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	{
2429	-	789	if (iIndex < wpList.Count)
2347	-	790	{
2429	-	791	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
2347	-	792	{
2429	-	793	Dispatcher.Invoke(() =>
		794	{
		795	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		796	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		797	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		798	MainMap.Markers.Add(wpActiveMarker);
		799	});
		800	}
		801	else
		802	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
2347	-	803	}
		804
2401	-	805	Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m");
2347	-	806	}
		807	void _clearHomePos()
		808	{
2287	-	809	MainMap.Markers.Remove(home);
2405	-	810	if (cWPBound != null && cWPBound.Tag != null)
		811	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2287	-	812	}
2335	-	813	void _clearMapMarkers(Type markerType)
		814	{
		815	for (int k = 0; k < MainMap.Markers.Count;)
		816	{
		817	GMapMarker p = MainMap.Markers[k];
2340	-	818	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	819	MainMap.Markers.Remove(p);
		820	else
		821	k++;
		822	}
2419	-	823	_WPisMouseCaptured = false;
2335	-	824	}
2369	-	825
		826	GMapMarker _findWPMarker(string name)
2368	-	827	{
		828	for (int k = 0; k < MainMap.Markers.Count;)
		829	{
		830	GMapMarker p = MainMap.Markers[k];
		831	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
2369	-	832	if (((CustomMarkerWP)p.Shape).WPText == name)
		833	return p;
2368	-	834	else
		835	k++;
		836	else
		837	k++;
		838	}
2369	-	839	return null;
2368	-	840	}
2369	-	841	void _clearWPMarker(string name)
		842	{
		843	GMapMarker p = _findWPMarker(name);
2424	-	844	if (p != null)
2369	-	845	MainMap.Markers.Remove(p);
		846	}
2368	-	847	void _renameWPMarker(string s1, string s2)
		848	{
2369	-	849	GMapMarker p = _findWPMarker(s1);
		850	if (p != null)
		851	((CustomMarkerWP)p.Shape).WPText = s2;
2368	-	852	}
2372	-	853	void _WPMarkerSetType(string text, int type)
		854	{
		855	GMapMarker p = _findWPMarker(text);
		856	if (p != null)
		857	((CustomMarkerWP)p.Shape).WPType = type;
		858	}
2369	-	859	void _repositionWPMarker(PointLatLng point, string name)
		860	{
		861	GMapMarker p = _findWPMarker(name);
		862	if (p != null)
		863	p.Position = point;
		864	}
		865
2405	-	866	void createCircle(PointLatLng center, double distance)
		867	{
		868
		869	GMapMarker it = new GMapMarker(center);
		870	it.ZIndex = -1;
2424	-	871
2405	-	872	cWPBound.Center = center;
		873	cWPBound.Bound = GMap.NET.PureProjection.GetPointFromDistance(center, distance);
		874	cWPBound.Tag = it;
		875	cWPBound.IsHitTestVisible = false;
		876	UpdateCircle(cWPBound);
		877	it.Shape = cWPBound;
		878	MainMap.Markers.Add(it);
		879	}
		880	// calculates circle radius
		881	void UpdateCircle(Circle c)
		882	{
		883	var pxCenter = MainMap.FromLatLngToLocal(c.Center);
		884	var pxBounds = MainMap.FromLatLngToLocal(c.Bound);
		885
		886	double a = (double)(pxBounds.X - pxCenter.X);
		887	double b = (double)(pxBounds.Y - pxCenter.Y);
		888	var pxCircleRadius = Math.Sqrt(a * a + b * b);
		889
		890	c.Width = c.Height = pxCircleRadius * 2;
		891	//c.Width = 55 + pxCircleRadius * 2;
		892	//c.Height = 55 + pxCircleRadius * 2;
		893	(c.Tag as GMapMarker).Offset = new System.Windows.Point(-c.Width / 2, -c.Height / 2);
		894	}
		895
2287	-	896	// access mode
		897	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		898	{
		899	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		900	MainMap.ReloadMap();
		901	}
		902	// zoom up
		903	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		904	{
		905	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		906	}
		907
		908	// zoom down
		909	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		910	{
		911	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		912	}
		913
		914	// prefetch
		915	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		916	{
		917	RectLatLng area = MainMap.SelectedArea;
		918	if (!area.IsEmpty)
		919	{
		920	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		921	{
		922	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		923
		924	if (res == MessageBoxResult.Yes)
		925	{
		926	TilePrefetcher obj = new TilePrefetcher();
		927	obj.Owner = this;
		928	obj.ShowCompleteMessage = true;
		929	obj.Start(area, i, MainMap.MapProvider, 100);
		930	}
		931	else if (res == MessageBoxResult.No)
		932	{
		933	continue;
		934	}
		935	else if (res == MessageBoxResult.Cancel)
		936	{
		937	break;
		938	}
		939	}
		940	}
		941	else
		942	{
		943	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		944	}
		945	}
		946
		947	// goto by geocoder
		948	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		949	{
		950	_goto_byGeoCoder();
		951	}
		952	// goto by geocoder
		953	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		954	{
		955	if (e.Key == System.Windows.Input.Key.Enter)
		956	_goto_byGeoCoder();
		957	}
		958	void _goto_byGeoCoder()
		959	{
		960	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		961	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		962	{
		963	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		964	}
		965	}
		966	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		967	{
		968	try
		969	{
		970	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		971	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		972
		973	MainMap.Position = new PointLatLng(lat, lng);
		974	}
		975	catch (Exception ex)
		976	{
		977	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		978	}
		979
		980	}
		981
		982	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		983	{
		984	MainMap.ReloadMap();
		985	}
		986
		987	private void MainMap_OnPositionChanged(PointLatLng point)
		988	{
		989	if (_bFollowCopter)
		990	_setCopterData(MainMap.Position);
		991	}
		992
		993	private void MainMap_OnMapZoomChanged()
		994	{
		995	if (_bFollowCopter)
		996	_setCopterData(MainMap.Position);
2424	-	997	if ((int)sliderMapZoom.Value != MainMap.Zoom)
2287	-	998	sliderMapZoom.Value = MainMap.Zoom;
2424	-	999	if (cWPBound != null && cWPBound.Tag != null)
2405	-	1000	UpdateCircle(cWPBound);
2287	-	1001	}
		1002
		1003	void _setCopterData(PointLatLng p)
		1004	{
		1005	Dispatcher.Invoke(() =>
		1006	{
		1007	copter.Position = p;
		1008	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		1009	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		1010	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		1011	});
		1012	if (home != null && MainMap.Markers.Contains(home))
		1013	{
		1014	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		1015	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		1016	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	1017
2424	-	1018	if (d * 1000 < _dThresholdDistanceWarn)
2291	-	1019	{
		1020	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		1021	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		1022	{
		1023	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		1024	_bAnimDistanceActive = false;
		1025	}
		1026	}
		1027	else
		1028	{
		1029	if (_iDistanceJitter < 20)
		1030	{ _iDistanceJitter++; }
		1031	if (_iDistanceJitter == 20)
		1032	{
		1033	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		1034	{
		1035	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		1036	_bAnimDistanceActive = true;
		1037	}
		1038	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		1039	{
2398	-	1040	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\Distance.mp3");
		1041	//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		1042	//t.Start();
2291	-	1043	_bVoiceDistanceActive = true;
		1044	}
		1045	_iDistanceJitter++;
		1046	}
		1047	}
2287	-	1048	}
		1049	}
		1050
		1051	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		1052	{
		1053	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		1054	}
		1055
		1056	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1057	{
		1058	if (MainMap.Zoom != sliderMapZoom.Value)
		1059	MainMap.Zoom = (int)sliderMapZoom.Value;
		1060	}
		1061	#region Touch zooming hackattack ;)
		1062	/// <summary>
		1063	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		1064	/// </summary>
		1065	bool bFirstAccess = true;
		1066	double dDistance = 0;
		1067	int iZoom;
		1068	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1069	{
2419	-	1070	if (!_WPisMouseCaptured)
2287	-	1071	{
2419	-	1072	var id = e.StylusDevice.Id;
		1073	e.StylusDevice.Capture(MainMap);
		1074	if (iFirstStylusID == -1)
		1075	{
		1076	iFirstStylusID = id;
		1077	}
		1078	else
		1079	{
2287	-	1080
2419	-	1081	MainMap.CanDragMap = false;
		1082	}
2287	-	1083	}
		1084	}
		1085	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1086	{
		1087	MainMap.ReleaseStylusCapture();
		1088	iFirstStylusID = -1;
		1089	bFirstAccess = true;
		1090	MainMap.CanDragMap = true;
		1091	iZoom = 0;
		1092	}
		1093	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1094	{
		1095	var id = e.StylusDevice.Id;
		1096	var tp = e.GetPosition(MainMap);
		1097
		1098	// This is the first Stylus point; just record its position.
