	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1680	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1681	//t.Start();
2291	-	1682	_bVoiceMagneticFieldActive = true;
		1683	}
		1684	}
		1685	}
2287	-	1686	break;
		1687	case 21: //GroundSpeed
2424	-	1688	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1689	if (!_Simulate)
		1690	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2287	-	1691	break;
2291	-	1692
		1693	///******** needs testing --> not sure what position this is *************
2287	-	1694	case 28: //Distance East from saved home position -> calculate distance with distance N + height
2424	-	1695	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1696	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1697	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1698	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1699	dTemp = Math.Sqrt(dTemp) / (double)10;
		1700	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1701	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
2287	-	1702	break;
2291	-	1703
2287	-	1704	case 31: //Sats used
2424	-	1705	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1706	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
2287	-	1707	break;
		1708	}
		1709	}
		1710	index++;
		1711	}
		1712	}
		1713	else
		1714	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1715	}
		1716	/// <summary>
		1717	/// Version string 'V'
		1718	/// </summary>
		1719	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1720	/// <param name="data">the received byte array to process</param>
		1721	void _processVersion(byte adr, byte[] data)
		1722	{
		1723	if (data.Length == 12)
		1724	{
		1725	if (!check_HWError)
		1726	{
		1727	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1728	string sVersion = "";
		1729	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1730	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1731	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1732	Log(LogMsgType.Incoming, sVersion);
		1733	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1734	Log(LogMsgType.Incoming, sVersion);
		1735	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1736	}
		1737	if (data[5] > 0) //error0
		1738	{
		1739	if (adr == 1)
2424	-	1740	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(), "", "");
2287	-	1741	if (adr == 2)
2424	-	1742	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(), "", "");
2287	-	1743	}
		1744	if (data[6] > 0) //error1
		1745	{
		1746	if (adr == 1)
2424	-	1747	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(), "", "");
2287	-	1748	if (adr == 2)
2424	-	1749	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(), "", ""); //@moment NC has only one error field
2287	-	1750	}
2381	-	1751	//if ((data[5] + data[6] == 0) && _bErrorLog)
		1752	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
2287	-	1753
		1754	}
		1755	check_HWError = false;
		1756	}
2424	-	1757
		1758	void _processLicense(byte[] data)
		1759	{
		1760	if (data.Length > 480)
		1761	{
		1762	Dispatcher.Invoke(() => {
		1763	tbDataLicenseUser.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 1, 127));
		1764	tbDataLicenseMail.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 129, 127));
		1765	tbDataLicenseFeature.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 257, 127));
		1766	tbDataLicenseExpire.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 385, 11));
		1767	tbDataLicenseLicense.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 397, 16));
		1768	});
		1769	}
		1770	}
2287	-	1771	/// <summary>
		1772	/// BL-Ctrl data 'K'
		1773	/// for FC you have to use a customized firmware
		1774	/// </summary>
		1775	/// <param name="data">the received byte array to process</param>
		1776	void _processBLCtrl(byte[] data)
		1777	{
		1778	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1779	{
		1780	bool bAvailable = false;
		1781	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1782	{
		1783
		1784	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1785	bAvailable = true;
		1786	else
		1787	bAvailable = false;
		1788
		1789	if (data[i] < _iMotors)
		1790	{
		1791	if (bAvailable)
		1792	{
2315	-	1793	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1794	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1795	}
		1796	else
		1797	{
2315	-	1798	dtMotors.Rows[data[i]].SetField(1, "NA");
		1799	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1800	}
		1801	}
		1802	//if (data[i] > 3 && data[i] < 8)
		1803	//{
		1804	// if (bAvailable)
		1805	// {
		1806	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1807	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1808	// }
		1809	// else
		1810	// {
		1811	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1812	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1813	// }
		1814	//}
		1815	}
		1816	}
		1817	}
		1818	/// <summary>
		1819	/// Navi-Ctrl data 'O'
		1820	/// GPS-Position, capacatiy, flying time...
		1821	/// </summary>
		1822	/// <param name="data">the received byte array to process</param>
2428	-	1823
		1824
		1825	byte OSD_FLAG_MASK1 = 0x04 + 0x20 + 0x40 + 0x80;
		1826	byte OSD_FLAG_MASK2 = 0x01 + 0x02 + 0x08 + 0x10;
		1827	int FCSTATUSFLAGS1 = 0;
		1828	int FCSTATUSFLAGS2 = 0;
		1829	byte OSDSTATUSFLAGS1 = 0;
		1830	byte OSDSTATUSFLAGS2 = 0;
		1831	void _processNCDataV2(byte[] data)
		1832	{
		1833	int i_32, i_16, iVal;
		1834	double d;
		1835	OSD_Base_Data_t osd = new OSD_Base_Data_t(data);
		1836	OSDSTATUSFLAGS1 = osd.OSDSTATUSFLAGS1();
		1837	FCSTATUSFLAGS1 = (OSDSTATUSFLAGS1 & OSD_FLAG_MASK1) \| (OSDSTATUSFLAGS2 & ~OSD_FLAG_MASK1);
		1838	FCSTATUSFLAGS2 = (OSDSTATUSFLAGS1 & OSD_FLAG_MASK2) \| (OSDSTATUSFLAGS2 & ~OSD_FLAG_MASK2);
		1839	Dispatcher.Invoke(() => { drGPX[2] = osd.Pos().Lng; });
		1840	Dispatcher.Invoke(() => { drGPX[1] = osd.Pos().Lat; });
		1841	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
		1842	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = osd.Speed().ToString("0.0 m/s")));
		1843	if (_Simulate)
		1844	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = osd.Speed().ToString("0.0 m/s")));
		1845
		1846	switch ((int)data[0])
		1847	{
		1848	case 10:
		1849	break;
		1850	case 11:
		1851	//---------------NC-Flags--------------------------
		1852	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[14] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1853	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[14] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1854	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[14] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1855	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[14] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1856	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[14] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1857	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[14] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1858	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[14] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
		1859
		1860	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[14] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		1861	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Background = (((data[14] & 2) == 2) \| ((data[14] & 4) == 4)) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		1862	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Foreground = (((data[14] & 2) == 2) \| ((data[14] & 4) == 4)) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		1863	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.BorderBrush = (((data[14] & 2) == 2) \| ((data[14] & 4) == 4)) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		1864
		1865	//--------------- NC Error ------------------------
		1866	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[16].ToString())); //NC Errornumber
		1867	if (data[16] > 0)
		1868	_readNCError();
		1869	if (data[16] > 0 & data[16] < 44)
		1870	ErrorLog(LogMsgType.Error, " NC Error [" + data[16].ToString() + "]: ", NC_Error_Link[data[16]], NC_Error[data[16]]);
		1871
		1872	break;
		1873	case 12:
		1874	//--------------- RC quality ------------------------
		1875	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[23].ToString()));
		1876	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[23].ToString()));
		1877
		1878	if (data[23] > _iThresholdRC)
		1879	{
		1880	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1881	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1882	{
		1883	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1884	_bAnimRCLevelActive = false;
		1885	}
		1886	}
		1887	else
		1888	{
		1889	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1890	if (_iRCLevelJitter == 20)
		1891	{
		1892	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1893	{
		1894	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1895	_bAnimRCLevelActive = true;
		1896	}
		1897	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1898	{
		1899	_bVoiceRCLevelActive = true;
		1900	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1901	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1902	//th.Start();
		1903	}
		1904	_iRCLevelJitter++;
		1905	}
		1906	}
		1907	break;
		1908	case 13:
		1909	//-------------------------Waypoint max range (by license)------------------------------
		1910	i_32 = data[24];
		1911	iVal = i_32 << 8;
		1912	iVal += data[23];
		1913
		1914	if (dWPMaxRange != iVal)
		1915	{
		1916	dWPMaxRange = iVal;
		1917	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		1918	{
		1919	if (cWPBound != null && cWPBound.Tag != null)
		1920	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		1921
		1922	createCircle(home.Position, dWPMaxRange);
		1923	Dispatcher.Invoke(() =>
		1924	{
		1925	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		1926	{
		1927	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		1928	cWPBound.setColor(s);
		1929	}
		1930	});
		1931	}
		1932	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = iVal.ToString() + " m"));
		1933	}
		1934
		1935	OSDSTATUSFLAGS2 = osd.OSDSTATUSFLAGS2();
		1936	FCSTATUSFLAGS1 = (OSDSTATUSFLAGS1 & OSD_FLAG_MASK1) \| (OSDSTATUSFLAGS2 & ~OSD_FLAG_MASK1);
		1937	FCSTATUSFLAGS2 = (OSDSTATUSFLAGS1 & OSD_FLAG_MASK2) \| (OSDSTATUSFLAGS2 & ~OSD_FLAG_MASK2);
		1938	break;
		1939
		1940	case 14:
		1941	//--------------- Flying time ------------------------
		1942	i_16 = data[14];
		1943	i_16 = (Int16)(i_16 << 8);
		1944	iVal = data[13] + i_16;
		1945	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1946	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1947	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1948	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1949
		1950	//--------------------------------Distance HP------------------------------------
		1951	i_16 = data[16];
		1952	i_16 = (Int16)(i_16 << 8);
		1953	iVal = data[15] + i_16;
		1954	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		1955
		1956	//--------------------------Distance to next WP--------------------------------
		1957	i_16 = data[19];
		1958	i_16 = (Int16)(i_16 << 8);
		1959	iVal = data[18] + i_16;
		1960	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		1961	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
		1962	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		1963
		1964	//-------------------Satellites----------------------------------
		1965	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[23].ToString()));
		1966
		1967	if (data[23] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1968	{
		1969	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
		1970	if (_bAutoHome && !_bFirstSatFix)
		1971	{
		1972	if (_iFirstSatFix < 3)
		1973	_iFirstSatFix++;
		1974	else
		1975	{
		1976	_bFirstSatFix = true;
		1977	Dispatcher.Invoke(() => _setHomePos());
		1978	}
		1979	}
		1980	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1981	{
		1982	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1983	_bAnimSatFixActive = false;
		1984	}
		1985	if (!_bFollowCopter)
		1986	{
		1987	_setCopterData(osd.Pos());
		1988	if (!MainMap.ViewArea.Contains(osd.Pos()))
		1989	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		1990
		1991	}
		1992	else
		1993	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		1994	}
		1995	else
		1996	{
		1997	if (_bSatFix)
		1998	{
		1999	if (data[23] == _iSatsLast)
		2000	{
		2001	if (_iSatsJitter < 20) _iSatsJitter++;
		2002	}
		2003	else
		2004	{
		2005	_iSatsJitter = 0;
		2006	_iSatsLast = data[23];
		2007	}
		2008
		2009	if (_iSatsJitter == 20)
		2010	{
		2011	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2012	{
		2013	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2014	_bAnimSatFixActive = true;
		2015	}
		2016	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2017	{
		2018	_bVoiceSatFixActive = true;
		2019	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2020	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2021	//th.Start();
		2022	}
		2023
		2024	_bSatFix = false;
		2025	}
		2026	}
		2027	}
		2028
		2029	break;
		2030
		2031	case 15:
		2032	//--------------------------------Waypoint index------------------------------------
		2033	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[13].ToString()));
		2034	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[13].ToString()));
		2035	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[13].ToString()));
		2036	if (data[13] > 0 && _wpIndex != data[13]-1 && wpList.Count >= data[13]-1)
		2037	{
		2038	_setActiveWP(data[13]-1);
		2039	if ((FCSTATUSFLAGS1 & 2) == 2)
		2040	Dispatcher.Invoke(() => {
		2041	DataGridRow row;
		2042	if (_wpIndex > -1)
		2043	{
		2044	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2045	row.Background = new SolidColorBrush(Colors.Transparent);
		2046	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2047	row.BorderThickness = new Thickness(0);
		2048	}
		2049
		2050	_wpIndex = data[13]-1;
		2051	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2052	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2053	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		2054	row.BorderThickness = new Thickness(2);
		2055	dgvWP.UpdateLayout();
		2056	});
		2057	_wpIndex = data[13]-1;
		2058	}
		2059	else
		2060	{
		2061	if ((data[13] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
		2062	{
		2063	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
		2064	Dispatcher.Invoke(() =>
		2065	{
		2066	DataGridRow row;
		2067	if (_wpIndex > -1 && data[13] == 0 && wpList.Count > _wpIndex)
		2068	{
		2069	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2070	row.Background = new SolidColorBrush(Colors.Transparent);
		2071	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2072	row.BorderThickness = new Thickness(0);
		2073	_wpIndex = -1;
		2074	}
		2075	});
		2076
		2077	}
		2078	}
		2079	//----------------Waypoints count----------------------
		2080	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[14].ToString())); //Waypoints count
		2081	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[14].ToString())); //Waypoints count
		2082	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[14].ToString())); //Waypoints count
		2083	_wpCount = data[14];
		2084
		2085	//---------------------------------Target hold time------------------------------
		2086	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[15].ToString() + " s"));
		2087	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[15].ToString() + " s"));
		2088
		2089	break;
		2090
		2091	case 16:
		2092	//--------------- Capacity used ------------------------
		2093	i_16 = data[18];
		2094	i_16 = (Int16)(i_16 << 8);
		2095	iVal = data[17] + i_16;
		2096	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2097	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		2098
		2099	//--------------- Heading compass ------------------------
		2100	i_16 = data[21];
		2101	iVal = 2 * i_16;
		2102	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
		2103	if (_Simulate)
		2104	{
		2105	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2106	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2107	}
		2108
		2109	break;
		2110	case 17:
		2111
		2112	break;
		2113	case 18:
		2114
		2115	break;
		2116	default:
		2117	break;
		2118	}
		2119	//--------------------------------------------------------------------------------
		2120	//-----------------------------FC Status Flags-------------------------------
		2121	//--------------------------------------------------------------------------------
		2122	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((FCSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2123	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((FCSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2124	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((FCSTATUSFLAGS1 & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2125	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((FCSTATUSFLAGS1 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2126	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((FCSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2127	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((FCSTATUSFLAGS1 & 32) == 32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2128
		2129	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((FCSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2130	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((FCSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2131	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((FCSTATUSFLAGS2 & 4) == 4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2132	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((FCSTATUSFLAGS2 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2133	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((FCSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2134	Dispatcher.Invoke((Action)(() => FC2_6.Background = ((FCSTATUSFLAGS2 & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground
		2135	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((FCSTATUSFLAGS2 & 64) == 64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2136	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((FCSTATUSFLAGS2 & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2137
		2138	//Sidebar StatusSymbols
		2139	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((FCSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2140	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Foreground = ((FCSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_MOTOR_RUN 0x01
		2141	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.BorderBrush = ((FCSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_MOTOR_RUN 0x01
		2142
		2143	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((FCSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2144	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Foreground = ((FCSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		2145	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.BorderBrush = ((FCSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		2146
		2147	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((FCSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2148	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Foreground = ((FCSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_EMERGENCY_LANDING 0x10
		2149	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.BorderBrush = ((FCSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_EMERGENCY_LANDING 0x10
		2150