		1099	if (id == iFirstStylusID)
		1100	{
		1101	pTouch1.X = tp.X;
		1102	pTouch1.Y = tp.Y;
		1103	}
		1104	else
		1105	if (iFirstStylusID > -1)
		1106	{
		1107	pTouch2.X = tp.X;
		1108	pTouch2.Y = tp.Y;
		1109	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1110	if (!bFirstAccess)
		1111	{
		1112	if (distance > dDistance)
		1113	iZoom++;
		1114	else
		1115	if (distance < dDistance)
		1116	iZoom--;
		1117	}
		1118	if (iZoom > 30)
		1119	{
		1120	iZoom = 0;
		1121	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1122	}
		1123	if (iZoom < -30)
		1124	{
		1125	iZoom = 0;
		1126	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1127	}
		1128	dDistance = distance;
		1129	bFirstAccess = false;
		1130	}
		1131	}
		1132	#endregion Touch zooming hackattack ;)
		1133
		1134	#endregion GMap
		1135
		1136	#region settings
		1137	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1138	{
2424	-	1139	if (!_bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
2287	-	1140	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1141	}
		1142	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1143	{
2424	-	1144	if (!_bCBInit && cBoxTimingsNav.SelectedIndex > -1)
2287	-	1145	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1146	}
		1147	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1148	{
		1149	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1150	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1151	}
		1152	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1153	{
		1154	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1155	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1156	}
		1157	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1158	{
		1159	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1160	}
		1161	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1162	{
		1163	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1164	}
		1165	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1166	{
		1167	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1168	}
		1169	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1170	{
		1171	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1172	}
		1173
		1174	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1175	{
		1176	if (cBoxLiPoCells.SelectedIndex > -1)
		1177	{
		1178	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1179	_LipoMinMax();
		1180	}
		1181	}
		1182	void _LipoMinMax()
		1183	{
		1184	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1185	_dLipoVMin = (double)_LipoCells * 3;
		1186	pbTopVoltage.Maximum = _dLipoVMax;
		1187	pbTopVoltage.Minimum = _dLipoVMin;
		1188	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1189	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1190	}
		1191	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1192	{
		1193	if (cBoxMotors.SelectedIndex > -1)
		1194	{
		1195	_iMotors = cBoxMotors.SelectedIndex + 3;
		1196	Dispatcher.Invoke(() =>
		1197	{
		1198	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1199	GridMotors.Height = dgvMotors1.Height + 10;
		1200	});
		1201	}
		1202	}
		1203	void _setMotorGridSize()
		1204	{
		1205	if (dgvMotors1.Columns.Count > 2)
		1206	{
		1207	dgvMotors1.Columns[0].Width = 24;
		1208	dgvMotors1.Columns[1].Width = 50;
		1209	dgvMotors1.Columns[2].Width = 50;
		1210	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1211	GridMotors.Height = dgvMotors1.Height + 10;
		1212	}
		1213
		1214	}
		1215	#endregion settings
		1216
		1217	#region functions
		1218
		1219	#region logging
		1220	/// <summary> Log data to the terminal window. </summary>
		1221	/// <param name="msgtype"> The type of message to be written. </param>
		1222	/// <param name="msg"> The string containing the message to be shown. </param>
		1223	private void Log(LogMsgType msgtype, string msg)
		1224	{
		1225	Dispatcher.Invoke(() =>
		1226	{
2424	-	1227	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1228	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1229	// rtfTerminal.AppendText(msg + "\r");
		1230	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd, rtfTerminal.Document.ContentEnd);
2287	-	1231	tr.Text = msg;
		1232	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1233	rtfTerminal.AppendText("\r");
		1234	rtfTerminal.ScrollToEnd();
		1235	});
		1236	}
2424	-	1237	private void ErrorLog(LogMsgType msgtype, string msg, string linkURL, string linkName)
2287	-	1238	{
2381	-	1239
2287	-	1240	Dispatcher.Invoke(() =>
		1241	{
2381	-	1242	Paragraph para = new Paragraph();
		1243	para.Margin = new Thickness(0); // remove indent between paragraphs
		1244
		1245	Hyperlink link = new Hyperlink();
		1246	if (linkURL != "" && linkName != "")
		1247	{
		1248	link.IsEnabled = true;
		1249	link.Inlines.Add(linkName);
		1250	link.NavigateUri = new Uri(linkURL);
		1251	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1252	}
		1253	//msg = DateTime.Now.ToLongTimeString() + msg;
		1254	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1255	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1256	r.Foreground = new SolidColorBrush(Colors.Black);
		1257	para.Inlines.Add(r);
		1258	para.Inlines.Add(msg);
		1259	para.Inlines.Add(link);
		1260	rtfError.Document.Blocks.Add(para);
		1261	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1262	//tr.Text = msg + link;
		1263	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1264	//rtfError.AppendText("\r");
2287	-	1265	rtfError.ScrollToEnd();
		1266
2381	-	1267	//_bErrorLog = true;
2287	-	1268	});
		1269	}
		1270	/// <summary>
		1271	/// Clear the line in the errorlog window
		1272	/// containing the error string when error has ceased
		1273	/// </summary>
		1274	/// <param name="s">substring of errrormessage</param>
		1275	void _clearErrorLog(string s)
		1276	{
		1277	Dispatcher.Invoke((Action)(() =>
		1278	{
		1279	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1280	TextRange foundRange = FindTextInRange(searchRange, s);
		1281
		1282	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1283
		1284
		1285	if (iStart > -1)
		1286	{
		1287	int iLength = 0;
		1288	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1289	if (iEnd > 0)
		1290	{
		1291	iLength = iEnd + 1;
2424	-	1292	int iHttp = searchRange.Text.IndexOf("http", iEnd);
2287	-	1293	if (iHttp == iLength)
		1294	{
		1295	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1296	if (iEnd2 > iLength)
		1297	{
		1298	iLength = iEnd2 + 1;
2424	-	1299	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
2287	-	1300
		1301	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1302	rtfError.Selection.Text = string.Empty;
		1303	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1304	}
		1305
		1306	}
		1307	else
		1308	{
		1309	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1310	rtfError.Selection.Text = string.Empty;
		1311	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1312	}
		1313	}
		1314	}
		1315	}));
		1316
		1317	}
		1318	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1319	{
		1320	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1321	if (offset < 0)
		1322	return null; // Not found
		1323
		1324	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1325	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1326
		1327	return result;
		1328	}
		1329	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1330	{
		1331	while (position != null)
		1332	{
		1333	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1334	{
		1335	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1336	if (characterCount <= count)
		1337	{
		1338	return position.GetPositionAtOffset(characterCount);
		1339	}
		1340
		1341	characterCount -= count;
		1342	}
		1343
		1344	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1345	if (nextContextPosition == null)
		1346	return position;
		1347
		1348	position = nextContextPosition;
		1349	}
		1350
		1351	return position;
		1352	}
		1353	#endregion logging
		1354
		1355	#region processing received data
		1356
		1357	private void processMessage(byte[] message)
		1358	{
		1359	if (message.Length > 0)
		1360	{
		1361	_iLifeCounter++;
		1362	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1363	//Log(LogMsgType.Incoming, message.Length.ToString());
		1364	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1365	char cmdID;
		1366	byte adr;
		1367	byte[] data;
		1368	byte[] tmp = null;
		1369	if (message[0] != '#')
		1370	{
		1371	int iFound = -1;
		1372	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1373	{ //so this is a workaround to not spam the log box
		1374	if (message[i] == 35)
		1375	{
		1376	iFound = i;
		1377	break;
		1378	}
		1379	}
		1380	if (iFound > 0)
		1381	{
		1382	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1383	tmp = new byte[message.Length - iFound];
		1384	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1385	}
		1386	s = s.Trim('\0', '\n', '\r');
		1387	if (s.Length > 0)
		1388	Log(LogMsgType.Normal, s);
		1389	if (tmp != null)
		1390	{
		1391	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1392	processMessage(tmp);
		1393	}
		1394	}
		1395	//Debug.Print(s);
		1396	else
		1397	{
		1398	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1399
		1400	if (adr == 255) { crcError++; }
		1401	else crcError = 0;
		1402	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1403	//display the active controller (FC / NC)
		1404	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...???
		1405	{
		1406	_iCtrlAct = adr;
		1407	switch (adr)
		1408	{
		1409	case 1:
		1410	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2429	-	1411	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1412	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
2424	-	1413	// _setFieldsNA(); //display fields NA for FC
2287	-	1414	break;
		1415	case 2:
		1416	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
2429	-	1417	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1418	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
2287	-	1419	break;
		1420	//case 3:
		1421	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1422	// break;
		1423	//case 4:
		1424	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1425	// break;
		1426	default:
		1427	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1428	break;
		1429	}
2424	-	1430	// _loadLabelNames();
2287	-	1431	}
		1432	// else
		1433	// Debug.Print("Address == 0?");
		1434
		1435	if (data != null && data.Length > 0)
		1436	{
		1437	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1438	s = s.Trim('\0', '\n');
		1439
		1440	switch (cmdID)
		1441	{
		1442	//case 'A': //Label names
		1443	// _processLabelNames(s);
		1444	// break;
		1445
		1446	case 'D': //Debug data
		1447	_processDebugVals(adr, data);
		1448	break;
		1449
		1450	case 'V': //Version
		1451	_processVersion(adr, data);
		1452	break;
		1453
		1454	case 'K'://BL-CTRL data
		1455	_processBLCtrl(data);
		1456	break;
		1457
2424	-	1458	case 'M'://License info
		1459	_processLicense(data);
		1460	break;
		1461
2287	-	1462	case 'O': //NC Data
2428	-	1463	if (data[0] < 10)
		1464	_processNCData(data);
		1465	else
		1466	_processNCDataV2(data);
2287	-	1467	break;
		1468
2381	-	1469	//case 'E': //NC error-string
		1470	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1471	// break;
2287	-	1472
		1473	case 'L': //OSD Menue (called by pagenumber)
		1474	_processOSDSingle(data);
		1475	break;
		1476
		1477	case 'H': //OSD Menue (with autoupdate - called by Key)
		1478	_processOSDAuto(data);
		1479	break;
		1480
		1481	case 'X': //Waypoint data
		1482	_processWPData(data);
		1483	break;
		1484
2313	-	1485	case 'W': //return new Waypoint items count after sending waypoint to copter
		1486	_iWPCount = data[0];
		1487	break;
2287	-	1488	//default:
		1489	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1490	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1491	// break;
		1492	}
		1493	}
		1494	//else
		1495	//{
		1496	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1497	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1498	//}
		1499	}
		1500	}
		1501	}
		1502	/// <summary>
		1503	/// Analog label names 'A'
		1504	/// each label name is returned as a single string
		1505	/// and added to string array sAnalogLabel[]
		1506	/// and the datatable dtAnalog
		1507	/// </summary>
		1508	/// <param name="s">the label name</param>
		1509	void _processLabelNames(string s)
		1510	{
		1511	//if (iLableIndex < 32)
		1512	//{
		1513	// sAnalogLabel[iLableIndex] = s;
		1514	// if (dtAnalog.Rows.Count < 32)
		1515	// dtAnalog.Rows.Add(s, "");
		1516	// else
		1517	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1518
		1519	// // _getAnalogLabels(iLableIndex + 1);
		1520	//}
		1521	//Debug.Print(s);
		1522	}
		1523	/// <summary>
		1524	/// Debug values 'D'
		1525	/// </summary>
		1526	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1527	/// <param name="data">the received byte array to process</param>
		1528	void _processDebugVals(byte adr, byte[] data)
		1529	{
		1530	if (data.Length == 66)
		1531	{
2424	-	1532
2287	-	1533	double v;
		1534	int index = 0;
		1535	Int16 i16 = 0;
		1536	double dTemp = 0;
		1537	for (int i = 2; i < 66; i += 2)
		1538	{
		1539	i16 = data[i + 1];
		1540	i16 = (Int16)(i16 << 8);
		1541	iAnalogData[index] = data[i] + i16;
		1542	sAnalogData[index] = (data[i] + i16).ToString();
2424	-	1543	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
2287	-	1544
		1545	if (adr == 2) //NC
		1546	{
		1547	switch (index)
		1548	{
		1549	case 0: //pitch (German: nick)
		1550	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1551	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1552	break;
		1553	case 1: //roll
		1554	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1555	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1556	break;
		1557	case 4: //altitude
		1558	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1559	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2424	-	1560	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1561	break;
		1562	case 7: //Voltage
		1563	v = (double)iAnalogData[index] / (double)10;
		1564	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1565	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1566	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1567	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1568	{
		1569	if (v == _dVoltLast)
2424	-	1570	if (_iVoltJitter < 20) _iVoltJitter++;
		1571	else
		1572	{
		1573	_iVoltJitter = 0;
		1574	_dVoltLast = v;
		1575	}
2287	-	1576	if (_iVoltJitter == 20)
		1577	{
		1578	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1579
		1580	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1581	{
		1582	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1583	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1584	{
		1585	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1586	_bCritAnimVoltActive = true;
		1587	}
		1588	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1589	{
2398	-	1590	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3");
		1591	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1592	//t.Start();
2287	-	1593	_bCritVoiceVoltActive = true;
		1594	}
		1595	}
		1596	else
		1597	{
		1598	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1599	{
		1600	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1601	_bCritAnimVoltActive = false;
		1602	}
		1603	_bCritVoiceVoltActive = false;
		1604
2291	-	1605	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1606	{
2398	-	1607	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3");
		1608	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1609	//t.Start();
2291	-	1610	_bWarnVoiceVoltActive = true;
2287	-	1611	}
		1612	}
		1613	}
		1614	}
		1615	else
		1616	{
		1617	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1618	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1619	{
		1620	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1621	_bCritAnimVoltActive = false;
		1622	}
		1623	_bCritVoiceVoltActive = false;
2291	-	1624	_bWarnVoiceVoltActive = false;
2287	-	1625	_iVoltJitter = 0;
		1626	}
		1627	break;
		1628	case 8: // Current
		1629	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1630	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1631	break;
		1632	case 10: //heading
2291	-	1633	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2399	-	1634	if (!_Simulate) //use NavData for simulation
		1635	{
		1636	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1637	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		1638	}
2287	-	1639	break;
		1640	case 12: // SPI error
2291	-	1641	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1642	break;
		1643	case 14: //i2c error
2291	-	1644	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1645	break;
		1646	case 20: //Earthmagnet field
2291	-	1647	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1648	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
2424	-	1649
2291	-	1650	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1651	{
		1652	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1653	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1654	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1655	{
		1656	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1657	_bAnimMagneticFieldActive = false;
		1658	}
		1659	}
		1660	else
		1661	{
		1662	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
2424	-	1663	if (_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
2291	-	1664	{
		1665	if (_iMagneticFieldJitter < 20)
		1666	_iMagneticFieldJitter++;
		1667	}
		1668	else
		1669	{
		1670	_iMagneticFieldJitter = 0;
		1671	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1672	}
2424	-	1673	if (_iMagneticFieldJitter == 20)
2291	-	1674	{
		1675	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1676	{
		1677	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1678	_bAnimMagneticFieldActive = true;
		1679	}
		1680	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1681	{
2398	-	1682	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1683	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1684	//t.Start();
2291	-	1685	_bVoiceMagneticFieldActive = true;
		1686	}
		1687	}
		1688	}
2287	-	1689	break;
		1690	case 21: //GroundSpeed
2424	-	1691	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1692	if (!_Simulate)
		1693	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2287	-	1694	break;
2291	-	1695
		1696	///******** needs testing --> not sure what position this is *************
2287	-	1697	case 28: //Distance East from saved home position -> calculate distance with distance N + height
2424	-	1698	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1699	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1700	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1701	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1702	dTemp = Math.Sqrt(dTemp) / (double)10;
		1703	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1704	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
2287	-	1705	break;
2291	-	1706
2287	-	1707	case 31: //Sats used
2424	-	1708	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1709	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
2287	-	1710	break;
		1711	}
		1712	}
		1713	index++;
		1714	}
		1715	}
		1716	else
		1717	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1718	}
		1719	/// <summary>
		1720	/// Version string 'V'
		1721	/// </summary>
		1722	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1723	/// <param name="data">the received byte array to process</param>
		1724	void _processVersion(byte adr, byte[] data)
		1725	{
		1726	if (data.Length == 12)
		1727	{
		1728	if (!check_HWError)
		1729	{
		1730	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1731	string sVersion = "";
		1732	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1733	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1734	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1735	Log(LogMsgType.Incoming, sVersion);
		1736	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1737	Log(LogMsgType.Incoming, sVersion);
		1738	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1739	}
		1740	if (data[5] > 0) //error0
		1741	{
		1742	if (adr == 1)
2424	-	1743	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(), "", "");
2287	-	1744	if (adr == 2)
2424	-	1745	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(), "", "");
2287	-	1746	}
		1747	if (data[6] > 0) //error1
		1748	{
		1749	if (adr == 1)
2424	-	1750	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(), "", "");
2287	-	1751	if (adr == 2)
2424	-	1752	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(), "", ""); //@moment NC has only one error field
2287	-	1753	}
2381	-	1754	//if ((data[5] + data[6] == 0) && _bErrorLog)
		1755	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
2287	-	1756
		1757	}
		1758	check_HWError = false;
		1759	}
2424	-	1760
		1761	void _processLicense(byte[] data)
		1762	{
		1763	if (data.Length > 480)
		1764	{
		1765	Dispatcher.Invoke(() => {
		1766	tbDataLicenseUser.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 1, 127));
		1767	tbDataLicenseMail.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 129, 127));
		1768	tbDataLicenseFeature.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 257, 127));
		1769	tbDataLicenseExpire.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 385, 11));
		1770	tbDataLicenseLicense.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 397, 16));
		1771	});
		1772	}
		1773	}
2287	-	1774	/// <summary>
		1775	/// BL-Ctrl data 'K'
		1776	/// for FC you have to use a customized firmware
		1777	/// </summary>
		1778	/// <param name="data">the received byte array to process</param>
		1779	void _processBLCtrl(byte[] data)
		1780	{
		1781	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1782	{
		1783	bool bAvailable = false;
		1784	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1785	{
		1786
		1787	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1788	bAvailable = true;
		1789	else
		1790	bAvailable = false;
		1791
		1792	if (data[i] < _iMotors)
		1793	{
		1794	if (bAvailable)
		1795	{
2315	-	1796	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1797	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1798	}
		1799	else
		1800	{
2315	-	1801	dtMotors.Rows[data[i]].SetField(1, "NA");
		1802	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1803	}
		1804	}
		1805	//if (data[i] > 3 && data[i] < 8)
		1806	//{
		1807	// if (bAvailable)
		1808	// {
		1809	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1810	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1811	// }
		1812	// else
		1813	// {
		1814	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1815	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1816	// }
		1817	//}
		1818	}
		1819	}
		1820	}
		1821	/// <summary>
		1822	/// Navi-Ctrl data 'O'
		1823	/// GPS-Position, capacatiy, flying time...