		2151	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((FCSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2152	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Foreground = ((FCSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2153	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.BorderBrush = ((FCSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2154
		2155	_bAirborne = (FCSTATUSFLAGS1 & 2) == 2 ? true : false;
		2156
		2157
		2158	}
		2159	public class OSD_Base_Data_t
		2160	{
		2161	byte[] data;
		2162
		2163	public OSD_Base_Data_t(byte [] _data)
		2164	{
		2165	data = _data;
		2166	}
		2167
		2168	public PointLatLng Pos()
		2169	{
		2170	PointLatLng p = new PointLatLng();
		2171	int i_32, iVal;
		2172	double d;
		2173
		2174	i_32 = data[4];
		2175	iVal = i_32 << 24;
		2176	i_32 = data[3];
		2177	iVal += i_32 << 16;
		2178	i_32 = data[2];
		2179	iVal += i_32 << 8;
		2180	iVal += data[1];
		2181	d = (double)iVal / Math.Pow(10, 7);
		2182	p.Lng = d;
		2183
		2184	i_32 = data[8];
		2185	iVal = i_32 << 24;
		2186	i_32 = data[7];
		2187	iVal += i_32 << 16;
		2188	i_32 = data[6];
		2189	iVal += i_32 << 8;
		2190	iVal += data[5];
		2191	d = (double)iVal / Math.Pow(10, 7);
		2192	p.Lat = d;
		2193
		2194	return p;
		2195
		2196	}
		2197
		2198	public int Height()
		2199	{
		2200	int i_32, iVal;
		2201	i_32 = data[10];
		2202	iVal = i_32 << 8;
		2203	iVal += data[9];
		2204
		2205	return iVal;
		2206	}
		2207
		2208	public double Speed()
		2209	{
		2210	return (double)data[11]/10;
		2211	}
		2212
		2213	public byte OSDSTATUSFLAGS1()
		2214	{
		2215	return data[12];
		2216	}
		2217	public byte OSDSTATUSFLAGS2()
		2218	{
		2219	return data[13];
		2220	}
		2221	}
2287	-	2222	void _processNCData(byte[] data)
		2223	{
		2224	int i_32, i_16, iVal;
		2225	double d;
2428	-	2226
		2227	//----------------------------POSITION------------------------------------
2287	-	2228	i_32 = data[4];
		2229	iVal = i_32 << 24;
		2230	i_32 = data[3];
		2231	iVal += i_32 << 16;
		2232	i_32 = data[2];
		2233	iVal += i_32 << 8;
		2234	iVal += data[1];
		2235	d = (double)iVal / Math.Pow(10, 7);
2324	-	2236	Dispatcher.Invoke(() => { drGPX[2] = d; });
		2237
2287	-	2238	PointLatLng p = new PointLatLng();
		2239
		2240	p.Lng = d;
		2241	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		2242	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		2243
		2244	i_32 = data[8];
		2245	iVal = i_32 << 24;
		2246	i_32 = data[7];
		2247	iVal += i_32 << 16;
		2248	i_32 = data[6];
		2249	iVal += i_32 << 8;
		2250	iVal += data[5];
		2251	d = (double)iVal / Math.Pow(10, 7);
2324	-	2252	Dispatcher.Invoke(() => { drGPX[1] = d; });
		2253	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	2254	p.Lat = d;
2399	-	2255
2428	-	2256	//---------------------------SATS-------------------------------------------------
2291	-	2257	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		2258	{
		2259	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	2260	if(_bAutoHome && !_bFirstSatFix)
		2261	{
		2262	if (_iFirstSatFix < 3)
		2263	_iFirstSatFix++;
		2264	else
		2265	{
		2266	_bFirstSatFix = true;
2347	-	2267	Dispatcher.Invoke(() => _setHomePos());
2295	-	2268	}
		2269	}
2291	-	2270	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2271	{
		2272	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2273	_bAnimSatFixActive = false;
		2274	}
		2275	if (!_bFollowCopter)
		2276	{
		2277	_setCopterData(p);
		2278	if (!MainMap.ViewArea.Contains(p))
		2279	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	2280
2291	-	2281	}
		2282	else
2287	-	2283	Dispatcher.Invoke(() => MainMap.Position = p);
		2284	}
		2285	else
2291	-	2286	{
		2287	if(_bSatFix)
		2288	{
		2289	if (data[50] == _iSatsLast)
		2290	{
		2291	if (_iSatsJitter < 20) _iSatsJitter++;
		2292	}
		2293	else
		2294	{
		2295	_iSatsJitter = 0;
		2296	_iSatsLast = data[50];
		2297	}
2287	-	2298
2291	-	2299	if (_iSatsJitter == 20)
		2300	{
		2301	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2302	{
		2303	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2304	_bAnimSatFixActive = true;
		2305	}
		2306	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2307	{
2405	-	2308	_bVoiceSatFixActive = true;
2398	-	2309	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2310	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2311	//th.Start();
2291	-	2312	}
		2313
		2314	_bSatFix = false;
		2315	}
		2316	}
		2317	}
		2318
2428	-	2319	//--------------------------Distance to next WP--------------------------------
2287	-	2320	i_16 = data[28];
		2321	i_16 = (Int16)(i_16 << 8);
		2322	iVal = data[27] + i_16;
2399	-	2323	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2324	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
2401	-	2325	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	2326
2428	-	2327	//-------------------------Distance to HP set by GPS on----------------------------------
2287	-	2328	i_16 = data[45];
		2329	i_16 = (Int16)(i_16 << 8);
		2330	iVal = data[44] + i_16;
2428	-	2331	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	2332
2428	-	2333	//--------------------------------Waypoint index------------------------------------
		2334	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString()));
2355	-	2335	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2401	-	2336	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString()));
2399	-	2337	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
2342	-	2338	{
2425	-	2339	_setActiveWP(data[48]- 1);
2355	-	2340	if((data[67] & 2) == 2)
		2341	Dispatcher.Invoke(() => {
		2342	DataGridRow row;
		2343	if (_wpIndex > -1)
		2344	{
2425	-	2345	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2355	-	2346	row.Background = new SolidColorBrush(Colors.Transparent);
		2347	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2348	row.BorderThickness = new Thickness(0);
		2349	}
2425	-	2350
2355	-	2351	_wpIndex = data[48] - 1;
2425	-	2352	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2366	-	2353	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2354	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	2355	row.BorderThickness = new Thickness(2);
		2356	dgvWP.UpdateLayout();
		2357	});
2425	-	2358	_wpIndex = data[48]- 1;
2342	-	2359	}
2347	-	2360	else
		2361	{
		2362	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	2363	{
2347	-	2364	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	2365	Dispatcher.Invoke(() =>
		2366	{
		2367	DataGridRow row;
2368	-	2368	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	2369	{
2425	-	2370	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2355	-	2371	row.Background = new SolidColorBrush(Colors.Transparent);
		2372	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2373	row.BorderThickness = new Thickness(0);
		2374	_wpIndex = -1;
		2375	}
		2376	});
		2377
		2378	}
2347	-	2379	}
2428	-	2380	//----------------Waypoints count----------------------
2287	-	2381	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	2382	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2401	-	2383	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	2384	_wpCount = data[49];
2428	-	2385	//-------------------Satellites----------------------------------
		2386	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString()));
2287	-	2387
		2388	//--------------- Capacity used ------------------------
		2389	i_16 = data[81];
		2390	i_16 = (Int16)(i_16 << 8);
		2391	iVal = data[80] + i_16;
		2392	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2393	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		2394
2398	-	2395	//--------------- Ground speed ------------------------
		2396	i_16 = data[59];
		2397	i_16 = (Int16)(i_16 << 8);
		2398	iVal = data[58] + i_16;
2399	-	2399	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		2400	if(_Simulate)
		2401	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
2398	-	2402
		2403	//--------------- Heading north ------------------------
		2404	i_16 = data[61];
		2405	i_16 = (Int16)(i_16 << 8);
		2406	iVal = data[60] + i_16;
		2407	Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
		2408
		2409	//--------------- Heading compass ------------------------
		2410	i_16 = data[63];
		2411	i_16 = (Int16)(i_16 << 8);
		2412	iVal = data[62] + i_16;
		2413	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
2399	-	2414	if (_Simulate)
		2415	{
		2416	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2417	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2418	}
2287	-	2419	//--------------- Flying time ------------------------
		2420	i_16 = data[56];
		2421	i_16 = (Int16)(i_16 << 8);
		2422	iVal = data[55] + i_16;
		2423	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2424	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2425	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2426	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		2427
		2428	//--------------- RC quality ------------------------
		2429	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		2430	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		2431
2291	-	2432	if(data[66] > _iThresholdRC)
		2433	{
		2434	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2435	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2436	{
		2437	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2438	_bAnimRCLevelActive = false;
		2439	}
		2440	}
		2441	else
		2442	{
		2443	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2444	if (_iRCLevelJitter == 20)
		2445	{
		2446	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2447	{
		2448	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2449	_bAnimRCLevelActive = true;
		2450	}
		2451	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2452	{
2405	-	2453	_bVoiceRCLevelActive = true;
2398	-	2454	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2455	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2456	//th.Start();
2291	-	2457	}
		2458	_iRCLevelJitter++;
		2459	}
		2460	}
		2461
2428	-	2462	//-------------------------Waypoint max range (by license)------------------------------
2405	-	2463	if(dWPMaxRange != (double)data[70])
		2464	{
		2465	dWPMaxRange = (double)data[70];
		2466	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2467	{
		2468	if (cWPBound != null && cWPBound.Tag != null)
		2469	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2470
		2471	createCircle(home.Position, dWPMaxRange);
2408	-	2472	Dispatcher.Invoke(() =>
		2473	{
		2474	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2475	{
		2476	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2477	cWPBound.setColor(s);
		2478	}
		2479	});
2405	-	2480	}
		2481	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m"));
		2482	}
2428	-	2483	//---------------------------------Target hold time------------------------------
2399	-	2484	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
2401	-	2485	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s"));
2399	-	2486
2287	-	2487	//--------------- NC Error ------------------------
		2488	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		2489	if (data[69] > 0)
		2490	_readNCError();
		2491	if (data[69] > 0 & data[69] < 44)
2381	-	2492	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		2493	//else
		2494	// if (_bErrorLog) _clearErrorLog("NC Error");
2287	-	2495
2428	-	2496	//--------------------------------------------------------------------------------
		2497	//-----------------------------FC / NC Status Flags-------------------------------
		2498	//--------------------------------------------------------------------------------
2298	-	2499	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2500	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2501	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2502	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2503	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2504	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2505
		2506	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2507	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2508	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2509	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2510	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2511	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
		2512	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2513	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2514
		2515	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2516	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2517	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2518	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2519	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2520	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2521	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	2522
		2523	//Sidebar StatusSymbols
		2524	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2525	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
		2526	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
		2527
		2528	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2529	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
		2530	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
		2531
		2532	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	2533	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
		2534	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	-	2535
		2536	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2537	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
		2538	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
		2539
		2540	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	2541	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
		2542	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
		2543	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	-	2544
2324	-	2545	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	2546	}
		2547	/// <summary>
		2548	/// Navi-Ctrl WP data struct 'X'
		2549	/// called by index
		2550	/// </summary>
		2551	/// <param name="data">the received byte array to process</param>
		2552	void _processWPData(byte[] data)
		2553	{
2313	-	2554	_iWPCount = data[0];
2287	-	2555	_bGetWPCount = false;
		2556	if (data.Length >= 28)
		2557	{
		2558	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		2559	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		2560	if (_bGetWP)
		2561	{
		2562	if (data[1] == 1)
2315	-	2563	{
2333	-	2564	Dispatcher.Invoke(() =>
		2565	{
2356	-	2566	wpList.Clear();
		2567	_clearMapMarkers(typeof(CustomMarkerWP));
		2568	if (mRouteWP != null)
		2569	MainMap.Markers.Remove(mRouteWP);
		2570	if (wpActiveMarker != null)
		2571	MainMap.Markers.Remove(wpActiveMarker);
		2572	lblWPRouteDistance.Content = "0 m";
		2573	dtWaypoints.Rows.Clear();
2368	-	2574	_wpEdit = -1;_wpIndex = -1;
2425	-	2575	wpOffset.Clear();
2318	-	2576	});
2315	-	2577	}
2287	-	2578	DataRow dr = dtWaypoints.NewRow();
		2579	dr = Waypoints.toDataRow(data, dr);
2313	-	2580	dtWaypoints.Rows.Add(dr);
2425	-	2581	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1],(int)data[1]-1);
2313	-	2582	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2583	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	2584	if (data[1] == data[0])
		2585	{
		2586	_bGetWP = false;
2368	-	2587	_routeUpdate();
2287	-	2588	}
		2589
		2590	}
		2591	}
		2592	else
		2593	{
		2594	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		2595	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		2596	}
		2597	}
		2598	/// <summary>
		2599	/// OSD Menue 'L'
		2600	/// single page called by pagenumber
		2601	/// no autoupdate
		2602	/// </summary>
		2603	/// <param name="data">the received byte array to process</param>
		2604	void _processOSDSingle(byte[] data)
		2605	{
		2606	if (data.Length == 84)
		2607	{
		2608	string sMessage = "";
		2609	iOSDPage = data[0];
		2610	iOSDMax = data[1];
		2611	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		2612	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		2613	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2614	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2615	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2616	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2617	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2618	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2619
		2620	}
		2621	//else
		2622	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2623
		2624	}
		2625	/// <summary>
		2626	/// OSD Menue 'H'
		2627	/// called by keys (0x01,0x02,0x03,0x04)
		2628	/// autoupdate
		2629	/// </summary>
		2630	/// <param name="data">the received byte array to process</param>
		2631	void _processOSDAuto(byte[] data)
		2632	{
		2633	if (data.Length == 81)
		2634	{
		2635	string sMessage = "";
		2636	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2637	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2638	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2639	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2640	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2641
		2642	}
		2643	//else
		2644	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2645	}
		2646
		2647	#endregion processing received data
		2648
		2649	#region controller messages
		2650	/// <summary> send message to controller to request data
		2651	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2652	/// </summary>
		2653	/// <param name="CMDID"> the command ID </param>
		2654	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2655	private void _sendControllerMessage(char CMDID, byte address)
		2656	{
		2657	if (serialPortCtrl.Port.IsOpen)
		2658	{
		2659	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2660	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2661	serialStream.Write(bytes, 0, bytes.Length);
		2662
		2663	}
		2664	else
		2665	Log(LogMsgType.Error, "NOT CONNECTED!");
		2666	}
		2667	/// <summary> send message to controller to request data
		2668	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2669	/// </summary>
		2670	/// <param name="CMDID"> the command ID </param>
		2671	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2672	/// <param name="data"> additional data for the request</param>
		2673	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2674	{
		2675	if (serialPortCtrl.Port.IsOpen)
		2676	{
		2677	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2678	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2679	serialStream.Write(bytes, 0, bytes.Length);
		2680
		2681	}
		2682	else
		2683	Log(LogMsgType.Error, "NOT CONNECTED!");
		2684	}
		2685
		2686	/// <summary>
		2687	/// start/stop continous polling of controller values
		2688	/// </summary>
		2689	/// <param name="b">start/stop switch</param>
		2690	void _readCont(bool b)
		2691	{
		2692	bReadContinously = b;
		2693	if (bReadContinously)
		2694	{
		2695	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2696	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2697	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2698	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2699	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2700	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2701	}
		2702	else
		2703	{
		2704	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2705	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2706	_bConnErr = false;
		2707	}
		2708	_iLifeCounter = 0;
		2709	}
		2710
		2711	private void _getVersion()
		2712	{
		2713	_sendControllerMessage('v', 0);
		2714	}
		2715	/// <summary>
		2716	/// get FC version struct via NC
		2717	/// by sending '1' as data (not documented in wiki...)