		1824	/// </summary>
		1825	/// <param name="data">the received byte array to process</param>
2428	-	1826
		1827
		1828	byte OSDSTATUSFLAGS1 = 0;
		1829	byte OSDSTATUSFLAGS2 = 0;
		1830	void _processNCDataV2(byte[] data)
		1831	{
2429	-	1832	if ((int)data[0] < 17)
2428	-	1833	{
2429	-	1834	int i_32, i_16, iVal;
		1835	double d;
		1836	OSD_Base_Data_t osd = new OSD_Base_Data_t(data);
		1837	OSDSTATUSFLAGS1 = osd.OSDSTATUSFLAGS1();
		1838	Dispatcher.Invoke(() => { drGPX[2] = osd.Pos().Lng; });
		1839	Dispatcher.Invoke(() => { drGPX[1] = osd.Pos().Lat; });
		1840	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
		1841	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = osd.Speed().ToString("0.0 m/s")));
		1842	if (_Simulate)
		1843	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = osd.Speed().ToString("0.0 m/s")));
2428	-	1844
2429	-	1845	switch ((int)data[0])
		1846	{
		1847	case 10:
		1848	break;
		1849	case 11:
		1850	OSDSTATUSFLAGS2 = osd.OSDSTATUSFLAGS2();
		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
2428	-	1859
2429	-	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
2428	-	1864
2429	-	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]]);
2428	-	1871
2429	-	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)
2428	-	1879	{
2429	-	1880	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1881	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1882	{
		1883	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1884	_bAnimRCLevelActive = false;
		1885	}
2428	-	1886	}
2429	-	1887	else
2428	-	1888	{
2429	-	1889	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1890	if (_iRCLevelJitter == 20)
2428	-	1891	{
2429	-	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++;
2428	-	1905	}
		1906	}
2429	-	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];
2428	-	1913
2429	-	1914	if (dWPMaxRange != iVal)
2428	-	1915	{
2429	-	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);
2428	-	1921
2429	-	1922	createCircle(home.Position, dWPMaxRange);
		1923	Dispatcher.Invoke(() =>
2428	-	1924	{
2429	-	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"));
2428	-	1933	}
		1934
2429	-	1935	break;
2428	-	1936
2429	-	1937	case 14:
		1938	//--------------- Flying time ------------------------
		1939	i_16 = data[14];
		1940	i_16 = (Int16)(i_16 << 8);
		1941	iVal = data[13] + i_16;
		1942	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1943	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1944	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1945	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
2428	-	1946
2429	-	1947	//--------------------------------Distance HP------------------------------------
		1948	i_16 = data[16];
		1949	i_16 = (Int16)(i_16 << 8);
		1950	iVal = data[15] + i_16;
		1951	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2428	-	1952
2429	-	1953	//--------------------------Distance to next WP--------------------------------
		1954	i_16 = data[19];
		1955	i_16 = (Int16)(i_16 << 8);
		1956	iVal = data[18] + i_16;
		1957	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		1958	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
		1959	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2428	-	1960
2429	-	1961	//-------------------Satellites----------------------------------
		1962	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[23].ToString()));
2428	-	1963
2429	-	1964	if (data[23] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
2428	-	1965	{
2429	-	1966	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
		1967	if (_bAutoHome && !_bFirstSatFix)
2428	-	1968	{
2429	-	1969	if (_iFirstSatFix < 3)
		1970	_iFirstSatFix++;
		1971	else
		1972	{
		1973	_bFirstSatFix = true;
		1974	Dispatcher.Invoke(() => _setHomePos());
		1975	}
2428	-	1976	}
2429	-	1977	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1978	{
		1979	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1980	_bAnimSatFixActive = false;
		1981	}
		1982	if (!_bFollowCopter)
		1983	{
		1984	_setCopterData(osd.Pos());
		1985	if (!MainMap.ViewArea.Contains(osd.Pos()))
		1986	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		1987
		1988	}
		1989	else
2428	-	1990	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		1991	}
		1992	else
		1993	{
2429	-	1994	if (_bSatFix)
2428	-	1995	{
2429	-	1996	if (data[23] == _iSatsLast)
2428	-	1997	{
2429	-	1998	if (_iSatsJitter < 20) _iSatsJitter++;
2428	-	1999	}
2429	-	2000	else
2428	-	2001	{
2429	-	2002	_iSatsJitter = 0;
		2003	_iSatsLast = data[23];
2428	-	2004	}
		2005
2429	-	2006	if (_iSatsJitter == 20)
		2007	{
		2008	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2009	{
		2010	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2011	_bAnimSatFixActive = true;
		2012	}
		2013	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2014	{
		2015	_bVoiceSatFixActive = true;
		2016	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2017	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2018	//th.Start();
		2019	}
		2020
		2021	_bSatFix = false;
		2022	}
2428	-	2023	}
		2024	}
		2025
2429	-	2026	break;
2428	-	2027
2429	-	2028	case 15:
		2029	//--------------------------------Waypoint index------------------------------------
		2030	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[13].ToString()));
		2031	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[13].ToString()));
		2032	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[13].ToString()));
		2033	if (data[13] > 0 && _wpIndex != data[13] - 1 && wpList.Count > data[13] - 1)
		2034	{
		2035	_setActiveWP(data[13] - 1);
		2036	if ((OSDSTATUSFLAGS2 & 2) == 2)
		2037	Dispatcher.Invoke(() =>
2428	-	2038	{
2429	-	2039	DataGridRow row;
		2040	if (_wpIndex > -1)
		2041	{
		2042	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2043	row.Background = new SolidColorBrush(Colors.Transparent);
		2044	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2045	row.BorderThickness = new Thickness(0);
		2046	}
		2047
		2048	_wpIndex = data[13] - 1;
2428	-	2049	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2429	-	2050	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2051	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		2052	row.BorderThickness = new Thickness(2);
		2053	dgvWP.UpdateLayout();
		2054	});
		2055	_wpIndex = data[13] - 1;
		2056	}
		2057	else
2428	-	2058	{
2429	-	2059	if ((data[13] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2428	-	2060	{
2429	-	2061	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
		2062	Dispatcher.Invoke(() =>
2428	-	2063	{
2429	-	2064	DataGridRow row;
		2065	if (_wpIndex > -1 && data[13] == 0 && wpList.Count > _wpIndex)
		2066	{
		2067	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2068	row.Background = new SolidColorBrush(Colors.Transparent);
		2069	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2070	row.BorderThickness = new Thickness(0);
		2071	_wpIndex = -1;
		2072	}
		2073	});
2428	-	2074
2429	-	2075	}
2428	-	2076	}
2429	-	2077	//----------------Waypoints count----------------------
		2078	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[14].ToString())); //Waypoints count
		2079	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[14].ToString())); //Waypoints count
		2080	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[14].ToString())); //Waypoints count
		2081	_wpCount = data[14];
		2082	if(_wpCount > dtWaypoints.Rows.Count)
		2083	{
		2084	Log(LogMsgType.Warning, "The copter reports more waypoints than there are in the local list!");
		2085	}
2428	-	2086
2429	-	2087	//---------------------------------Target hold time------------------------------
		2088	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[15].ToString() + " s"));
		2089	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[15].ToString() + " s"));
2428	-	2090
2429	-	2091	break;
2428	-	2092
2429	-	2093	case 16:
		2094	//--------------- Capacity used ------------------------
		2095	i_16 = data[18];
		2096	i_16 = (Int16)(i_16 << 8);
		2097	iVal = data[17] + i_16;
		2098	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2099	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
2428	-	2100
2429	-	2101	//--------------- Heading compass ------------------------
		2102	i_16 = data[21];
		2103	iVal = 2 * i_16;
		2104	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
		2105	if (_Simulate)
		2106	{
		2107	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2108	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2109	}
2428	-	2110
2429	-	2111	break;
		2112	case 17:
2428	-	2113
2429	-	2114	break;
		2115	case 18:
2428	-	2116
2429	-	2117	break;
		2118	default:
		2119	break;
		2120	}
		2121	//--------------------------------------------------------------------------------
		2122	//-----------------------------FC Status Flags-------------------------------
		2123	//--------------------------------------------------------------------------------
		2124	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2125	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((OSDSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2126	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((OSDSTATUSFLAGS1 & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2127	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((OSDSTATUSFLAGS2 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2128	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2129	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((OSDSTATUSFLAGS1 & 32) == 32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
2428	-	2130
2429	-	2131	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2132	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2133	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((OSDSTATUSFLAGS2 & 4) == 4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2134	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((OSDSTATUSFLAGS1 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2135	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((OSDSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2136	Dispatcher.Invoke((Action)(() => FC2_6.Background = ((OSDSTATUSFLAGS2 & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground
		2137	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((OSDSTATUSFLAGS2 & 64) == 64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2138	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((OSDSTATUSFLAGS2 & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
2428	-	2139
2429	-	2140	//Sidebar StatusSymbols
		2141	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2142	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Foreground = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_MOTOR_RUN 0x01
		2143	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.BorderBrush = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_MOTOR_RUN 0x01
2428	-	2144
2429	-	2145	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2146	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Foreground = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		2147	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.BorderBrush = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
2428	-	2148
2429	-	2149	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2150	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Foreground = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_EMERGENCY_LANDING 0x10
		2151	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.BorderBrush = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_EMERGENCY_LANDING 0x10
2428	-	2152
2429	-	2153	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2154	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Foreground = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2155	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.BorderBrush = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_ALTITUDE_CONTROL 0x02
2428	-	2156
2429	-	2157	_bAirborne = (OSDSTATUSFLAGS2 & 2) == 2 ? true : false;