		2718	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2719	/// </summary>
		2720	/// <param name="ctrl">controller number 1=FC</param>
		2721	private void _getVersion(byte ctrl)
		2722	{
		2723	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2724	}
		2725	/// <summary>
		2726	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2727	/// </summary>
		2728	private void _switchToNC()
		2729	{
		2730	if (serialPortCtrl.Port.IsOpen)
		2731	{
		2732	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2733	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2734	serialStream.Write(bytes, 0, bytes.Length);
		2735
		2736	Thread.Sleep(100);
		2737	_getVersion();
		2738	Thread.Sleep(100);
2424	-	2739	_getLic();
2287	-	2740	// _OSDMenue(0);
		2741	}
		2742	else
		2743	Log(LogMsgType.Error, "NOT CONNECTED!");
		2744	}
		2745	/// <summary>
		2746	/// switch to FC
		2747	/// </summary>
		2748	private void _switchToFC()
		2749	{
		2750	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2751	Thread.Sleep(100);
		2752	_getVersion();
		2753	Thread.Sleep(100);
		2754	// _OSDMenue(0);
		2755	}
		2756	/// <summary>
		2757	/// send RESET signal to FC
		2758	/// </summary>
		2759	private void _resetCtrl()
		2760	{
		2761	_sendControllerMessage('R', 1);
		2762	}
		2763	/// <summary>
		2764	/// poll the debug data (4sec subscription)
		2765	/// </summary>
		2766	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2767	private void _readDebugData(bool auto)
		2768	{
		2769	byte interval = auto ? debugInterval : (byte)0;
		2770	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2771	}
		2772	/// <summary>
		2773	/// poll the BL-CTRL status via NC (4sec subscription)
		2774	/// </summary>
		2775	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2776	private void _readBLCtrl(bool auto)
		2777	{
		2778	byte interval = auto ? blctrlInterval : (byte)0;
		2779	_sendControllerMessage('k', 0, new byte[1] { interval });
		2780	}
		2781	/// <summary>
		2782	/// poll the NC data struct (4sec subscription)
		2783	/// </summary>
		2784	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2785	private void _readNavData(bool auto)
		2786	{
		2787	byte interval = auto ? navctrlInterval : (byte)0;
2428	-	2788	// _sendControllerMessage('o', 2, new byte[1] { interval });
		2789	_sendControllerMessage('o', 2, new byte[3] { interval,4,0 });
2287	-	2790	}
		2791	/// <summary>
2424	-	2792	/// request the license info
		2793	/// </summary>
		2794	void _getLic()
		2795	{
		2796	if (serialPortCtrl.Port.IsOpen)
		2797	{
		2798	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2799	byte[] bytes = FlightControllerMessage.CreateMessage('m', 2, new byte[1] { (byte)1 });
		2800	serialStream.Write(bytes, 0, bytes.Length);
		2801	}
		2802	else
		2803	Log(LogMsgType.Error, "NOT CONNECTED!");
		2804
		2805	}
		2806	/// <summary>
2287	-	2807	/// get the errortext for pending NC error
		2808	/// </summary>
		2809	private void _readNCError()
		2810	{
		2811	_sendControllerMessage('e', 2);
		2812	}
		2813	/// <summary>
		2814	/// request the Waypoint at index
		2815	/// </summary>
		2816	/// <param name="index"></param>
		2817	void _getpWP(int index)
		2818	{
		2819	if (serialPortCtrl.Port.IsOpen)
		2820	{
		2821	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2822	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2823	serialStream.Write(bytes, 0, bytes.Length);
		2824	}
		2825	else
		2826	Log(LogMsgType.Error, "NOT CONNECTED!");
		2827
		2828	}
		2829	void _getWP()
		2830	{
2335	-	2831	int iTimeout = 0;
2287	-	2832	_bGetWPCount = true;
2315	-	2833	_getpWP(1); //get the itemscount of wp
2335	-	2834	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2835	{
		2836	Thread.Sleep(10);
		2837	iTimeout++;
		2838	}
		2839	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2840	_getWPList();
		2841	}
		2842	void _getWPList()
		2843	{
		2844	_bGetWP = true;
2313	-	2845	int iTimeout=0;
		2846	for (int j = 0; j < _iWPCount; j++)
2287	-	2847	{
		2848	_getpWP(j + 1);
2313	-	2849	iTimeout = 0;
		2850	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2851	{
		2852	Thread.Sleep(1);
		2853	iTimeout++;
		2854	}
2287	-	2855	}
2419	-	2856	Dispatcher.Invoke(() =>
		2857	{
		2858	// MainMap.ZoomAndCenterMarkers(null);
		2859	MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]);
		2860	MainMap.Zoom = 19;
		2861	});
2287	-	2862	}
2363	-	2863	/// <summary>
		2864	/// Wrapper for _clearCopterWPList()
		2865	/// necessary, cause it is called by threadnew which does not like return values...
		2866	/// </summary>
2340	-	2867	void clearCopterWPList()
2313	-	2868	{
2340	-	2869	_clearCopterWPList();
		2870	}
2363	-	2871	/// <summary>
		2872	/// clear the WP list of the copter
		2873	/// by sending 'invalid' and index '0'
		2874	/// </summary>
		2875	/// <returns></returns>
2340	-	2876	bool _clearCopterWPList()
		2877	{
2335	-	2878	int iTimeout = 0;
2313	-	2879	if (serialPortCtrl.Port.IsOpen)
		2880	{
		2881	byte[] bData = new byte[30];
		2882	for (int i = 0; i < 30; i++)
		2883	bData[i] = 0;
		2884	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2885	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2886	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2887
2313	-	2888	_iWPCount = -1;
2340	-	2889	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2890	{
2313	-	2891	Thread.Sleep(10);
2335	-	2892	iTimeout++;
		2893	}
2313	-	2894	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2895	if (_iWPCount > -1)
2340	-	2896	return true;
		2897	else
		2898	Log(LogMsgType.Error, "Timeout while sending list!");
		2899	}
		2900	else
		2901	Log(LogMsgType.Error, "NOT CONNECTED!");
		2902
		2903	return false;
		2904	}
		2905	void _sendWPList()
		2906	{
2362	-	2907	_sendWPList(0);
		2908	}
		2909	void _sendWPList(int iStart)
		2910	{
2340	-	2911	int iTimeout = 0;
		2912	if (serialPortCtrl.Port.IsOpen)
		2913	{
		2914	if (_clearCopterWPList())
2313	-	2915	{
2362	-	2916	int k = 1;
		2917	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	2918	{
2362	-	2919	k = iStart > 0 ? k : -1;
2376	-	2920	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	2921
2335	-	2922	_iWPCount = -1;
		2923	iTimeout = 0;
		2924	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2925	{
		2926	Thread.Sleep(10);
		2927	iTimeout++;
		2928	}
		2929	if (_iWPCount == -1)
		2930	{
		2931	Log(LogMsgType.Error, "Timeout while sending list!");
		2932	break;
		2933	}
		2934	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	2935	k++;
2335	-	2936	}
2313	-	2937	}
		2938	}
		2939	else
		2940	Log(LogMsgType.Error, "NOT CONNECTED!");
		2941
		2942	}
2376	-	2943	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	2944	{
2313	-	2945
2340	-	2946	if (serialPortCtrl.Port.IsOpen)
		2947	{
		2948	byte[] bData = new byte[30];
		2949	for (int i = 0; i < 30; i++)
		2950	bData[i] = 0;
		2951	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2952	byte[] bytes;
		2953	int iVal;
		2954	double dVal;
		2955	NumberFormatInfo nfi = new NumberFormatInfo();
		2956	nfi.NumberDecimalSeparator = ",";
		2957
		2958	//longitude
		2959	dVal = Convert.ToDouble(dr[4], nfi);
		2960	iVal = (int)(dVal * Math.Pow(10, 7));
		2961	bData[0] = (byte)(iVal & 0xff);
		2962	bData[1] = (byte)((iVal >> 8) & 0xff);
		2963	bData[2] = (byte)((iVal >> 16) & 0xff);
		2964	bData[3] = (byte)(iVal >> 24);
		2965	//latitude
		2966	dVal = Convert.ToDouble(dr[3], nfi);
		2967	iVal = (int)(dVal * Math.Pow(10, 7));
		2968	bData[4] = (byte)(iVal & 0xff);
		2969	bData[5] = (byte)((iVal >> 8) & 0xff);
		2970	bData[6] = (byte)((iVal >> 16) & 0xff);
		2971	bData[7] = (byte)(iVal >> 24);
		2972	//altitude
		2973	dVal = Convert.ToDouble(dr[5], nfi);
		2974	iVal = (int)(dVal * 10);
		2975	bData[8] = (byte)(iVal & 0xff);
		2976	bData[9] = (byte)((iVal >> 8) & 0xff);
		2977	bData[10] = (byte)((iVal >> 16) & 0xff);
		2978	bData[11] = (byte)(iVal >> 24);
2376	-	2979	if(bSim)
		2980	bData[12] = 3; //Status 'SIMULATE'
2340	-	2981	//Status 'NEWDATA'
2376	-	2982	else
		2983	bData[12] = 1;
2340	-	2984	//heading
		2985	iVal = Convert.ToInt16(dr[6]);
		2986	bData[13] = (byte)(iVal & 0xff);
		2987	bData[14] = (byte)((iVal >> 8) & 0xff);
		2988	//ToleranceRadius
		2989	bData[15] = Convert.ToByte(dr[9]);
		2990	//HoldTime
		2991	bData[16] = Convert.ToByte(dr[10]);
		2992	//Event_Flag
		2993	bData[17] = Convert.ToByte(dr[13]);
		2994	//Index
2379	-	2995	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
2340	-	2996	//Type
		2997	bData[19] = Convert.ToByte(dr[1]);
		2998	//WP_EventChannelValue
		2999	bData[20] = Convert.ToByte(dr[14]);
		3000	//AltitudeRate
		3001	bData[21] = Convert.ToByte(dr[8]);
		3002	//Speed
		3003	bData[22] = Convert.ToByte(dr[7]);
		3004	//CamAngle
		3005	bData[23] = (byte)Convert.ToInt16(dr[12]);
		3006	//Name
2362	-	3007	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		3008	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	3009	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		3010	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		3011	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		3012	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		3013	//Autotrigger
		3014	bData[28] = Convert.ToByte(dr[11]);
		3015
2356	-	3016	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	3017	serialStream.Write(bytes, 0, bytes.Length);
		3018
		3019	return true;
		3020	}
		3021
		3022	return false;
		3023	}
2287	-	3024	#region OSD-Menue
		3025
		3026	/// <summary>
		3027	/// one time query of the OSD Menue with pagenumber
		3028	/// </summary>
		3029	/// <param name="iMenue">Menue page</param>
		3030	void _OSDMenue(int iMenue)
		3031	{
		3032	if (serialPortCtrl.Port.IsOpen)
		3033	{
		3034	if (iMenue > iOSDMax)
		3035	iMenue = 0;
		3036	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3037	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		3038	serialStream.Write(bytes, 0, bytes.Length);
		3039	}
		3040	else
		3041	Log(LogMsgType.Error, "NOT CONNECTED!");
		3042
		3043	}
		3044	/// <summary>
		3045	/// call the OSDMenue and start autorefresh
		3046	/// usually by sending a menuekey
		3047	/// 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)
		3048	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		3049	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		3050	/// </summary>
		3051	void _OSDMenueAutoRefresh()
		3052	{
		3053	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		3054	}
		3055	void _OSDMenueAutoRefresh(byte key)
		3056	{
		3057	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		3058	}
		3059	/// <summary>
		3060	/// initialize the OSD menue combobox
		3061	/// combox is filled by numbers from 0 to max pagenumber
		3062	/// </summary>
		3063	void _initOSDCB()
		3064	{
		3065	_bCBInit = true;
		3066	if (iOSDMax == 0)
		3067	{
		3068	_OSDMenue(0);
		3069	Thread.Sleep(10);
		3070	}
		3071	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		3072	for (int i = 0; i <= iOSDMax; i++)
		3073	{
		3074	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		3075	}
		3076	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		3077	_bCBInit = false;
		3078	}
		3079	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		3080	{
		3081	iOSDPage++;
		3082	if (iOSDPage > iOSDMax)
		3083	iOSDPage = 0;
		3084
		3085	_OSDMenue(iOSDPage);
		3086	}
		3087	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		3088	{
		3089	iOSDPage--;
		3090	if (iOSDPage < 0)
		3091	iOSDPage = iOSDMax;
		3092
		3093	_OSDMenue(iOSDPage);
		3094	}
		3095	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		3096	{
		3097	_OSDMenueAutoRefresh(8);
		3098	}
		3099	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		3100	{
		3101	_OSDMenueAutoRefresh(4);
		3102	}
		3103	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		3104	{
		3105	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		3106	_OSDMenue(cbOSD.SelectedIndex);
		3107	}
		3108	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		3109	{
		3110	Dispatcher.Invoke(() =>
		3111	{
		3112	TextRange tr;
		3113	if (bNew)
		3114	{
		3115	rtfOSD.SelectAll();
		3116	rtfOSD.Selection.Text = string.Empty;
		3117	}
		3118	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		3119	tr.Text = msg;
		3120	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		3121	// rtfOSD.AppendText("\r");
		3122	rtfOSD.ScrollToEnd();
		3123
		3124	});
		3125	}
		3126
		3127	#endregion OSD-Menue
		3128
		3129	#endregion controller messages
		3130
2398	-	3131	void _mediaPlayer(object file)
2295	-	3132	{
2405	-	3133	Monitor.TryEnter(lockObj);
		3134	try
2295	-	3135	{
2405	-	3136	if (File.Exists((string)file))
		3137	{
		3138
		3139	mediaPlayer.Open((string)file);
		3140	mediaPlayer.Play();
		3141	}
		3142
2295	-	3143	}
2405	-	3144	finally
		3145	{
		3146	Monitor.Exit(lockObj);
		3147	}
2295	-	3148	}
2310	-	3149
2362	-	3150	#region ui
2310	-	3151	/// <summary>
		3152	/// Switch between fullscreen and normal window mode
		3153	/// save & restore scaling settings
		3154	/// </summary>
		3155	/// <param name="sender"></param>
		3156	/// <param name="e"></param>
2287	-	3157	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		3158	{
		3159	if (winState.isMaximized)
		3160	{
		3161	winState.Restore(this);
		3162	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		3163	if(_bSaveWinStateFull)
		3164	_saveScaleSliders(true);
		3165	if(_bSaveWinStateNormal)
		3166	_setScaleSliders(false);
		3167	}
		3168	else
		3169	{
		3170	winState.Maximize(this);
		3171	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		3172	if(_bSaveWinStateNormal)
		3173	_saveScaleSliders(false);
		3174	if(_bSaveWinStateFull)
		3175	_setScaleSliders(true);
		3176	}
		3177	}
		3178
		3179	/// <summary>
		3180	/// reset the scaling of all UI elements to default
		3181	/// </summary>
		3182	/// <param name="sender"></param>
		3183	/// <param name="e"></param>
		3184	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		3185	{
		3186	UIScaleHorizonSlider.Value =
		3187	UIScaleLOGSlider.Value =
		3188	UIScaleMotorsSlider.Value =
		3189	UIScaleOSDSlider.Value =
		3190	UIScaleSlider.Value =
		3191	UIScaleTopSlider.Value = 1;
		3192	}
		3193	/// <summary>
		3194	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		3195	/// </summary>
		3196	/// <param name="sender"></param>
		3197	/// <param name="e"></param>
		3198	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3199	{
		3200	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		3201	if (GridMotors != null)
		3202	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		3203	if (GridSideBar != null)
		3204	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
2401	-	3205	if (WPStatus != null)
		3206	WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom);
2287	-	3207	if (GridOSD != null)
2401	-	3208	{
		3209	if(WPStatus.Visibility == Visibility.Visible)
		3210	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3211	else
		3212	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3213	}
2287	-	3214	if (GridData != null)
		3215	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		3216	if (GridWP != null)
		3217	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		3218	}
2419	-	3219	private void UIScaleOSDSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3220	{
		3221	if (!_init)
		3222	{
		3223	if (WPStatus != null && (WPStatus.Visibility == Visibility.Visible))
		3224	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3225	else
		3226	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3227	}
		3228	}
		3229
2310	-	3230	/// <summary>
		3231	/// restore the saved scalings for the fullscreen/normal window mode
		3232	/// </summary>
		3233	/// <param name="bFull">the mode the window is set to</param>
2287	-	3234	void _setScaleSliders(bool bFull)
		3235	{
		3236	if(bFull)
		3237	{
		3238	UIScaleSlider.Value = scaleFullAll;
		3239	UIScaleTopSlider.Value = scaleFullTopBar;
		3240	UIScaleMotorsSlider.Value = scaleFullMotors;
		3241	UIScaleOSDSlider.Value = scaleFullOSD;
		3242	UIScaleLOGSlider.Value = scaleFullLOG;
		3243	UIScaleHorizonSlider.Value = scaleFullHorizon;
		3244	}
		3245	else
		3246	{
		3247	UIScaleSlider.Value = scaleNormalAll;
		3248	UIScaleTopSlider.Value = scaleNormalTopBar;
		3249	UIScaleMotorsSlider.Value = scaleNormalMotors;
		3250	UIScaleOSDSlider.Value = scaleNormalOSD;
		3251	UIScaleLOGSlider.Value = scaleNormalLOG;
		3252	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		3253	}
		3254	}
		3255
2310	-	3256	/// <summary>
		3257	/// save the scalings for the actual window mode
		3258	/// </summary>
		3259	/// <param name="bFull">the actual window mode</param>
2287	-	3260	void _saveScaleSliders(bool bFull)
		3261	{
		3262
		3263	if (bFull)
		3264	{
		3265	scaleFullAll = UIScaleSlider.Value;
		3266	scaleFullTopBar = UIScaleTopSlider.Value;
		3267	scaleFullMotors = UIScaleMotorsSlider.Value;
		3268	scaleFullOSD = UIScaleOSDSlider.Value;
		3269	scaleFullLOG = UIScaleLOGSlider.Value;
		3270	scaleFullHorizon = UIScaleHorizonSlider.Value;
		3271	}
		3272	else
		3273	{
		3274	scaleNormalAll = UIScaleSlider.Value;
		3275	scaleNormalTopBar = UIScaleTopSlider.Value;
		3276	scaleNormalMotors = UIScaleMotorsSlider.Value;
		3277	scaleNormalOSD = UIScaleOSDSlider.Value;
		3278	scaleNormalLOG = UIScaleLOGSlider.Value;
		3279	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		3280	}
		3281	}
2362	-	3282	#endregion ui
2287	-	3283
		3284	/// <summary>
		3285	/// read settings from ini-file
		3286	/// </summary>
		3287	void _readIni()
		3288	{
		3289	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		3290	_writeIni();
		3291	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3292	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	3293	try
		3294	{
2287	-	3295
2312	-	3296	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		3297	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		3298	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		3299	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		3300	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		3301	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		3302	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		3303	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	3304
2312	-	3305	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		3306	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		3307	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		3308	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		3309	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		3310	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		3311	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		3312	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	3313
2312	-	3314	sVal = ini.IniReadValue("topBar", "voltage");
		3315	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		3316	sVal = ini.IniReadValue("topBar", "capacity");
		3317	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		3318	sVal = ini.IniReadValue("topBar", "current");
		3319	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		3320	sVal = ini.IniReadValue("topBar", "flightTime");
		3321	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		3322	sVal = ini.IniReadValue("topBar", "distanceHP");
		3323	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		3324	sVal = ini.IniReadValue("topBar", "height");
		3325	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		3326	sVal = ini.IniReadValue("topBar", "speed");
		3327	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		3328	sVal = ini.IniReadValue("topBar", "magneticField");
		3329	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		3330	sVal = ini.IniReadValue("topBar", "satellites");
		3331	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		3332	sVal = ini.IniReadValue("topBar", "rc");
		3333	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	3334
2312	-	3335	sVal = ini.IniReadValue("style", "saveFullScreen");
		3336	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		3337	sVal = ini.IniReadValue("style", "saveNormalState");
		3338	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	3339
2312	-	3340	sVal = ini.IniReadValue("style", "scaleNormalAll");
		3341	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		3342	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		3343	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		3344	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		3345	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		3346	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		3347	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		3348	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		3349	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		3350	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		3351	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	3352
2312	-	3353	sVal = ini.IniReadValue("style", "scaleFullAll");
		3354	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		3355	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		3356	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		3357	sVal = ini.IniReadValue("style", "scaleFullMotors");
		3358	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		3359	sVal = ini.IniReadValue("style", "scaleFullOSD");
		3360	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		3361	sVal = ini.IniReadValue("style", "scaleFullLOG");
		3362	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		3363	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		3364	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	3365
2312	-	3366	sVal = ini.IniReadValue("general", "LiPoCells");
		3367	_LipoCells = Convert.ToInt16(sVal);
		3368	sVal = ini.IniReadValue("general", "Motors");
		3369	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	3370
2312	-	3371	sVal = ini.IniReadValue("map", "followMe");
		3372	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		3373	sVal = ini.IniReadValue("map", "AutoSetHome");
		3374	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	3375	sVal = ini.IniReadValue("map", "GPXLog");
		3376	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	3377
2312	-	3378	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		3379	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		3380	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		3381	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		3382	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		3383	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		3384	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		3385	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		3386	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		3387	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		3388	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		3389	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		3390	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		3391	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		3392	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		3393	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		3394	sVal = ini.IniReadValue("threshold", "MaxDistance");
		3395	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		3396	sVal = ini.IniReadValue("threshold", "RCThreshold");
		3397	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		3398	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		3399	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	3400
		3401	sVal = ini.IniReadValue("waypoints", "wpcolor");
		3402	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		3403	sVal = ini.IniReadValue("waypoints", "poicolor");
		3404	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		3405	sVal = ini.IniReadValue("waypoints", "fscolor");
		3406	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		3407	sVal = ini.IniReadValue("waypoints", "coptercolor");
		3408	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2385	-	3409	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		3410	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
2379	-	3411	sVal = ini.IniReadValue("waypoints", "landingcolor");
		3412	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	3413	sVal = ini.IniReadValue("waypoints", "routecolor");
		3414	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		3415	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		3416	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2408	-	3417	sVal = ini.IniReadValue("waypoints", "showWPMaxRange");
		3418	if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal);
		3419	sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor");
		3420	if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal);
2349	-	3421
		3422	for (int i = 0; i < 12; i++)
		3423	{
		3424	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		3425	if (sVal != "")
		3426	serChan[i] = Convert.ToInt16(sVal);
		3427	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		3428	if (sVal != "")
		3429	serChanTitle[i] = sVal;
		3430	for (int y = 0; i < 4 && y < 3; y++)
		3431	{
		3432	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		3433	if (sVal != "")
		3434	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		3435	}
		3436	}
		3437
2312	-	3438	}
		3439	catch (Exception e)
		3440	{
2287	-	3441
2312	-	3442	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		3443	}
		3444
2287	-	3445	}
		3446
		3447	/// <summary>
		3448	/// save settings to ini-file
		3449	/// </summary>
		3450	void _writeIni()
		3451	{
		3452
		3453	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3454	ini.path = filePath + "\\MKLiveViewSettings.ini";
		3455
2312	-	3456	try
		3457	{
2287	-	3458
2312	-	3459	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		3460	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		3461	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		3462	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	3463
2312	-	3464	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		3465	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		3466	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		3467	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	3468
2312	-	3469	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		3470	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	3471
2312	-	3472	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		3473	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	3474	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	3475
2312	-	3476	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		3477	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		3478	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		3479	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		3480	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		3481	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		3482	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		3483	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		3484	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		3485	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	3486
2312	-	3487	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		3488	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	3489
2312	-	3490	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		3491	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		3492	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		3493	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		3494	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		3495	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	3496
2312	-	3497	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		3498	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		3499	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		3500	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		3501	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		3502	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	3503
2312	-	3504	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		3505
		3506	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		3507	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		3508	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		3509	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		3510	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		3511	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		3512	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		3513	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		3514	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		3515	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		3516	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	3517
		3518	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		3519	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		3520	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		3521	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2385	-	3522	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
2379	-	3523	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
2328	-	3524	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		3525	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2408	-	3526	ini.IniWriteValue("waypoints", "showWPMaxRange", ((bool)checkBoxShowWPMaxRange.IsChecked).ToString());
		3527	ini.IniWriteValue("waypoints", "WPMaxRangecolor", comboBoxWPMaxRangeColor.SelectedIndex.ToString());
2349	-	3528
		3529	for (int i = 0; i < 12; i++)
		3530	{
		3531	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		3532	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		3533	for (int y = 0; i < 4 && y < 3; y++)
		3534	{
		3535	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		3536	}
		3537	}
		3538
2312	-	3539	}
		3540	catch (Exception e)
		3541	{
		3542
		3543	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);
		3544	}
2287	-	3545	}
2350	-	3546