		2158	}
2428	-	2159	}
		2160	public class OSD_Base_Data_t
		2161	{
		2162	byte[] data;
		2163
		2164	public OSD_Base_Data_t(byte [] _data)
		2165	{
		2166	data = _data;
		2167	}
		2168
		2169	public PointLatLng Pos()
		2170	{
		2171	PointLatLng p = new PointLatLng();
		2172	int i_32, iVal;
		2173	double d;
		2174
		2175	i_32 = data[4];
		2176	iVal = i_32 << 24;
		2177	i_32 = data[3];
		2178	iVal += i_32 << 16;
		2179	i_32 = data[2];
		2180	iVal += i_32 << 8;
		2181	iVal += data[1];
		2182	d = (double)iVal / Math.Pow(10, 7);
		2183	p.Lng = d;
		2184
		2185	i_32 = data[8];
		2186	iVal = i_32 << 24;
		2187	i_32 = data[7];
		2188	iVal += i_32 << 16;
		2189	i_32 = data[6];
		2190	iVal += i_32 << 8;
		2191	iVal += data[5];
		2192	d = (double)iVal / Math.Pow(10, 7);
		2193	p.Lat = d;
		2194
		2195	return p;
		2196
		2197	}
		2198
		2199	public int Height()
		2200	{
		2201	int i_32, iVal;
		2202	i_32 = data[10];
		2203	iVal = i_32 << 8;
		2204	iVal += data[9];
		2205
		2206	return iVal;
		2207	}
		2208
		2209	public double Speed()
		2210	{
2429	-	2211	if (data.Length > 11)
		2212	return (double)data[11]/10;
		2213	else return 0;
2428	-	2214	}
		2215
		2216	public byte OSDSTATUSFLAGS1()
		2217	{
2429	-	2218	if (data.Length > 12)
		2219	return data[12];
		2220	else return 0;
2428	-	2221	}
		2222	public byte OSDSTATUSFLAGS2()
		2223	{
2429	-	2224	if (data.Length > 13)
		2225	return data[13];
		2226	else return 0;
2428	-	2227	}
		2228	}
2287	-	2229	void _processNCData(byte[] data)
		2230	{
		2231	int i_32, i_16, iVal;
		2232	double d;
2428	-	2233
		2234	//----------------------------POSITION------------------------------------
2287	-	2235	i_32 = data[4];
		2236	iVal = i_32 << 24;
		2237	i_32 = data[3];
		2238	iVal += i_32 << 16;
		2239	i_32 = data[2];
		2240	iVal += i_32 << 8;
		2241	iVal += data[1];
		2242	d = (double)iVal / Math.Pow(10, 7);
2324	-	2243	Dispatcher.Invoke(() => { drGPX[2] = d; });
		2244
2287	-	2245	PointLatLng p = new PointLatLng();
		2246
		2247	p.Lng = d;
		2248	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		2249	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		2250
		2251	i_32 = data[8];
		2252	iVal = i_32 << 24;
		2253	i_32 = data[7];
		2254	iVal += i_32 << 16;
		2255	i_32 = data[6];
		2256	iVal += i_32 << 8;
		2257	iVal += data[5];
		2258	d = (double)iVal / Math.Pow(10, 7);
2324	-	2259	Dispatcher.Invoke(() => { drGPX[1] = d; });
		2260	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	2261	p.Lat = d;
2399	-	2262
2428	-	2263	//---------------------------SATS-------------------------------------------------
2291	-	2264	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		2265	{
		2266	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	2267	if(_bAutoHome && !_bFirstSatFix)
		2268	{
		2269	if (_iFirstSatFix < 3)
		2270	_iFirstSatFix++;
		2271	else
		2272	{
		2273	_bFirstSatFix = true;
2347	-	2274	Dispatcher.Invoke(() => _setHomePos());
2295	-	2275	}
		2276	}
2291	-	2277	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2278	{
		2279	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2280	_bAnimSatFixActive = false;
		2281	}
		2282	if (!_bFollowCopter)
		2283	{
		2284	_setCopterData(p);
		2285	if (!MainMap.ViewArea.Contains(p))
		2286	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	2287
2291	-	2288	}
		2289	else
2287	-	2290	Dispatcher.Invoke(() => MainMap.Position = p);
		2291	}
		2292	else
2291	-	2293	{
		2294	if(_bSatFix)
		2295	{
		2296	if (data[50] == _iSatsLast)
		2297	{
		2298	if (_iSatsJitter < 20) _iSatsJitter++;
		2299	}
		2300	else
		2301	{
		2302	_iSatsJitter = 0;
		2303	_iSatsLast = data[50];
		2304	}
2287	-	2305
2291	-	2306	if (_iSatsJitter == 20)
		2307	{
		2308	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2309	{
		2310	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2311	_bAnimSatFixActive = true;
		2312	}
		2313	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2314	{
2405	-	2315	_bVoiceSatFixActive = true;
2398	-	2316	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2317	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2318	//th.Start();
2291	-	2319	}
		2320
		2321	_bSatFix = false;
		2322	}
		2323	}
		2324	}
		2325
2428	-	2326	//--------------------------Distance to next WP--------------------------------
2287	-	2327	i_16 = data[28];
		2328	i_16 = (Int16)(i_16 << 8);
		2329	iVal = data[27] + i_16;
2399	-	2330	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2331	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
2401	-	2332	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	2333
2428	-	2334	//-------------------------Distance to HP set by GPS on----------------------------------
2287	-	2335	i_16 = data[45];
		2336	i_16 = (Int16)(i_16 << 8);
		2337	iVal = data[44] + i_16;
2428	-	2338	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	2339
2428	-	2340	//--------------------------------Waypoint index------------------------------------
		2341	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString()));
2355	-	2342	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2401	-	2343	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString()));
2399	-	2344	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
2342	-	2345	{
2425	-	2346	_setActiveWP(data[48]- 1);
2355	-	2347	if((data[67] & 2) == 2)
		2348	Dispatcher.Invoke(() => {
		2349	DataGridRow row;
		2350	if (_wpIndex > -1)
		2351	{
2425	-	2352	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2355	-	2353	row.Background = new SolidColorBrush(Colors.Transparent);
		2354	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2355	row.BorderThickness = new Thickness(0);
		2356	}
2425	-	2357
2355	-	2358	_wpIndex = data[48] - 1;
2425	-	2359	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2366	-	2360	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2361	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	2362	row.BorderThickness = new Thickness(2);
		2363	dgvWP.UpdateLayout();
		2364	});
2425	-	2365	_wpIndex = data[48]- 1;
2342	-	2366	}
2347	-	2367	else
		2368	{
		2369	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	2370	{
2347	-	2371	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	2372	Dispatcher.Invoke(() =>
		2373	{
		2374	DataGridRow row;
2368	-	2375	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	2376	{
2425	-	2377	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2355	-	2378	row.Background = new SolidColorBrush(Colors.Transparent);
		2379	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2380	row.BorderThickness = new Thickness(0);
		2381	_wpIndex = -1;
		2382	}
		2383	});
		2384
		2385	}
2347	-	2386	}
2428	-	2387	//----------------Waypoints count----------------------
2287	-	2388	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	2389	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2401	-	2390	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	2391	_wpCount = data[49];
2428	-	2392	//-------------------Satellites----------------------------------
		2393	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString()));
2287	-	2394
		2395	//--------------- Capacity used ------------------------
		2396	i_16 = data[81];
		2397	i_16 = (Int16)(i_16 << 8);
		2398	iVal = data[80] + i_16;
		2399	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2400	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		2401
2398	-	2402	//--------------- Ground speed ------------------------
		2403	i_16 = data[59];
		2404	i_16 = (Int16)(i_16 << 8);
		2405	iVal = data[58] + i_16;
2399	-	2406	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		2407	if(_Simulate)
		2408	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
2398	-	2409
		2410	//--------------- Heading north ------------------------
		2411	i_16 = data[61];
		2412	i_16 = (Int16)(i_16 << 8);
		2413	iVal = data[60] + i_16;
		2414	Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
		2415
		2416	//--------------- Heading compass ------------------------
		2417	i_16 = data[63];
		2418	i_16 = (Int16)(i_16 << 8);
		2419	iVal = data[62] + i_16;
		2420	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
2399	-	2421	if (_Simulate)
		2422	{
		2423	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2424	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2425	}
2287	-	2426	//--------------- Flying time ------------------------
		2427	i_16 = data[56];
		2428	i_16 = (Int16)(i_16 << 8);
		2429	iVal = data[55] + i_16;
		2430	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2431	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2432	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2433	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		2434
		2435	//--------------- RC quality ------------------------
		2436	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		2437	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		2438
2291	-	2439	if(data[66] > _iThresholdRC)
		2440	{
		2441	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2442	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2443	{
		2444	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2445	_bAnimRCLevelActive = false;
		2446	}
		2447	}
		2448	else
		2449	{
		2450	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2451	if (_iRCLevelJitter == 20)
		2452	{
		2453	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2454	{
		2455	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2456	_bAnimRCLevelActive = true;
		2457	}
		2458	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2459	{
2405	-	2460	_bVoiceRCLevelActive = true;
2398	-	2461	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2462	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2463	//th.Start();
2291	-	2464	}
		2465	_iRCLevelJitter++;
		2466	}
		2467	}
		2468
2428	-	2469	//-------------------------Waypoint max range (by license)------------------------------
2405	-	2470	if(dWPMaxRange != (double)data[70])
		2471	{
		2472	dWPMaxRange = (double)data[70];
		2473	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2474	{
		2475	if (cWPBound != null && cWPBound.Tag != null)
		2476	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2477
		2478	createCircle(home.Position, dWPMaxRange);
2408	-	2479	Dispatcher.Invoke(() =>
		2480	{
		2481	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2482	{
		2483	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2484	cWPBound.setColor(s);
		2485	}
		2486	});
2405	-	2487	}
		2488	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m"));
		2489	}
2428	-	2490	//---------------------------------Target hold time------------------------------
2399	-	2491	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
2401	-	2492	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s"));
2399	-	2493
2287	-	2494	//--------------- NC Error ------------------------
		2495	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		2496	if (data[69] > 0)
		2497	_readNCError();
		2498	if (data[69] > 0 & data[69] < 44)
2381	-	2499	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		2500	//else
		2501	// if (_bErrorLog) _clearErrorLog("NC Error");
2287	-	2502
2428	-	2503	//--------------------------------------------------------------------------------
		2504	//-----------------------------FC / NC Status Flags-------------------------------
		2505	//--------------------------------------------------------------------------------
2298	-	2506	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2507	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2508	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2509	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2510	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2511	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2512
		2513	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2514	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2515	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2516	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2517	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2518	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