2349	-	3547	#region serial channels
		3548	/// <summary>
		3549	/// Sending the serial channel values
		3550	/// </summary>
		3551	void _sendSerialData()
		3552	{
		3553	byte[] serData = new byte[12];
		3554	for (int i = 0; i < 12; i++)
		3555	{
		3556	serData[i] = unchecked((byte)(serChan[i] - 127));
		3557	}
		3558	_sendControllerMessage('y', 1, serData);
		3559	}
		3560	/// <summary>
		3561	/// init the controls for displaying
		3562	/// and setting serial control channels
		3563	/// </summary>
		3564	void _initSerialCtrl()
		3565	{
		3566	SerChan1ScaleSlider.Value = serChan[0];
		3567	textBoxSerial1.Text = serChanTitle[0];
		3568	SerChan2ScaleSlider.Value = serChan[1];
		3569	textBoxSerial2.Text = serChanTitle[1];
2350	-	3570	SerChan3ScaleSlider.Value = serChan[2];
		3571	textBoxSerial3.Text = serChanTitle[2];
2349	-	3572	//SerChan4ScaleSlider.Value = serChan[3];
		3573	//textBoxSerial4.Text = serChanTitle[3];
		3574	//trckbarSerial5.Value = serChan[4];
		3575	//textBoxSerial5.Text = serChanTitle[4];
		3576	//trckbarSerial6.Value = serChan[5];
		3577	//textBoxSerial6.Text = serChanTitle[5];
		3578	//trckbarSerial7.Value = serChan[6];
		3579	//textBoxSerial7.Text = serChanTitle[6];
		3580	//trckbarSerial8.Value = serChan[7];
		3581	//textBoxSerial8.Text = serChanTitle[7];
2312	-	3582
2349	-	3583	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		3584	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		3585	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		3586	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		3587	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		3588	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	3589	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		3590	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		3591	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	3592	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		3593	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		3594	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		3595	}
		3596	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3597	{
		3598	if (!_init)
		3599	{
		3600	serChan[0] = (int)SerChan1ScaleSlider.Value;
		3601	_sendSerialData();
		3602	}
		3603	}
		3604	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		3605	{
		3606	if (!_init)
		3607	{
		3608	serChanTitle[0] = textBoxSerial1.Text;
		3609	}
		3610	}
		3611	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		3612	{
		3613	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		3614	{
		3615	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		3616	}
		3617	}
		3618	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		3619	{
		3620	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		3621	{
		3622	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		3623	}
		3624	}
		3625	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		3626	{
		3627	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		3628	{
		3629	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		3630	}
		3631	}
		3632	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		3633	{
		3634	if (textBoxSerial1_val1.Text.Length > 0)
		3635	{
		3636	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		3637	}
		3638	}
		3639	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		3640	{
		3641	SerChan1ScaleSlider.Value = 0;
		3642	}
		3643	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		3644	{
		3645	SerChan1ScaleSlider.Value = 127;
		3646	}
		3647	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		3648	{
		3649	SerChan1ScaleSlider.Value = 254;
		3650	}
		3651	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		3652	{
		3653	if (textBoxSerial1_val2.Text.Length > 0)
		3654	{
		3655	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		3656	}
		3657	}
		3658	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		3659	{
		3660	if (textBoxSerial1_val3.Text.Length > 0)
		3661	{
		3662	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		3663	}
		3664	}
		3665
		3666	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3667	{
		3668	if (!_init)
		3669	{
		3670	serChan[1] = (int)SerChan2ScaleSlider.Value;
		3671	_sendSerialData();
		3672	}
		3673	}
		3674	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		3675	{
		3676	if (!_init)
		3677	{
		3678	serChanTitle[1] = textBoxSerial2.Text;
		3679	}
		3680	}
		3681	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		3682	{
		3683	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		3684	{
		3685	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		3686	}
		3687	}
		3688	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		3689	{
		3690	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		3691	{
		3692	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		3693	}
		3694	}
		3695	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		3696	{
		3697	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		3698	{
		3699	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3700	}
		3701	}
		3702	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3703	{
		3704	SerChan2ScaleSlider.Value = 0;
		3705	}
		3706	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3707	{
		3708	SerChan2ScaleSlider.Value = 127;
		3709	}
		3710	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3711	{
		3712	SerChan2ScaleSlider.Value = 254;
		3713	}
		3714	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3715	{
		3716	if (textBoxSerial2_val1.Text.Length > 0)
		3717	{
		3718	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3719	}
		3720	}
		3721	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3722	{
		3723	if (textBoxSerial2_val2.Text.Length > 0)
		3724	{
		3725	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3726	}
		3727	}
		3728	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3729	{
		3730	if (textBoxSerial2_val3.Text.Length > 0)
		3731	{
		3732	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3733	}
		3734	}
2350	-	3735
		3736	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3737	{
		3738	if (!_init)
		3739	{
		3740	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3741	_sendSerialData();
		3742	}
		3743	}
		3744	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3745	{
		3746	if (!_init)
		3747	{
		3748	serChanTitle[2] = textBoxSerial3.Text;
		3749	}
		3750	}
		3751	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3752	{
		3753	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3754	{
		3755	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3756	}
		3757	}
		3758	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3759	{
		3760	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3761	{
		3762	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3763	}
		3764	}
		3765	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3766	{
		3767	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3768	{
		3769	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3770	}
		3771	}
		3772	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3773	{
		3774	SerChan3ScaleSlider.Value = 0;
		3775	}
		3776	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3777	{
		3778	SerChan3ScaleSlider.Value = 127;
		3779	}
		3780	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3781	{
		3782	SerChan3ScaleSlider.Value = 254;
		3783	}
		3784	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3785	{
		3786	if (textBoxSerial3_val1.Text.Length > 0)
		3787	{
		3788	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3789	}
		3790	}
		3791	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3792	{
		3793	if (textBoxSerial3_val2.Text.Length > 0)
		3794	{
		3795	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3796	}
		3797	}
		3798	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3799	{
		3800	if (textBoxSerial3_val3.Text.Length > 0)
		3801	{
		3802	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3803	}
		3804	}
2349	-	3805	/// <summary>
		3806	/// checks the input of a textbox
		3807	/// for valid data
		3808	/// in this case values 0-254
		3809	/// </summary>
		3810	/// <param name="sender"></param>
		3811	/// <param name="e"></param>
		3812	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3813	{
		3814	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3815	e.Handled = true;
		3816	else
		3817	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3818	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3819	e.Handled = true;
		3820	else
		3821	{
		3822	int i = -1;
		3823	switch (((TextBox)sender).Name)
		3824	{
		3825	case "textBoxSerial1_val1":
		3826	i = 0;
		3827	break;
		3828	case "textBoxSerial1_val2":
		3829	i = 1;
		3830	break;
		3831	case "textBoxSerial1_val3":
		3832	i = 2;
		3833	break;
		3834	case "textBoxSerial2_val1":
		3835	i = 3;
		3836	break;
		3837	case "textBoxSerial2_val2":
		3838	i = 4;
		3839	break;
		3840	case "textBoxSerial2_val3":
		3841	i = 5;
		3842	break;
		3843	case "textBoxSerial3_val1":
		3844	i = 6;
		3845	break;
		3846	case "textBoxSerial3_val2":
		3847	i = 7;
		3848	break;
		3849	case "textBoxSerial3_val3":
		3850	i = 8;
		3851	break;
		3852	case "textBoxSerial4_val1":
		3853	i = 9;
		3854	break;
		3855	case "textBoxSerial4_val2":
		3856	i = 10;
		3857	break;
		3858	case "textBoxSerial4_val3":
		3859	i = 11;
		3860	break;
		3861	}
		3862	if (i > -1)
		3863	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3864	}
		3865	}
		3866
		3867	#endregion serial channels
2315	-	3868	#region WP
2312	-	3869	void _readWPLFile()
		3870	{
		3871	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3872	fd.Filter = "Waypointlists \| *.wpl";
		3873	fd.Multiselect = false;
		3874	if (fd.ShowDialog().Value)
		3875	{
		3876	string file = fd.SafeFileName;
		3877	IniFile ini = new IniFile(fd.SafeFileName);
		3878	ini.path = fd.FileName;
		3879
		3880	try
		3881	{
		3882	string sVal = ini.IniReadValue("General", "FileVersion");
		3883	if (sVal == "")
		3884	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3885	else
		3886	{
		3887	if (Convert.ToInt16(sVal) < 3)
		3888	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3889	else
		3890	{
		3891	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3892	if (sVal == "")
		3893	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3894	else
		3895	{
		3896	int wpnum = Convert.ToInt16(sVal);
		3897	string wp;
		3898	int i;
2313	-	3899	NumberFormatInfo nfi = new NumberFormatInfo();
		3900	nfi.NumberDecimalSeparator = ".";
2312	-	3901	dtWaypoints.Rows.Clear();
2368	-	3902	_wpEdit = -1;_wpIndex = -1;
2425	-	3903	wpOffset.Clear();
2327	-	3904	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	3905	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	3906	wpList.Clear();
		3907	if (mRouteWP != null)
		3908	MainMap.Markers.Remove(mRouteWP);
2363	-	3909	//if (wpActiveMarker != null)
		3910	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	3911	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3912
2312	-	3913	for (int k = 1; k <= wpnum; k++)
		3914	{
		3915	DataRow dr = dtWaypoints.NewRow();
		3916	dr.ItemArray = new object[16];
		3917	object[] o = new object[16];
		3918	i = 0;
		3919	wp = "Point" + k.ToString();
		3920	o[i] = k;
		3921	i++;
		3922	sVal = ini.IniReadValue(wp, "Type");
		3923	if (sVal != "")
2315	-	3924	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3925	i++;
		3926	sVal = ini.IniReadValue(wp, "Prefix");
		3927	if (sVal != "")
2350	-	3928	o[i] = sVal + k.ToString();
		3929	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3930	i++;
2313	-	3931	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3932	if (sVal != "")
2313	-	3933	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3934	i++;
2313	-	3935	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3936	if (sVal != "")
2313	-	3937	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3938	i++;
		3939	sVal = ini.IniReadValue(wp, "Altitude");
		3940	if (sVal != "")
2313	-	3941	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3942	i++;
		3943	sVal = ini.IniReadValue(wp, "Heading");
		3944	if (sVal != "")
		3945	o[i] = Convert.ToInt16(sVal);
		3946	i++;
		3947	sVal = ini.IniReadValue(wp, "Speed");
		3948	if (sVal != "")
2315	-	3949	o[i] = Convert.ToInt16(sVal);
2312	-	3950	i++;
		3951	sVal = ini.IniReadValue(wp, "ClimbRate");
		3952	if (sVal != "")
		3953	o[i] = Convert.ToInt16(sVal);
		3954	i++;
		3955	sVal = ini.IniReadValue(wp, "Radius");
		3956	if (sVal != "")
		3957	o[i] = Convert.ToInt16(sVal);
		3958	i++;
		3959	sVal = ini.IniReadValue(wp, "DelayTime");
		3960	if (sVal != "")
		3961	o[i] = Convert.ToInt16(sVal);
		3962	i++;
		3963	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3964	if (sVal != "")
		3965	o[i] = Convert.ToInt16(sVal); ;
		3966	i++;
		3967	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3968	if (sVal != "")
2313	-	3969	o[i] = Convert.ToInt16(sVal);
2312	-	3970	i++;
		3971	o[i] = 0;
		3972	i++;
		3973	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3974	if (sVal != "")
		3975	o[i] = Convert.ToInt16(sVal);
		3976	i++;
		3977	o[i] = "New";
		3978
		3979	dr.ItemArray = o;
		3980	dtWaypoints.Rows.Add(dr);
2425	-	3981	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1], (int)o[0]-1);
2315	-	3982
2312	-	3983	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3984	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3985	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
2419	-	3986	Thread.Sleep(1);
2312	-	3987	}
2419	-	3988	Dispatcher.Invoke(() => MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]));
		3989	Dispatcher.Invoke(() => MainMap.Zoom = 19);
		3990	// Dispatcher.Invoke(() => MainMap.ZoomAndCenterMarkers(null));
		3991	Dispatcher.Invoke(() => _routeUpdate());
2312	-	3992	}
		3993	}
		3994	}
		3995
		3996	}
		3997	catch (Exception e)
		3998	{
		3999
		4000	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		4001	}
		4002
		4003	}
		4004	}
2350	-	4005	void _saveWPLFile()
		4006	{
		4007	if (dtWaypoints.Rows.Count > 0)
		4008	{
		4009	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		4010	fd.Filter = "Waypointlists \| *.wpl";
		4011	fd.AddExtension = true;
		4012	if (fd.ShowDialog().Value)
		4013	{
		4014	string file = fd.SafeFileName;
		4015	IniFile ini = new IniFile(fd.SafeFileName);
		4016	ini.path = fd.FileName;
		4017	NumberFormatInfo nfi = new NumberFormatInfo();
		4018	nfi.NumberDecimalSeparator = ".";
		4019
		4020	try
		4021	{
		4022	ini.IniWriteValue("General", "FileVersion", "3");
		4023	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		4024	ini.IniWriteValue("General", "Mapfile", "");
		4025	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		4026	{
		4027	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		4028	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		4029	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		4030	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		4031	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		4032	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		4033	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		4034	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		4035	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		4036	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		4037	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		4038	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));
		4039	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		4040	}
		4041	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		4042	}
		4043	catch { }
		4044	}
		4045	}
		4046	else
		4047	MessageBox.Show("Nothing to save...");
		4048	}
		4049	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		4050	{
		4051	_saveWPLFile();
		4052	}
		4053	/// <summary>
		4054	/// set the selected color for the route
		4055	/// </summary>
		4056	/// <param name="color"></param>
		4057	/// <returns></returns>
2328	-	4058	Brush _getBrush(string color)
		4059	{
		4060	switch (color)
		4061	{
		4062	case "red":
		4063	return Brushes.Red;
		4064	case "green":
		4065	return Brushes.Lime;
		4066	case "blue":
		4067	return Brushes.Aqua;
		4068	case "pink":
		4069	return Brushes.Magenta;
		4070	case "yellow":
		4071	return Brushes.Yellow;
		4072	default:
		4073	return Brushes.Magenta;
		4074	}
		4075	}
2359	-	4076	void _routeUpdate()
		4077	{
		4078	Dispatcher.Invoke(() =>
		4079	{
		4080	if (comboBoxRouteColor.SelectionBoxItem != null)
		4081	{
		4082	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4083	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4084	}
		4085	else
		4086	mRouteWP = new GMapRoute(wpList, null);
		4087
		4088	if (_bShowWPRoute)
2368	-	4089	MainMap.Markers.Add(mRouteWP);
2359	-	4090	});
		4091
		4092	MapRoute mr = new MapRoute(wpList, "WPList");
		4093	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		4094	}
2425	-	4095	GMapMarker _createWP(PointLatLng p, string name, int type, int index)
2363	-	4096	{
		4097	GMapMarker wpMarker = new GMapMarker(p);
2385	-	4098	Dispatcher.Invoke(()=>
		4099	{
		4100	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
2419	-	4101	wpMarker.Tag = name;
2385	-	4102	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		4103	wpMarker.ZIndex = 100;
		4104	_setMarkerColor(wpMarker, type);
		4105	MainMap.Markers.Add(wpMarker);
		4106	if (type == 0 \|\| type == 3)
2425	-	4107	{
2385	-	4108	wpList.Add(p);
2425	-	4109	wpOffset.Add(index);
		4110	}
2419	-	4111	((CustomMarkerWP)wpMarker.Shape).positionChanged += _updateDTWPPos;
		4112	((CustomMarkerWP)wpMarker.Shape).newPosition += _updateDTWPPosFin;
2421	-	4113	((CustomMarkerWP)wpMarker.Shape).mouseCaptured += _WPMouseCaptured;
2385	-	4114	});
2363	-	4115	return wpMarker;
		4116	}
2419	-	4117	bool _WPisMouseCaptured = false;
2421	-	4118	void _WPMouseCaptured(bool isCaptured)
2419	-	4119	{
		4120	_WPisMouseCaptured = isCaptured;
		4121	MainMap.CanDragMap = !isCaptured;
		4122	}
		4123	void _updateDTWPPos(CustomMarkerWP wp)
		4124	{
		4125	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4126	int index = Convert.ToInt16(sIndex) -1;
		4127	GMapMarker p = ((GMapMarker)wp.DataContext);
		4128	if (p != null && index < dtWaypoints.Rows.Count)
		4129	{
		4130	//Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4131	if(wp.WPType == 0 \| wp.WPType == 3)
2424	-	4132	{
		4133	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		4134	int wpListIndex = wpList.IndexOf(x);
		4135	if (wpListIndex > -1)
		4136	{
		4137	wpList[wpListIndex] = p.Position;
		4138	MainMap.Markers.Remove(mRouteWP);
		4139	_routeUpdate();
		4140	}
2419	-	4141	}
2424	-	4142	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4143	dtWaypoints.Rows[index][4] = p.Position.Lng;
2419	-	4144	}
		4145	}
		4146	void _updateDTWPPosFin(CustomMarkerWP wp)
		4147	{
		4148	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4149	int index = Convert.ToInt16(sIndex) -1;
		4150	GMapMarker p = ((GMapMarker)wp.DataContext);
		4151	if (p != null && index < dtWaypoints.Rows.Count)
		4152	{
		4153	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4154	dtWaypoints.Rows[index][4] = p.Position.Lng;
2421	-	4155	Dispatcher.Invoke(() =>
		4156	{
		4157	dgvWP.Items.Refresh();
		4158	dgvWP.SelectedIndex = index;
		4159	_dgvWPselectEditRow();
		4160	});
		4161
2419	-	4162	}
		4163
		4164	}
2428	-	4165
2425	-	4166	/// <summary>
		4167	/// find the index of of a wp from datatable in the waypointlist wpList
		4168	/// </summary>
		4169	/// <param name="dtIndex">the index of wp in datatable (0-based)</param>
		4170	/// <returns></returns>
		4171	int _getWPIndexfromList(int dtIndex)
		4172	{
		4173	if ((int)dtWaypoints.Rows[dtIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dtIndex][1] == 3)
		4174	{
		4175	GMapMarker wp = _findWPMarker((string)dtWaypoints.Rows[dtIndex][2]);
		4176	if (wp != null)
		4177	return wpList.IndexOf(wp.Position);
		4178	}
		4179	return -1;
		4180	}
		4181	/// <summary>
		4182	/// find the index of of a wp from datatable in the waypointlist wpList
		4183	/// </summary>
		4184	/// <param name="name">the name of the wp</param>
		4185	/// <returns></returns>
		4186	int _getWPIndexfromList(string name)
		4187	{
		4188	GMapMarker wp = _findWPMarker(name);
		4189	if ((wp != null && wp.Shape != null) && ((CustomMarkerWP)wp.Shape).WPType == 0 \| ((CustomMarkerWP)wp.Shape).WPType == 3)
		4190	return wpList.IndexOf(wp.Position);
		4191	else
		4192	return -1;
		4193	}
		4194	int _getWPListOffset(int index)
		4195	{
		4196	int k = 0;
		4197	for(int i = 0; i < wpOffset.Count;i++)
		4198	{
		4199	if (wpOffset[i] <= index)
		4200	k++;
		4201	}
2419	-	4202
2425	-	4203	return k;
		4204	}
2315	-	4205	void _setMarkerColor(GMapMarker wpMarker,int iType)
		4206	{
2369	-	4207	if(wpMarker != null)
2315	-	4208	Dispatcher.Invoke(() =>
		4209	{
		4210	switch (iType)
		4211	{
		4212	case 0:
		4213	if (comboBoxWPColor.SelectionBoxItem != null)
		4214	{
		4215	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		4216	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4217	}
		4218	else
2372	-	4219	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	4220	break;
		4221	case 1:
		4222	if (comboBoxPOIColor.SelectionBoxItem != null)
		4223	{
		4224	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		4225	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4226	}
		4227	else
2372	-	4228	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	4229	break;
		4230	case 2:
		4231	if (comboBoxFSColor.SelectionBoxItem != null)
		4232	{
		4233	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		4234	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4235	}
		4236	else
		4237	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4238	break;
2372	-	4239	case 3:
		4240	if (comboBoxLandingColor.SelectionBoxItem != null)
		4241	{
		4242	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		4243	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4244	}
		4245	else
		4246	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		4247	break;
2315	-	4248	default:
		4249	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4250	break;
		4251	}
		4252	});
2312	-	4253
2315	-	4254	}
2372	-	4255	void _MarkerColorSelection(object sender,int type)
		4256	{
2315	-	4257	Dispatcher.Invoke(() =>
		4258	{
2372	-	4259	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	4260	{
		4261	for (int k = 0; k < MainMap.Markers.Count; k++)
		4262	{
		4263	GMapMarker p = MainMap.Markers[k];
2372	-	4264	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	4265	{
2372	-	4266	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	4267	{
2372	-	4268	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	4269	((CustomMarkerWP)(p.Shape)).setColor(s);
		4270	}
		4271	}
		4272	}
		4273	}
		4274	});
2287	-	4275	}
2379	-	4276	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	4277	{
2376	-	4278	_MarkerColorSelection(sender, 0);
		4279	}
		4280	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		4281	{
		4282	_MarkerColorSelection(sender, 1);
		4283	}
		4284	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		4285	{
		4286	_MarkerColorSelection(sender, 2);
		4287	}
		4288	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		4289	{
		4290	_MarkerColorSelection(sender,3);
		4291	}
2385	-	4292	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
2376	-	4293	{
2318	-	4294	Dispatcher.Invoke(() => {
		4295	if (comboBoxCopterColor.SelectionBoxItem != null)
		4296	{
		4297	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	4298	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	4299	}
		4300	else
2385	-	4301	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
2318	-	4302	});
		4303	}
2385	-	4304	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		4305	{
		4306	Dispatcher.Invoke(() => {
		4307	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		4308	{
		4309	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		4310	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		4311	}
		4312	else
		4313	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		4314	});
		4315	}
2328	-	4316	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		4317	{
		4318	Dispatcher.Invoke(() =>
		4319	{
		4320	if (comboBoxRouteColor.SelectionBoxItem != null)
		4321	{
		4322	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4323	MainMap.Markers.Remove(mRouteWP);
		4324	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4325	if (_bShowWPRoute)
		4326	MainMap.Markers.Add(mRouteWP);
		4327	}
		4328	});
		4329	}
2408	-	4330	private void comboBoxWPMaxRangeColor_DropDownClosed(object sender, EventArgs e)
		4331	{
		4332	Dispatcher.Invoke(() =>
		4333	{
		4334	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		4335	{
		4336	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		4337	{
		4338	if (cWPBound != null && cWPBound.Tag != null)
		4339	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		4340
		4341	createCircle(home.Position, dWPMaxRange);
		4342	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		4343	cWPBound.setColor(s);
		4344
		4345	}
		4346	}
		4347	});
		4348
		4349	}
2328	-	4350	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		4351	{
		4352	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		4353	if (_bShowWPRoute)
		4354	{
		4355	if (mRouteWP != null)
		4356	MainMap.Markers.Add(mRouteWP);
		4357	}
		4358	else
		4359	{
		4360	if (mRouteWP != null)
		4361	MainMap.Markers.Remove(mRouteWP);
		4362	}
		4363	}
2428	-	4364
2315	-	4365	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	4366	{
2315	-	4367	_readWPLFile();
2287	-	4368	}
2335	-	4369	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		4370	{
		4371	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	4372	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	4373	wpList.Clear();
		4374	if (mRouteWP != null)
		4375	MainMap.Markers.Remove(mRouteWP);
2347	-	4376	//if (wpActiveMarker != null)
		4377	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	4378	dtWaypoints.Rows.Clear();
2356	-	4379	_wpEdit = -1;
2368	-	4380	_wpIndex = -1;
2425	-	4381	wpOffset.Clear();
2335	-	4382	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4383	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		4384	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		4385	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		4386	}
2340	-	4387	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		4388	{
		4389	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		4390	t.Start();
		4391	}
2355	-	4392	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	4393	{
		4394	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4395	{
2372	-	4396	if (_wpCount > 0)
2376	-	4397	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	4398	else
2376	-	4399	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	4400
2372	-	4401	//int index = dgvWP.SelectedIndex;
		4402	//Thread t = new Thread(() => _sendWPList(index));
		4403	//t.Start();
2354	-	4404
		4405	Dispatcher.Invoke(() => {
		4406	DataGridRow row;
2368	-	4407	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	4408	{
2368	-	4409	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	4410	row.Background = new SolidColorBrush(Colors.Transparent);
		4411	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4412	row.BorderThickness = new Thickness(0);
2376	-	4413	dgvWP.UpdateLayout();
2354	-	4414	}
2376	-	4415	//_wpEdit = dgvWP.SelectedIndex;
		4416	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4417	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		4418	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		4419	//row.BorderThickness = new Thickness(2);
2354	-	4420	});
2340	-	4421	}
		4422	}
2385	-	4423	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		4424	{
		4425	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4426	{
		4427
		4428	object[] o = new object[16];
		4429	o[0] = dgvWP.SelectedIndex + 1;
		4430	o[1] = cbWPEditType.SelectedIndex;
		4431	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4432	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4433	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		4434	o[5] = tbWPEditAlt.Text;
		4435	switch (cbWPEditHeading.SelectedIndex)
		4436	{
		4437	case 0:
		4438	o[6] = "0";
		4439	break;
		4440	case 1:
		4441	o[6] = "-" + tbWPEditHeading.Text;
		4442	break;
		4443	case 2:
		4444	o[6] = tbWPEditHeading.Text;
		4445	break;
		4446	}
		4447	switch (cbWPEditSpeed.SelectedIndex)
		4448	{
		4449	case 0:
		4450	o[7] = "0";
		4451	break;
		4452	case 1:
		4453	o[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4454	break;
		4455	case 2:
		4456	o[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4457	break;
		4458	}
		4459	switch (cbWPEditClimbrate.SelectedIndex)
		4460	{
		4461	case 0:
		4462	o[8] = "255";
		4463	break;
		4464	case 1:
		4465	o[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		4466	break;
		4467	}
		4468	o[9] = tbWPEditRadius.Text;
		4469	o[10] = tbWPEditHoldtime.Text;
		4470	o[11] = tbWPEditAutoTrigger.Text;
		4471	switch (cbWPEditCamAngle.SelectedIndex)
		4472	{
		4473	case 0:
		4474	o[12] = "0";
		4475	break;
		4476	case 1:
		4477	o[12] = "255";
		4478	break;
		4479	case 2:
		4480	o[12] = tbWPEditCamAngle.Text;
		4481	break;
		4482	}
		4483	o[13] = 0;
		4484	o[14] = tbWPEditOut1.Text;
		4485	DataRow dr = dtWaypoints.NewRow();
		4486	dr.ItemArray = o;
		4487
		4488	if (_wpCount > 0)
		4489	_sendWayPoint(dr, -1, 'w', false);
		4490	else
		4491	_sendWayPoint(dr, 1, 'w', false);
2399	-	4492
		4493	if(_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count)
		4494	_sendWayPoint(dtWaypoints.Rows[_wpIndex], _wpIndex + 1, 's', false);
2385	-	4495	}
		4496	}
2376	-	4497	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		4498	{
		4499	_Simulate = !_Simulate;
		4500	if (dtWaypoints.Rows.Count > 0)
		4501	{
		4502	DataRow dr = dtWaypoints.Rows[0];
		4503	dr[13] = _Simulate ? 3 : 0;
2379	-	4504	_sendWayPoint(dr, 0, 's', true);