		2519	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2520	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2521
		2522	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2523	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2524	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2525	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2526	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2527	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2528	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	2529
		2530	//Sidebar StatusSymbols
		2531	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2532	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
		2533	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
		2534
		2535	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2536	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
		2537	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
		2538
		2539	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	2540	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
		2541	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	-	2542
		2543	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2544	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
		2545	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
		2546
		2547	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	2548	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
		2549	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
		2550	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	-	2551
2324	-	2552	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	2553	}
		2554	/// <summary>
		2555	/// Navi-Ctrl WP data struct 'X'
		2556	/// called by index
		2557	/// </summary>
		2558	/// <param name="data">the received byte array to process</param>
		2559	void _processWPData(byte[] data)
		2560	{
2313	-	2561	_iWPCount = data[0];
2287	-	2562	_bGetWPCount = false;
		2563	if (data.Length >= 28)
		2564	{
		2565	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		2566	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		2567	if (_bGetWP)
		2568	{
		2569	if (data[1] == 1)
2315	-	2570	{
2333	-	2571	Dispatcher.Invoke(() =>
		2572	{
2356	-	2573	wpList.Clear();
		2574	_clearMapMarkers(typeof(CustomMarkerWP));
		2575	if (mRouteWP != null)
		2576	MainMap.Markers.Remove(mRouteWP);
		2577	if (wpActiveMarker != null)
		2578	MainMap.Markers.Remove(wpActiveMarker);
		2579	lblWPRouteDistance.Content = "0 m";
		2580	dtWaypoints.Rows.Clear();
2368	-	2581	_wpEdit = -1;_wpIndex = -1;
2425	-	2582	wpOffset.Clear();
2318	-	2583	});
2315	-	2584	}
2287	-	2585	DataRow dr = dtWaypoints.NewRow();
		2586	dr = Waypoints.toDataRow(data, dr);
2313	-	2587	dtWaypoints.Rows.Add(dr);
2425	-	2588	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1],(int)data[1]-1);
2313	-	2589	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2590	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	2591	if (data[1] == data[0])
		2592	{
		2593	_bGetWP = false;
2368	-	2594	_routeUpdate();
2287	-	2595	}
		2596
		2597	}
		2598	}
		2599	else
		2600	{
		2601	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		2602	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		2603	}
		2604	}
		2605	/// <summary>
		2606	/// OSD Menue 'L'
		2607	/// single page called by pagenumber
		2608	/// no autoupdate
		2609	/// </summary>
		2610	/// <param name="data">the received byte array to process</param>
		2611	void _processOSDSingle(byte[] data)
		2612	{
		2613	if (data.Length == 84)
		2614	{
		2615	string sMessage = "";
		2616	iOSDPage = data[0];
		2617	iOSDMax = data[1];
		2618	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		2619	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		2620	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2621	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2622	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2623	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2624	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2625	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2626
		2627	}
		2628	//else
		2629	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2630
		2631	}
		2632	/// <summary>
		2633	/// OSD Menue 'H'
		2634	/// called by keys (0x01,0x02,0x03,0x04)
		2635	/// autoupdate
		2636	/// </summary>
		2637	/// <param name="data">the received byte array to process</param>
		2638	void _processOSDAuto(byte[] data)
		2639	{
		2640	if (data.Length == 81)
		2641	{
		2642	string sMessage = "";
		2643	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2644	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2645	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2646	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2647	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2648
		2649	}
		2650	//else
		2651	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2652	}
		2653
		2654	#endregion processing received data
		2655
		2656	#region controller messages
		2657	/// <summary> send message to controller to request data
		2658	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2659	/// </summary>
		2660	/// <param name="CMDID"> the command ID </param>
		2661	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2662	private void _sendControllerMessage(char CMDID, byte address)
		2663	{
		2664	if (serialPortCtrl.Port.IsOpen)
		2665	{
		2666	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2667	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2668	serialStream.Write(bytes, 0, bytes.Length);
		2669
		2670	}
		2671	else
		2672	Log(LogMsgType.Error, "NOT CONNECTED!");
		2673	}
		2674	/// <summary> send message to controller to request data
		2675	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2676	/// </summary>
		2677	/// <param name="CMDID"> the command ID </param>
		2678	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2679	/// <param name="data"> additional data for the request</param>
		2680	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2681	{
		2682	if (serialPortCtrl.Port.IsOpen)
		2683	{
		2684	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2685	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2686	serialStream.Write(bytes, 0, bytes.Length);
		2687
		2688	}
		2689	else
		2690	Log(LogMsgType.Error, "NOT CONNECTED!");
		2691	}
		2692
		2693	/// <summary>
		2694	/// start/stop continous polling of controller values
		2695	/// </summary>
		2696	/// <param name="b">start/stop switch</param>
		2697	void _readCont(bool b)
		2698	{
		2699	bReadContinously = b;
		2700	if (bReadContinously)
		2701	{
		2702	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2703	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2704	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2705	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2706	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2707	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2708	}
		2709	else
		2710	{
		2711	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2712	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2713	_bConnErr = false;
		2714	}
		2715	_iLifeCounter = 0;
		2716	}
		2717
		2718	private void _getVersion()
		2719	{
		2720	_sendControllerMessage('v', 0);
		2721	}
		2722	/// <summary>
		2723	/// get FC version struct via NC
		2724	/// by sending '1' as data (not documented in wiki...)
		2725	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2726	/// </summary>
		2727	/// <param name="ctrl">controller number 1=FC</param>
		2728	private void _getVersion(byte ctrl)
		2729	{
		2730	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2731	}
		2732	/// <summary>
		2733	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2734	/// </summary>
		2735	private void _switchToNC()
		2736	{
		2737	if (serialPortCtrl.Port.IsOpen)
		2738	{
		2739	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2740	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2741	serialStream.Write(bytes, 0, bytes.Length);
		2742
		2743	Thread.Sleep(100);
		2744	_getVersion();
		2745	Thread.Sleep(100);
2424	-	2746	_getLic();
2287	-	2747	// _OSDMenue(0);
		2748	}
		2749	else
		2750	Log(LogMsgType.Error, "NOT CONNECTED!");
		2751	}
		2752	/// <summary>
		2753	/// switch to FC
		2754	/// </summary>
		2755	private void _switchToFC()
		2756	{
		2757	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2758	Thread.Sleep(100);
		2759	_getVersion();
		2760	Thread.Sleep(100);
		2761	// _OSDMenue(0);
		2762	}
		2763	/// <summary>
		2764	/// send RESET signal to FC
		2765	/// </summary>
		2766	private void _resetCtrl()
		2767	{
		2768	_sendControllerMessage('R', 1);
		2769	}
		2770	/// <summary>
		2771	/// poll the debug data (4sec subscription)
		2772	/// </summary>
		2773	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2774	private void _readDebugData(bool auto)
		2775	{
		2776	byte interval = auto ? debugInterval : (byte)0;
		2777	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2778	}
		2779	/// <summary>
		2780	/// poll the BL-CTRL status via NC (4sec subscription)
		2781	/// </summary>
		2782	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2783	private void _readBLCtrl(bool auto)
		2784	{
		2785	byte interval = auto ? blctrlInterval : (byte)0;
		2786	_sendControllerMessage('k', 0, new byte[1] { interval });
		2787	}
		2788	/// <summary>
		2789	/// poll the NC data struct (4sec subscription)
		2790	/// </summary>
		2791	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2792	private void _readNavData(bool auto)
		2793	{
		2794	byte interval = auto ? navctrlInterval : (byte)0;
2429	-	2795	// _sendControllerMessage('o', 2, new byte[1] { interval });
		2796	_sendControllerMessage('o', 2, new byte[3] { interval,4,0 });
2287	-	2797	}
		2798	/// <summary>
2424	-	2799	/// request the license info
		2800	/// </summary>
		2801	void _getLic()
		2802	{
		2803	if (serialPortCtrl.Port.IsOpen)
		2804	{
		2805	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2806	byte[] bytes = FlightControllerMessage.CreateMessage('m', 2, new byte[1] { (byte)1 });
		2807	serialStream.Write(bytes, 0, bytes.Length);
		2808	}
		2809	else
		2810	Log(LogMsgType.Error, "NOT CONNECTED!");
		2811
		2812	}
		2813	/// <summary>
2287	-	2814	/// get the errortext for pending NC error
		2815	/// </summary>
		2816	private void _readNCError()
		2817	{
		2818	_sendControllerMessage('e', 2);
		2819	}
		2820	/// <summary>
		2821	/// request the Waypoint at index
		2822	/// </summary>
		2823	/// <param name="index"></param>
		2824	void _getpWP(int index)
		2825	{
		2826	if (serialPortCtrl.Port.IsOpen)
		2827	{
		2828	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2829	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2830	serialStream.Write(bytes, 0, bytes.Length);
		2831	}
		2832	else
		2833	Log(LogMsgType.Error, "NOT CONNECTED!");
		2834
		2835	}
		2836	void _getWP()
		2837	{
2335	-	2838	int iTimeout = 0;
2287	-	2839	_bGetWPCount = true;
2315	-	2840	_getpWP(1); //get the itemscount of wp
2335	-	2841	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2842	{
		2843	Thread.Sleep(10);
		2844	iTimeout++;
		2845	}
		2846	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2847	_getWPList();
		2848	}
		2849	void _getWPList()
		2850	{
		2851	_bGetWP = true;
2313	-	2852	int iTimeout=0;
		2853	for (int j = 0; j < _iWPCount; j++)
2287	-	2854	{
		2855	_getpWP(j + 1);
2313	-	2856	iTimeout = 0;
		2857	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2858	{
		2859	Thread.Sleep(1);
		2860	iTimeout++;
		2861	}
2287	-	2862	}
2419	-	2863	Dispatcher.Invoke(() =>
		2864	{
		2865	// MainMap.ZoomAndCenterMarkers(null);
		2866	MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]);
		2867	MainMap.Zoom = 19;
		2868	});
2287	-	2869	}
2363	-	2870	/// <summary>
		2871	/// Wrapper for _clearCopterWPList()
		2872	/// necessary, cause it is called by threadnew which does not like return values...