2381	-	4505	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
2376	-	4506	}
		4507	}
2428	-	4508
2355	-	4509	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		4510	{
2359	-	4511	_dgvWPselectEditRow();
		4512	}
		4513	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		4514	{
		4515	}
		4516	void _dgvWPselectEditRow()
		4517	{
2355	-	4518	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4519	{
2368	-	4520	Dispatcher.Invoke(() => {
2355	-	4521	DataGridRow row;
2421	-	4522	dgvWP.UpdateLayout();
2368	-	4523	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	4524	{
		4525	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4526	row.Background = new SolidColorBrush(Colors.Transparent);
		4527	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4528	row.BorderThickness = new Thickness(0);
		4529	}
		4530	_wpEdit = dgvWP.SelectedIndex;
		4531	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4532	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		4533	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		4534	row.BorderThickness = new Thickness(2);
		4535	dgvWP.UpdateLayout();
2340	-	4536
2355	-	4537	_setWPEditFields(_wpEdit);
		4538	});
		4539	}
		4540	}
		4541	void _setWPEditFields(int index)
		4542	{
		4543	int iVal;
2421	-	4544	lblWPEditIndex.Content = dtWaypoints.Rows[index][0].ToString();
2355	-	4545	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		4546	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		4547	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		4548	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		4549	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		4550	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		4551	if (iVal == 0)
		4552	{
		4553	cbWPEditHeading.SelectedIndex = 0;
		4554	tbWPEditHeading.Text = " - - -";
		4555	tbWPEditHeading.IsReadOnly = true;
		4556	}
		4557	if (iVal > 0 && iVal < 360)
		4558	{
		4559	cbWPEditHeading.SelectedIndex = 2;
		4560	tbWPEditHeading.Text = iVal.ToString();
		4561	tbWPEditHeading.IsReadOnly = false;
		4562	}
		4563	if (iVal < 0)
		4564	{
		4565	cbWPEditHeading.SelectedIndex = 1;
		4566	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		4567	tbWPEditHeading.IsReadOnly = false;
		4568	}
		4569	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		4570	if (iVal == 0)
		4571	{
		4572	cbWPEditSpeed.SelectedIndex = 0;
		4573	tbWPEditSpeed.Text = "MAX";
		4574	tbWPEditSpeed.IsReadOnly = true;
		4575	}
		4576	if (iVal > 0 && iVal < 248)
		4577	{
		4578	cbWPEditSpeed.SelectedIndex = 1;
		4579	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		4580	tbWPEditSpeed.IsReadOnly = false;
		4581	}
		4582	if (iVal > 247)
		4583	{
		4584	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		4585	tbWPEditSpeed.Text = "";
		4586	tbWPEditSpeed.IsReadOnly = true;
		4587	}
		4588	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		4589	if (iVal == 255)
		4590	{
		4591	cbWPEditClimbrate.SelectedIndex = 0;
		4592	tbWPEditClimbrate.Text = "AUTO";
		4593	tbWPEditClimbrate.IsReadOnly = true;
		4594	}
		4595	else
		4596	{
		4597	cbWPEditClimbrate.SelectedIndex = 1;
		4598	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		4599	tbWPEditClimbrate.IsReadOnly = false;
		4600	}
		4601	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		4602	tbWPEditRadius.Text = iVal.ToString();
		4603	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		4604	tbWPEditHoldtime.Text = iVal.ToString();
		4605	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		4606	tbWPEditAutoTrigger.Text = iVal.ToString();
		4607	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		4608	if (iVal == 0)
		4609	{
		4610	cbWPEditCamAngle.SelectedIndex = 0;
		4611	tbWPEditCamAngle.Text = " - - - ";
		4612	tbWPEditCamAngle.IsReadOnly = true;
		4613	}
		4614	if (iVal < 0 \| iVal == 255)
		4615	{
		4616	cbWPEditCamAngle.SelectedIndex = 1;
		4617	tbWPEditCamAngle.Text = "AUTO";
		4618	tbWPEditCamAngle.IsReadOnly = true;
		4619	}
		4620	if (iVal > 0 & iVal < 255)
		4621	{
		4622	cbWPEditCamAngle.SelectedIndex = 2;
		4623	tbWPEditCamAngle.Text = iVal.ToString();
		4624	tbWPEditCamAngle.IsReadOnly = false;
		4625	}
		4626	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		4627	tbWPEditOut1.Text = iVal.ToString();
		4628
		4629	}
2361	-	4630	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		4631	{
2363	-	4632	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4633	{
2369	-	4634	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	4635	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		4636	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		4637	int i = wpList.IndexOf(pOld);
2363	-	4638	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		4639	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4640	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4641	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	4642	if (i > -1)
		4643	{
2425	-	4644	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
2372	-	4645	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		4646	else
2425	-	4647	{
2372	-	4648	wpList.Remove(pOld);
2425	-	4649	wpOffset.Remove(wpOffset[i]);
		4650	}
2372	-	4651	}
		4652	else
		4653	{
		4654	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		4655	{
		4656	int found = 0;
		4657	for (int k = 0; k < dgvWP.SelectedIndex; k++)
2425	-	4658	{
		4659	if ((int)dtWaypoints.Rows[k][1] == 0 \|\| (int)dtWaypoints.Rows[k][1] == 3)
		4660	{
2372	-	4661	found++;
2425	-	4662	}
		4663	}
2372	-	4664	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
2425	-	4665	wpOffset.Insert(found, dgvWP.SelectedIndex);
2372	-	4666	}
		4667	}
2363	-	4668	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		4669	switch (cbWPEditHeading.SelectedIndex)
		4670	{
		4671	case 0:
		4672	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		4673	break;
		4674	case 1:
		4675	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		4676	break;
		4677	case 2:
		4678	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		4679	break;
		4680	}
		4681	switch (cbWPEditSpeed.SelectedIndex)
		4682	{
		4683	case 0:
		4684	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		4685	break;
		4686	case 1:
		4687	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4688	break;
		4689	case 2:
		4690	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4691	break;
		4692	}
		4693	switch (cbWPEditClimbrate.SelectedIndex)
		4694	{
		4695	case 0:
		4696	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		4697	break;
		4698	case 1:
		4699	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		4700	break;
		4701	}
		4702	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		4703	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		4704	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		4705	switch (cbWPEditCamAngle.SelectedIndex)
		4706	{
		4707	case 0:
		4708	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		4709	break;
		4710	case 1:
		4711	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		4712	break;
		4713	case 2:
		4714	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		4715	break;
		4716	}
		4717	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	4718
2369	-	4719	// _clearMapMarkers(typeof(CustomMarkerWP));
		4720	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		4721	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	4722	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	4723	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	4724	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	4725	// wpList.Clear();
2363	-	4726	if (mRouteWP != null)
		4727	MainMap.Markers.Remove(mRouteWP);
		4728
2369	-	4729	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		4730	//{
		4731	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		4732	//}
2363	-	4733	_routeUpdate();
		4734	dgvWP.Items.Refresh();
		4735
		4736	}
		4737
2361	-	4738	}
		4739	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		4740	{
2368	-	4741	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4742	{
		4743	int index = dgvWP.SelectedIndex;
		4744	Dispatcher.Invoke(() => {
		4745	DataGridRow row;
		4746	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		4747	{
		4748	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4749	row.Background = new SolidColorBrush(Colors.Transparent);
		4750	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4751	row.BorderThickness = new Thickness(0);
		4752	}
2372	-	4753	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	4754	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
2425	-	4755	else
		4756	wpOffset.Remove((int)dtWaypoints.Rows[index][0] + 1);
2368	-	4757	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	4758	if (wpActiveMarker != null)
		4759	MainMap.Markers.Remove(wpActiveMarker);
2368	-	4760	dtWaypoints.Rows[index].Delete();
		4761	_wpIndex = -1;
		4762	_wpEdit = -1;
		4763	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		4764	{
		4765	dtWaypoints.Rows[i][0] = i + 1;
		4766	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		4767	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		4768	_renameWPMarker(s1, s2);
		4769	dtWaypoints.Rows[i][2] = s2;
		4770	}
		4771	lblWPCount.Content = dtWaypoints.Rows.Count;
		4772	if (mRouteWP != null)
		4773	MainMap.Markers.Remove(mRouteWP);
		4774	_routeUpdate();
2361	-	4775
2368	-	4776	dgvWP.UpdateLayout();
		4777	});
		4778	}
2361	-	4779	}
2366	-	4780	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		4781	{
		4782	_wpWEdit(sender);
		4783	}
2361	-	4784	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		4785	{
2366	-	4786	_wpWEdit(sender);
		4787	}
2369	-	4788	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		4789	{
		4790	_wpWEdit(sender);
		4791	}
2366	-	4792	void _wpWEdit(object sender)
		4793	{
2369	-	4794	// if (!((TextBox)sender).IsReadOnly)
2361	-	4795	{
		4796	KeyPad.Keypad k = new KeyPad.Keypad(this);
		4797
2363	-	4798	switch (((TextBox)sender).Name)
		4799	{
		4800	case "tbWPEditLat":
		4801	k.Title = "Latitude";
		4802	k.LENGTH = 17;
		4803	k.MAX = 359.9;
		4804	break;
		4805	case "tbWPEditLon":
		4806	k.Title = "Longitude";
		4807	k.LENGTH = 17;
		4808	k.MAX = 359.9;
		4809	break;
		4810	case "tbWPEditAlt":
		4811	k.Title = "Altitude";
		4812	k.LENGTH = 3;
		4813	k.MAX = 254;
		4814	k.disableDecimal();
		4815	break;
		4816	case "tbWPEditHeading":
		4817	k.Title = "Heading";
		4818	k.LENGTH = 3;
		4819	k.MAX = 359;
		4820	k.MIN = 1;
		4821	k.disableDecimal();
		4822	break;
		4823	case "tbWPEditSpeed":
		4824	k.Title = "Speed";
		4825	k.LENGTH = 4;
		4826	k.MAX = 24.7;
		4827	k.MIN = 0.1;
		4828	break;
		4829	case "tbWPEditClimbrate":
		4830	k.Title = "Climbrate";
		4831	k.LENGTH = 4;
		4832	k.MAX = 25.4;
		4833	k.MIN = 0.1;
		4834	break;
		4835	case "tbWPEditRadius":
		4836	k.Title = "Radius";
		4837	k.LENGTH = 3;
		4838	k.MAX = 254;
		4839	k.disableDecimal();
		4840	break;
		4841	case "tbWPEditHoldtime":
		4842	k.Title = "Holdtime";
		4843	k.LENGTH = 3;
		4844	k.MAX = 254;
		4845	break;
		4846	case "tbWPEditAutoTrigger":
		4847	k.Title = "Autotrigger";
		4848	k.LENGTH = 3;
		4849	k.MAX = 254;
		4850	k.disableDecimal();
		4851	break;
		4852	case "tbWPEditCamAngle":
		4853	k.Title = "Camera angle";
		4854	k.LENGTH = 3;
		4855	k.MAX = 254;
		4856	k.MIN = 1;
		4857	k.disableDecimal();
		4858	break;
		4859	case "tbWPEditOut1":
		4860	k.Title = "OUT1 timer interval";
		4861	k.LENGTH = 3;
		4862	k.MAX = 254;
		4863	k.disableDecimal();
		4864	break;
		4865	}
		4866	k.Result = ((TextBox)sender).Text;
2366	-	4867	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	4868	((TextBox)sender).Text = k.Result;
2361	-	4869	}
2366	-	4870
2361	-	4871	}
		4872	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	4873	{
2359	-	4874	object[] o = new object[16];
2356	-	4875
2359	-	4876	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		4877	o[1] = 0;
		4878	// cbWPEditType.SelectedIndex = 0;
		4879	// tbWPEditPrefix.Text = "P";
		4880	o[2] = "P" + o[0].ToString();
		4881	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4882	o[3] = copter.Position.Lat;
		4883	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4884	o[4] = copter.Position.Lng;
		4885	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		4886	o[5] = iAnalogData[4].ToString();
2356	-	4887
2359	-	4888	// cbWPEditHeading.SelectedIndex = 2;
		4889	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		4890	// tbWPEditHeading.IsReadOnly = false;
2356	-	4891
2359	-	4892	// cbWPEditSpeed.SelectedIndex = 1;
		4893	// tbWPEditSpeed.Text = "5.0";
		4894	// tbWPEditSpeed.IsReadOnly = false;
2372	-	4895	o[7] = "10";
2356	-	4896
2359	-	4897	// cbWPEditClimbrate.SelectedIndex = 1;
		4898	// tbWPEditClimbrate.Text = "5.0";
		4899	// tbWPEditClimbrate.IsReadOnly = false;
2372	-	4900	o[8] = "10";
2356	-	4901
2359	-	4902	// tbWPEditRadius.Text = "10";
2372	-	4903	o[9] = "5";
2359	-	4904	// tbWPEditHoldtime.Text = "5";
		4905	o[10] = "5";
		4906	// tbWPEditAutoTrigger.Text = "0";
		4907	o[11] = "0";
		4908	// cbWPEditCamAngle.SelectedIndex = 1;
		4909	// tbWPEditCamAngle.Text = "AUTO";
		4910	// tbWPEditCamAngle.IsReadOnly = true;
		4911	o[12] = "255";
2356	-	4912
2359	-	4913	o[13] = "0";
		4914	// tbWPEditOut1.Text = "0";
		4915	o[14] = "0";
		4916	o[15] = "0";
		4917
		4918	dtWaypoints.Rows.Add(o);
2425	-	4919	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1],(int)o[0]-1);
2359	-	4920	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4921	if (mRouteWP != null)
		4922	MainMap.Markers.Remove(mRouteWP);
		4923	_routeUpdate();
		4924	Dispatcher.Invoke(() => {
		4925	dgvWP.Items.Refresh();
		4926	dgvWP.SelectedIndex = (int)o[0] -1;
		4927	dgvWP.UpdateLayout();
		4928	_dgvWPselectEditRow();
		4929	});
2356	-	4930	}
2428	-	4931
		4932	private void btnWPEditmoveUp_Click(object sender, RoutedEventArgs e)
		4933	{
		4934	if (dgvWP.SelectedIndex > 0 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4935	{
		4936	int index = dgvWP.SelectedIndex;
		4937	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)
		4938	{
		4939	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		4940	int wpListIndex = wpList.IndexOf(x);
		4941	if (wpListIndex > 0)
		4942	{
		4943	wpList.RemoveAt(wpListIndex);
		4944	wpList.Insert(wpListIndex - 1, x);
		4945	MainMap.Markers.Remove(mRouteWP);
		4946	_routeUpdate();
		4947	}
		4948	}
		4949	DataRow dr = dtWaypoints.Rows[index];
		4950	DataRow newRow = dtWaypoints.NewRow();
		4951	newRow.ItemArray = dr.ItemArray;
		4952	dtWaypoints.Rows.Remove(dr);
		4953	dtWaypoints.Rows.InsertAt(newRow, index - 1);
		4954	dtWaypoints.Rows[index][0] = 100;
		4955	dtWaypoints.Rows[index - 1][0] = index;
		4956	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index - 1][2].ToString());
		4957	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		4958	dtWaypoints.Rows[index - 1][2] = dtWaypoints.Rows[index - 1][2].ToString().Substring(0, 1) + index.ToString();
		4959	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index - 1][2].ToString();
		4960	dtWaypoints.Rows[index][0] = index + 1;
		4961	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		4962	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		4963	dgvWP.Items.Refresh();
		4964	dgvWP.SelectedIndex = index - 1;
		4965	_dgvWPselectEditRow();
		4966	if (wpOffset.Contains(index)) // calculating offset for wpList (index is 0-based - offset starts with index 1)
		4967	{
		4968	int iOffset = wpOffset.IndexOf(index);
		4969	if (iOffset > 0) // if not first element
		4970	{
		4971	if (wpOffset[iOffset - 1] < index-1) //if previous element is not immediately before actual offset
		4972	wpOffset[iOffset] = index-1; //then decrease offset value by one
		4973	}
		4974	else
		4975	wpOffset[iOffset] = index-1; //if first element, decrease offset by one
		4976	}
		4977	else //selected line is POI
		4978	{
		4979	if (wpOffset.Contains(index - 1)) // if next point is WP
		4980	{
		4981	int iOffset = wpOffset.IndexOf(index - 1);
		4982	wpOffset[iOffset] = index; //decrease linenumber of following WP
		4983	}
		4984	}
		4985
		4986	}
		4987	}
		4988	private void btnWPEditmoveDown_Click(object sender, RoutedEventArgs e)
		4989	{
		4990	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count - 1)
		4991	{
		4992	int index = dgvWP.SelectedIndex;
		4993	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)
		4994	{
		4995	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		4996	int wpListIndex = wpList.IndexOf(x);
		4997	if (wpListIndex > -1)
		4998	{
		4999	wpList.RemoveAt(wpListIndex);
		5000	if (wpList.Count > wpListIndex)
		5001	wpList.Insert(wpListIndex + 1, x);
		5002	else
		5003	wpList.Add(x);
		5004	MainMap.Markers.Remove(mRouteWP);
		5005	_routeUpdate();
		5006	}
		5007	}
		5008	DataRow dr = dtWaypoints.Rows[index];
		5009	DataRow newRow = dtWaypoints.NewRow();
		5010	newRow.ItemArray = dr.ItemArray;
		5011	dtWaypoints.Rows.Remove(dr);
		5012	dtWaypoints.Rows.InsertAt(newRow, index + 1);
		5013	dtWaypoints.Rows[index][0] = 100;
		5014	dtWaypoints.Rows[index + 1][0] = index + 2;
		5015	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index + 1][2].ToString());
		5016	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5017	dtWaypoints.Rows[index + 1][2] = dtWaypoints.Rows[index + 1][2].ToString().Substring(0, 1) + (index+2).ToString();
		5018	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index + 1][2].ToString();
		5019	dtWaypoints.Rows[index][0] = index + 1;
		5020	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5021	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5022	dgvWP.Items.Refresh();
		5023	dgvWP.SelectedIndex = index + 1;
		5024	_dgvWPselectEditRow();
		5025	if(wpOffset.Contains(index)) // If selected line is WP
		5026	{
		5027	int iOffset = wpOffset.IndexOf(index);
		5028	if(iOffset < wpOffset.Count -1) // if not last element
		5029	{
		5030	if (wpOffset[iOffset + 1] > index + 1) //if next element is not immediately after actual offset
		5031	wpOffset[iOffset] = index + 1; //then increase offset value by one
		5032	}
		5033	else
		5034	wpOffset[iOffset] = index + 1; //if last element increase offset by one
		5035	}
		5036	else //selected line is POI
		5037	{
		5038	if (wpOffset.Contains(index + 1)) // if next point is WP
		5039	{
		5040	int iOffset = wpOffset.IndexOf(index + 1);
		5041	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5042	}
		5043	}
		5044	}
		5045
		5046	}
		5047
2405	-	5048	private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e)
		5049	{
		5050	if (WPStatus.Visibility == Visibility.Visible)
		5051	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5052	else
		5053	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5054	}
		5055	private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e)
		5056	{
		5057	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		5058	{
		5059	if (cWPBound != null && cWPBound.Tag != null)
		5060	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2356	-	5061
2408	-	5062	createCircle(home.Position, dWPMaxRange);
2419	-	5063	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		5064	{
		5065	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		5066	cWPBound.setColor(s);
		5067	}
2405	-	5068	}
2408	-	5069
2405	-	5070	if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null))
		5071	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		5072	}
2315	-	5073	#endregion WP
2324	-	5074	#region GPX
		5075	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		5076	{
		5077	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		5078	}
		5079	void _gpxAdd(double lat,double lon, int elevation)
		5080	{
		5081	DataRow dr = dtGPX.NewRow();
		5082	dr[0] = dtGPX.Rows.Count - 1;
		5083	dr[1] = lat;
		5084	dr[2] = lon;
		5085	dr[3] = elevation;
		5086	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		5087	dtGPX.Rows.Add(dr);
		5088	}
		5089	void _saveGPXLog()
		5090	{
		5091	if (!Directory.Exists("GPXLog"))
		5092	Directory.CreateDirectory("GPXLog");
		5093	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		5094	XmlTextWriter myXmlTextWriter = null;
		5095	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		5096	NumberFormatInfo nfi = new NumberFormatInfo();
		5097	nfi.NumberDecimalSeparator = ".";
2315	-	5098
2324	-	5099	try
		5100	{
		5101	myXmlTextWriter.Formatting = Formatting.Indented;
		5102
		5103	myXmlTextWriter.WriteStartDocument();
		5104
		5105	myXmlTextWriter.WriteStartElement("gpx");
		5106
		5107	myXmlTextWriter.WriteAttributeString("version", "1.0");
		5108	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		5109	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		5110	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		5111	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		5112
		5113	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		5114
		5115	myXmlTextWriter.WriteStartElement("trk");
		5116	myXmlTextWriter.WriteStartElement("trkseg");
		5117	for(int i = 0; i< dtGPX.Rows.Count;i++)
		5118	{
		5119	myXmlTextWriter.WriteStartElement("trkpt");
		5120	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		5121	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		5122	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		5123	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		5124	myXmlTextWriter.WriteEndElement();
		5125	}
		5126	myXmlTextWriter.WriteEndElement();
		5127	myXmlTextWriter.WriteEndElement();
		5128	myXmlTextWriter.WriteEndElement();
		5129	}
		5130	catch (Exception e)
		5131	{
		5132	Console.WriteLine("Exception: {0}", e.ToString());
		5133	}
		5134	finally
		5135	{
		5136	if (myXmlTextWriter != null)
		5137	{
		5138	myXmlTextWriter.Close();
		5139	}
		5140	}
		5141	}
2425	-	5142
		5143	private void Grid_TouchDown(object sender, TouchEventArgs e)
		5144	{
		5145
		5146	}
		5147
2324	-	5148	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		5149	{
		5150	_loadGPXLog();
		5151	}
2327	-	5152	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		5153	{
		5154	_clearMapMarkers(typeof(GMapRoute));
		5155	}
2324	-	5156	void _loadGPXLog()
		5157	{
		5158
		5159	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		5160	fd.Filter = "GPX-Logfile \| *.gpx";
		5161	fd.Multiselect = false;
		5162	if (fd.ShowDialog().Value)
		5163	{
		5164	string file = fd.FileName;
		5165	try
		5166	{
		5167	XDocument gpxDoc = XDocument.Load(file);
		5168	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		5169
		5170	NumberFormatInfo nfi = new NumberFormatInfo();
		5171	nfi.NumberDecimalSeparator = ".";
		5172
		5173	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		5174	select new
		5175	{
		5176	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		5177	Segs = (
		5178	from trackpoint in track.Descendants(gpx + "trkpt")
		5179	select new
		5180	{
		5181	Latitude = trackpoint.Attribute("lat").Value,
		5182	Longitude = trackpoint.Attribute("lon").Value,
		5183	Elevation = trackpoint.Element(gpx + "ele") != null ?
		5184	trackpoint.Element(gpx + "ele").Value : null,
		5185	Time = trackpoint.Element(gpx + "time") != null ?
		5186	trackpoint.Element(gpx + "time").Value : null
		5187	}
		5188	)
		5189	};
		5190
		5191	List<PointLatLng> wpl = new List<PointLatLng>();
		5192	foreach(var trk in tracks)
		5193	{
		5194	foreach(var trkseg in trk.Segs)
		5195	{
		5196	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		5197	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		5198	}
		5199
		5200	}
		5201	if(wpl.Count() > 0)
		5202	{
2327	-	5203	_clearMapMarkers(typeof(GMapRoute));
2324	-	5204	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	5205	Dispatcher.Invoke(() =>
		5206	{
		5207	GMapRoute mRoute;
		5208	if (comboBoxRouteColor.SelectionBoxItem != null)
		5209	{
		5210	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	5211	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	5212	}
		5213	else
2366	-	5214	mRoute = new GMapRoute(wpl, null);
2324	-	5215
2328	-	5216	MainMap.Markers.Add(mRoute);
		5217	});
2324	-	5218	}
		5219
		5220	}
		5221	catch (Exception e)
		5222	{
		5223	Console.WriteLine("Exception: {0}", e.ToString());
		5224	}
		5225	}
		5226	}
		5227	#endregion GPX
2315	-	5228	#endregion functions
2287	-	5229	}
2425	-	5230
		5231	/// <summary>
2315	-	5232	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		5233	/// </summary>
2313	-	5234	public class waypointsConverter : IValueConverter
		5235	{
		5236	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		5237	{
		5238	if (value != null)
		5239	{
		5240	switch ((string)parameter)
		5241	{
		5242	case "Latitude":
		5243	return value.ToString() + " °";
		5244	case "Longitude":
		5245	return value.ToString() + " °";
		5246	case "Radius":
		5247	return value.ToString() + " m";
		5248	case "Altitude":
		5249	return value.ToString() + " m";
		5250	case "ClimbRate":
		5251	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		5252	case "DelayTime":
		5253	return value.ToString() + " s";
		5254	case "Heading":
		5255	return Waypoints.Heading(System.Convert.ToInt32(value));
		5256	case "Speed":
		5257	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		5258	case "CamAngle":
		5259	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		5260	case "Type":
		5261	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		5262	case "AutoTrigger":
		5263	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		5264	case "Status":
2355	-	5265	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	5266	}
		5267
		5268	return value.ToString();
		5269	}
		5270	else return value;
		5271	}
		5272
		5273	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		5274	{
		5275	throw new NotImplementedException();
		5276	}
		5277	}
2287	-	5278	public class IniFile
		5279	{
		5280	public string path;
		5281
		5282	[DllImport("kernel32")]
		5283	private static extern long WritePrivateProfileString(string section,
		5284	string key, string val, string filePath);
		5285
		5286	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		5287	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		5288	uint nSize, string lpFileName);
		5289
		5290	[DllImport("kernel32")]
		5291	private static extern int GetPrivateProfileString(string section,
		5292	string key, string def, StringBuilder retVal,
		5293	int size, string filePath);
		5294
		5295	public IniFile(string INIPath)
		5296	{
		5297	path = INIPath;
		5298	}
		5299
		5300	public void IniWriteValue(string Section, string Key, string Value)
		5301	{
		5302	WritePrivateProfileString(Section, Key, Value, this.path);
		5303	}
		5304
		5305	public string IniReadValue(string Section, string Key)
		5306	{
		5307	StringBuilder temp = new StringBuilder(255);
		5308	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		5309	return temp.ToString();
		5310	}
		5311	//Ini_sections auslesen in String-Array
		5312	public string[] IniSectionNames()
		5313	{
		5314
		5315	// uint MAX_BUFFER = 32767;
		5316	uint MAX_BUFFER = 8388608;
		5317	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		5318	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		5319	if (bytesReturned == 0)
		5320	{
		5321	Marshal.FreeCoTaskMem(pReturnedString);
		5322	return null;
		5323	}
		5324	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		5325	Marshal.FreeCoTaskMem(pReturnedString);
		5326	//use of Substring below removes terminating null for split
		5327	return local.Substring(0, local.Length - 1).Split('\0');
		5328
		5329
		5330	}
		5331	}
		5332	/// <summary>
		5333	/// Selected Win AI Function Calls
		5334	/// </summary>
		5335	public class WinApi
		5336	{
		5337	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		5338	public static extern int GetSystemMetrics(int which);
		5339	[DllImport("user32.dll")]
		5340	public static extern void
		5341	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		5342	int X, int Y, int width, int height, uint flags);
		5343
		5344	private const int SM_CXSCREEN = 0;
		5345	private const int SM_CYSCREEN = 1;
		5346	private static IntPtr HWND_TOP = IntPtr.Zero;
		5347	private const int SWP_SHOWWINDOW = 64; // 0x0040
		5348
		5349	public static int ScreenX
		5350	{
		5351	get { return GetSystemMetrics(SM_CXSCREEN); }
		5352	}
		5353
		5354	public static int ScreenY
		5355	{
		5356	get { return GetSystemMetrics(SM_CYSCREEN); }
		5357	}
		5358
		5359	public static void SetWinFullScreen(IntPtr hwnd)
		5360	{
		5361	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		5362	}
		5363	}
		5364	/// <summary>
		5365	/// Class used to preserve / restore state of the window
		5366	/// </summary>
		5367	public class WinState
		5368	{
		5369	private WindowState winState;
		5370	private WindowStyle brdStyle;
		5371	private bool topMost;
		5372	private Rect restore;
		5373	private bool IsMaximized = false;
		5374
		5375	public bool isMaximized
		5376	{
		5377	get { return IsMaximized; }
		5378	}
		5379	public void Maximize(Window targetForm)
		5380	{
		5381	if (!IsMaximized)
		5382	{
		5383	IsMaximized = true;
		5384	Save(targetForm);
		5385	targetForm.WindowState = WindowState.Maximized;
		5386	targetForm.WindowStyle = WindowStyle.None;
		5387	targetForm.Topmost = true;
		5388	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		5389	}
		5390	}
		5391
		5392	public void Save(Window targetForm)
		5393	{
		5394	winState = targetForm.WindowState;
		5395	brdStyle = targetForm.WindowStyle;
		5396	topMost = targetForm.Topmost;
		5397	restore = targetForm.RestoreBounds;
		5398	}
		5399	public void Restore(Window targetForm)
		5400	{
		5401	targetForm.WindowState = winState;
		5402	targetForm.WindowStyle = brdStyle;
		5403	targetForm.Topmost = topMost;
		5404
		5405	targetForm.Left = restore.Left;
		5406	targetForm.Top = restore.Top;
		5407	targetForm.Height = restore.Height;
		5408	targetForm.Width = restore.Width;
		5409	IsMaximized = false;
		5410	}
		5411	}
		5412
		5413	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2428 - Rev