		2873	/// </summary>
2340	-	2874	void clearCopterWPList()
2313	-	2875	{
2340	-	2876	_clearCopterWPList();
		2877	}
2363	-	2878	/// <summary>
		2879	/// clear the WP list of the copter
		2880	/// by sending 'invalid' and index '0'
		2881	/// </summary>
		2882	/// <returns></returns>
2340	-	2883	bool _clearCopterWPList()
		2884	{
2335	-	2885	int iTimeout = 0;
2313	-	2886	if (serialPortCtrl.Port.IsOpen)
		2887	{
		2888	byte[] bData = new byte[30];
		2889	for (int i = 0; i < 30; i++)
		2890	bData[i] = 0;
		2891	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2892	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2893	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2894
2313	-	2895	_iWPCount = -1;
2340	-	2896	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2897	{
2313	-	2898	Thread.Sleep(10);
2335	-	2899	iTimeout++;
		2900	}
2313	-	2901	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2902	if (_iWPCount > -1)
2340	-	2903	return true;
		2904	else
		2905	Log(LogMsgType.Error, "Timeout while sending list!");
		2906	}
		2907	else
		2908	Log(LogMsgType.Error, "NOT CONNECTED!");
		2909
		2910	return false;
		2911	}
		2912	void _sendWPList()
		2913	{
2362	-	2914	_sendWPList(0);
		2915	}
		2916	void _sendWPList(int iStart)
		2917	{
2340	-	2918	int iTimeout = 0;
		2919	if (serialPortCtrl.Port.IsOpen)
		2920	{
		2921	if (_clearCopterWPList())
2313	-	2922	{
2362	-	2923	int k = 1;
		2924	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	2925	{
2362	-	2926	k = iStart > 0 ? k : -1;
2376	-	2927	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	2928
2335	-	2929	_iWPCount = -1;
		2930	iTimeout = 0;
		2931	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2932	{
		2933	Thread.Sleep(10);
		2934	iTimeout++;
		2935	}
		2936	if (_iWPCount == -1)
		2937	{
		2938	Log(LogMsgType.Error, "Timeout while sending list!");
		2939	break;
		2940	}
		2941	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	2942	k++;
2335	-	2943	}
2313	-	2944	}
		2945	}
		2946	else
		2947	Log(LogMsgType.Error, "NOT CONNECTED!");
		2948
		2949	}
2376	-	2950	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	2951	{
2313	-	2952
2340	-	2953	if (serialPortCtrl.Port.IsOpen)
		2954	{
		2955	byte[] bData = new byte[30];
		2956	for (int i = 0; i < 30; i++)
		2957	bData[i] = 0;
		2958	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2959	byte[] bytes;
		2960	int iVal;
		2961	double dVal;
		2962	NumberFormatInfo nfi = new NumberFormatInfo();
		2963	nfi.NumberDecimalSeparator = ",";
		2964
		2965	//longitude
		2966	dVal = Convert.ToDouble(dr[4], nfi);
		2967	iVal = (int)(dVal * Math.Pow(10, 7));
		2968	bData[0] = (byte)(iVal & 0xff);
		2969	bData[1] = (byte)((iVal >> 8) & 0xff);
		2970	bData[2] = (byte)((iVal >> 16) & 0xff);
		2971	bData[3] = (byte)(iVal >> 24);
		2972	//latitude
		2973	dVal = Convert.ToDouble(dr[3], nfi);
		2974	iVal = (int)(dVal * Math.Pow(10, 7));
		2975	bData[4] = (byte)(iVal & 0xff);
		2976	bData[5] = (byte)((iVal >> 8) & 0xff);
		2977	bData[6] = (byte)((iVal >> 16) & 0xff);
		2978	bData[7] = (byte)(iVal >> 24);
		2979	//altitude
		2980	dVal = Convert.ToDouble(dr[5], nfi);
		2981	iVal = (int)(dVal * 10);
		2982	bData[8] = (byte)(iVal & 0xff);
		2983	bData[9] = (byte)((iVal >> 8) & 0xff);
		2984	bData[10] = (byte)((iVal >> 16) & 0xff);
		2985	bData[11] = (byte)(iVal >> 24);
2376	-	2986	if(bSim)
		2987	bData[12] = 3; //Status 'SIMULATE'
2340	-	2988	//Status 'NEWDATA'
2376	-	2989	else
		2990	bData[12] = 1;
2340	-	2991	//heading
		2992	iVal = Convert.ToInt16(dr[6]);
		2993	bData[13] = (byte)(iVal & 0xff);
		2994	bData[14] = (byte)((iVal >> 8) & 0xff);
		2995	//ToleranceRadius
		2996	bData[15] = Convert.ToByte(dr[9]);
		2997	//HoldTime
		2998	bData[16] = Convert.ToByte(dr[10]);
		2999	//Event_Flag
		3000	bData[17] = Convert.ToByte(dr[13]);
		3001	//Index
2379	-	3002	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
2340	-	3003	//Type
		3004	bData[19] = Convert.ToByte(dr[1]);
		3005	//WP_EventChannelValue
		3006	bData[20] = Convert.ToByte(dr[14]);
		3007	//AltitudeRate
		3008	bData[21] = Convert.ToByte(dr[8]);
		3009	//Speed
		3010	bData[22] = Convert.ToByte(dr[7]);
		3011	//CamAngle
		3012	bData[23] = (byte)Convert.ToInt16(dr[12]);
		3013	//Name
2362	-	3014	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		3015	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	3016	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		3017	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		3018	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		3019	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		3020	//Autotrigger
		3021	bData[28] = Convert.ToByte(dr[11]);
		3022
2356	-	3023	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	3024	serialStream.Write(bytes, 0, bytes.Length);
		3025
		3026	return true;
		3027	}
		3028
		3029	return false;
		3030	}
2287	-	3031	#region OSD-Menue
		3032
		3033	/// <summary>
		3034	/// one time query of the OSD Menue with pagenumber
		3035	/// </summary>
		3036	/// <param name="iMenue">Menue page</param>
		3037	void _OSDMenue(int iMenue)
		3038	{
		3039	if (serialPortCtrl.Port.IsOpen)
		3040	{
		3041	if (iMenue > iOSDMax)
		3042	iMenue = 0;
		3043	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3044	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		3045	serialStream.Write(bytes, 0, bytes.Length);
		3046	}
		3047	else
		3048	Log(LogMsgType.Error, "NOT CONNECTED!");
		3049
		3050	}
		3051	/// <summary>
		3052	/// call the OSDMenue and start autorefresh
		3053	/// usually by sending a menuekey
		3054	/// 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)
		3055	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		3056	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		3057	/// </summary>
		3058	void _OSDMenueAutoRefresh()
		3059	{
		3060	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		3061	}
		3062	void _OSDMenueAutoRefresh(byte key)
		3063	{
		3064	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		3065	}
		3066	/// <summary>
		3067	/// initialize the OSD menue combobox
		3068	/// combox is filled by numbers from 0 to max pagenumber
		3069	/// </summary>
		3070	void _initOSDCB()
		3071	{
		3072	_bCBInit = true;
		3073	if (iOSDMax == 0)
		3074	{
		3075	_OSDMenue(0);
		3076	Thread.Sleep(10);
		3077	}
		3078	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		3079	for (int i = 0; i <= iOSDMax; i++)
		3080	{
		3081	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		3082	}
		3083	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		3084	_bCBInit = false;
		3085	}
		3086	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		3087	{
		3088	iOSDPage++;
		3089	if (iOSDPage > iOSDMax)
		3090	iOSDPage = 0;
		3091
		3092	_OSDMenue(iOSDPage);
		3093	}
		3094	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		3095	{
		3096	iOSDPage--;
		3097	if (iOSDPage < 0)
		3098	iOSDPage = iOSDMax;
		3099
		3100	_OSDMenue(iOSDPage);
		3101	}
		3102	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		3103	{
		3104	_OSDMenueAutoRefresh(8);
		3105	}
		3106	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		3107	{
		3108	_OSDMenueAutoRefresh(4);
		3109	}
		3110	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		3111	{
		3112	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		3113	_OSDMenue(cbOSD.SelectedIndex);
		3114	}
		3115	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		3116	{
		3117	Dispatcher.Invoke(() =>
		3118	{
		3119	TextRange tr;
		3120	if (bNew)
		3121	{
		3122	rtfOSD.SelectAll();
		3123	rtfOSD.Selection.Text = string.Empty;
		3124	}
		3125	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		3126	tr.Text = msg;
		3127	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		3128	// rtfOSD.AppendText("\r");
		3129	rtfOSD.ScrollToEnd();
		3130
		3131	});
		3132	}
		3133
		3134	#endregion OSD-Menue
		3135
		3136	#endregion controller messages
		3137
2398	-	3138	void _mediaPlayer(object file)
2295	-	3139	{
2405	-	3140	Monitor.TryEnter(lockObj);
		3141	try
2295	-	3142	{
2405	-	3143	if (File.Exists((string)file))
		3144	{
		3145
		3146	mediaPlayer.Open((string)file);
		3147	mediaPlayer.Play();
		3148	}
		3149
2295	-	3150	}
2405	-	3151	finally
		3152	{
		3153	Monitor.Exit(lockObj);
		3154	}
2295	-	3155	}
2310	-	3156
2362	-	3157	#region ui
2310	-	3158	/// <summary>
		3159	/// Switch between fullscreen and normal window mode
		3160	/// save & restore scaling settings
		3161	/// </summary>
		3162	/// <param name="sender"></param>
		3163	/// <param name="e"></param>
2287	-	3164	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		3165	{
		3166	if (winState.isMaximized)
		3167	{
		3168	winState.Restore(this);
		3169	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		3170	if(_bSaveWinStateFull)
		3171	_saveScaleSliders(true);
		3172	if(_bSaveWinStateNormal)
		3173	_setScaleSliders(false);
		3174	}
		3175	else
		3176	{
		3177	winState.Maximize(this);
		3178	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		3179	if(_bSaveWinStateNormal)
		3180	_saveScaleSliders(false);
		3181	if(_bSaveWinStateFull)
		3182	_setScaleSliders(true);
		3183	}
		3184	}
		3185
		3186	/// <summary>
		3187	/// reset the scaling of all UI elements to default
		3188	/// </summary>
		3189	/// <param name="sender"></param>
		3190	/// <param name="e"></param>
		3191	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		3192	{
		3193	UIScaleHorizonSlider.Value =
		3194	UIScaleLOGSlider.Value =
		3195	UIScaleMotorsSlider.Value =
		3196	UIScaleOSDSlider.Value =
		3197	UIScaleSlider.Value =
		3198	UIScaleTopSlider.Value = 1;
		3199	}
		3200	/// <summary>
		3201	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		3202	/// </summary>
		3203	/// <param name="sender"></param>
		3204	/// <param name="e"></param>
		3205	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3206	{
		3207	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		3208	if (GridMotors != null)
		3209	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		3210	if (GridSideBar != null)
		3211	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
2401	-	3212	if (WPStatus != null)
		3213	WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom);
2287	-	3214	if (GridOSD != null)
2401	-	3215	{
		3216	if(WPStatus.Visibility == Visibility.Visible)
		3217	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3218	else
		3219	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3220	}
2287	-	3221	if (GridData != null)
		3222	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		3223	if (GridWP != null)
		3224	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		3225	}
2419	-	3226	private void UIScaleOSDSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3227	{
		3228	if (!_init)
		3229	{
		3230	if (WPStatus != null && (WPStatus.Visibility == Visibility.Visible))
		3231	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3232	else
		3233	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3234	}
		3235	}
		3236
2310	-	3237	/// <summary>
		3238	/// restore the saved scalings for the fullscreen/normal window mode
		3239	/// </summary>
		3240	/// <param name="bFull">the mode the window is set to</param>
2287	-	3241	void _setScaleSliders(bool bFull)
		3242	{
		3243	if(bFull)
		3244	{
		3245	UIScaleSlider.Value = scaleFullAll;
		3246	UIScaleTopSlider.Value = scaleFullTopBar;
		3247	UIScaleMotorsSlider.Value = scaleFullMotors;
		3248	UIScaleOSDSlider.Value = scaleFullOSD;
		3249	UIScaleLOGSlider.Value = scaleFullLOG;
		3250	UIScaleHorizonSlider.Value = scaleFullHorizon;
		3251	}
		3252	else
		3253	{
		3254	UIScaleSlider.Value = scaleNormalAll;
		3255	UIScaleTopSlider.Value = scaleNormalTopBar;
		3256	UIScaleMotorsSlider.Value = scaleNormalMotors;
		3257	UIScaleOSDSlider.Value = scaleNormalOSD;
		3258	UIScaleLOGSlider.Value = scaleNormalLOG;
		3259	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		3260	}
		3261	}
		3262
2310	-	3263	/// <summary>
		3264	/// save the scalings for the actual window mode
		3265	/// </summary>
		3266	/// <param name="bFull">the actual window mode</param>
2287	-	3267	void _saveScaleSliders(bool bFull)
		3268	{
		3269
		3270	if (bFull)
		3271	{
		3272	scaleFullAll = UIScaleSlider.Value;
		3273	scaleFullTopBar = UIScaleTopSlider.Value;
		3274	scaleFullMotors = UIScaleMotorsSlider.Value;
		3275	scaleFullOSD = UIScaleOSDSlider.Value;
		3276	scaleFullLOG = UIScaleLOGSlider.Value;
		3277	scaleFullHorizon = UIScaleHorizonSlider.Value;
		3278	}
		3279	else
		3280	{
		3281	scaleNormalAll = UIScaleSlider.Value;
		3282	scaleNormalTopBar = UIScaleTopSlider.Value;
		3283	scaleNormalMotors = UIScaleMotorsSlider.Value;
		3284	scaleNormalOSD = UIScaleOSDSlider.Value;
		3285	scaleNormalLOG = UIScaleLOGSlider.Value;
		3286	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		3287	}
		3288	}
2362	-	3289	#endregion ui
2287	-	3290
		3291	/// <summary>
		3292	/// read settings from ini-file
		3293	/// </summary>
		3294	void _readIni()
		3295	{
		3296	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		3297	_writeIni();
		3298	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3299	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	3300	try
		3301	{
2287	-	3302
2312	-	3303	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		3304	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		3305	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		3306	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		3307	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		3308	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		3309	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		3310	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	3311
2312	-	3312	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		3313	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		3314	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		3315	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		3316	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		3317	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		3318	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		3319	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	3320
2312	-	3321	sVal = ini.IniReadValue("topBar", "voltage");
		3322	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		3323	sVal = ini.IniReadValue("topBar", "capacity");
		3324	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		3325	sVal = ini.IniReadValue("topBar", "current");
		3326	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		3327	sVal = ini.IniReadValue("topBar", "flightTime");
		3328	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		3329	sVal = ini.IniReadValue("topBar", "distanceHP");
		3330	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		3331	sVal = ini.IniReadValue("topBar", "height");
		3332	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		3333	sVal = ini.IniReadValue("topBar", "speed");
		3334	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		3335	sVal = ini.IniReadValue("topBar", "magneticField");
		3336	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		3337	sVal = ini.IniReadValue("topBar", "satellites");
		3338	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		3339	sVal = ini.IniReadValue("topBar", "rc");
		3340	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	3341
2312	-	3342	sVal = ini.IniReadValue("style", "saveFullScreen");
		3343	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		3344	sVal = ini.IniReadValue("style", "saveNormalState");
		3345	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	3346
2312	-	3347	sVal = ini.IniReadValue("style", "scaleNormalAll");
		3348	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		3349	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		3350	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		3351	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		3352	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		3353	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		3354	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		3355	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		3356	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		3357	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		3358	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	3359
2312	-	3360	sVal = ini.IniReadValue("style", "scaleFullAll");
		3361	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		3362	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		3363	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		3364	sVal = ini.IniReadValue("style", "scaleFullMotors");
		3365	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		3366	sVal = ini.IniReadValue("style", "scaleFullOSD");
		3367	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		3368	sVal = ini.IniReadValue("style", "scaleFullLOG");
		3369	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		3370	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		3371	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	3372
2312	-	3373	sVal = ini.IniReadValue("general", "LiPoCells");
		3374	_LipoCells = Convert.ToInt16(sVal);
		3375	sVal = ini.IniReadValue("general", "Motors");
		3376	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	3377
2312	-	3378	sVal = ini.IniReadValue("map", "followMe");
		3379	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		3380	sVal = ini.IniReadValue("map", "AutoSetHome");
		3381	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	3382	sVal = ini.IniReadValue("map", "GPXLog");
		3383	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	3384
2312	-	3385	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		3386	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		3387	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		3388	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		3389	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		3390	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		3391	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		3392	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		3393	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		3394	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		3395	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		3396	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		3397	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		3398	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		3399	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		3400	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		3401	sVal = ini.IniReadValue("threshold", "MaxDistance");
		3402	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		3403	sVal = ini.IniReadValue("threshold", "RCThreshold");
		3404	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		3405	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		3406	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	3407
		3408	sVal = ini.IniReadValue("waypoints", "wpcolor");
		3409	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		3410	sVal = ini.IniReadValue("waypoints", "poicolor");
		3411	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		3412	sVal = ini.IniReadValue("waypoints", "fscolor");
		3413	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		3414	sVal = ini.IniReadValue("waypoints", "coptercolor");
		3415	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2385	-	3416	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		3417	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
2379	-	3418	sVal = ini.IniReadValue("waypoints", "landingcolor");
		3419	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	3420	sVal = ini.IniReadValue("waypoints", "routecolor");
		3421	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		3422	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		3423	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2408	-	3424	sVal = ini.IniReadValue("waypoints", "showWPMaxRange");
		3425	if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal);
		3426	sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor");
		3427	if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal);
2349	-	3428
		3429	for (int i = 0; i < 12; i++)
		3430	{
		3431	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		3432	if (sVal != "")
		3433	serChan[i] = Convert.ToInt16(sVal);
		3434	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		3435	if (sVal != "")
		3436	serChanTitle[i] = sVal;
		3437	for (int y = 0; i < 4 && y < 3; y++)
		3438	{
		3439	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		3440	if (sVal != "")
		3441	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		3442	}
		3443	}
		3444
2312	-	3445	}
		3446	catch (Exception e)
		3447	{
2287	-	3448
2312	-	3449	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		3450	}
		3451
2287	-	3452	}
		3453
		3454	/// <summary>
		3455	/// save settings to ini-file
		3456	/// </summary>
		3457	void _writeIni()
		3458	{
		3459
		3460	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3461	ini.path = filePath + "\\MKLiveViewSettings.ini";
		3462
2312	-	3463	try
		3464	{
2287	-	3465
2312	-	3466	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		3467	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		3468	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		3469	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	3470
2312	-	3471	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		3472	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		3473	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		3474	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	3475
2312	-	3476	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		3477	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	3478
2312	-	3479	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		3480	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	3481	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	3482
2312	-	3483	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		3484	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		3485	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		3486	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		3487	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		3488	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		3489	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		3490	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		3491	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		3492	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	3493
2312	-	3494	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		3495	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	3496
2312	-	3497	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		3498	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		3499	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		3500	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		3501	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		3502	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	3503
2312	-	3504	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		3505	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		3506	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		3507	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		3508	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		3509	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	3510
2312	-	3511	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		3512
		3513	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		3514	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		3515	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		3516	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		3517	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		3518	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		3519	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		3520	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		3521	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		3522	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		3523	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	3524
		3525	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		3526	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		3527	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		3528	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2385	-	3529	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
2379	-	3530	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
2328	-	3531	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		3532	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2408	-	3533	ini.IniWriteValue("waypoints", "showWPMaxRange", ((bool)checkBoxShowWPMaxRange.IsChecked).ToString());
		3534	ini.IniWriteValue("waypoints", "WPMaxRangecolor", comboBoxWPMaxRangeColor.SelectedIndex.ToString());
2349	-	3535
		3536	for (int i = 0; i < 12; i++)
		3537	{
		3538	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		3539	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		3540	for (int y = 0; i < 4 && y < 3; y++)
		3541	{
		3542	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		3543	}
		3544	}
		3545
2312	-	3546	}
		3547	catch (Exception e)
		3548	{
		3549
		3550	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);
		3551	}
2287	-	3552	}
2350	-	3553
2349	-	3554	#region serial channels
		3555	/// <summary>
		3556	/// Sending the serial channel values
		3557	/// </summary>
		3558	void _sendSerialData()
		3559	{
		3560	byte[] serData = new byte[12];
		3561	for (int i = 0; i < 12; i++)
		3562	{
		3563	serData[i] = unchecked((byte)(serChan[i] - 127));
		3564	}
		3565	_sendControllerMessage('y', 1, serData);
		3566	}
		3567	/// <summary>
		3568	/// init the controls for displaying
		3569	/// and setting serial control channels
		3570	/// </summary>
		3571	void _initSerialCtrl()
		3572	{
		3573	SerChan1ScaleSlider.Value = serChan[0];
		3574	textBoxSerial1.Text = serChanTitle[0];
		3575	SerChan2ScaleSlider.Value = serChan[1];
		3576	textBoxSerial2.Text = serChanTitle[1];
2350	-	3577	SerChan3ScaleSlider.Value = serChan[2];
		3578	textBoxSerial3.Text = serChanTitle[2];
2349	-	3579	//SerChan4ScaleSlider.Value = serChan[3];
		3580	//textBoxSerial4.Text = serChanTitle[3];
		3581	//trckbarSerial5.Value = serChan[4];
		3582	//textBoxSerial5.Text = serChanTitle[4];
		3583	//trckbarSerial6.Value = serChan[5];
		3584	//textBoxSerial6.Text = serChanTitle[5];
		3585	//trckbarSerial7.Value = serChan[6];
		3586	//textBoxSerial7.Text = serChanTitle[6];
		3587	//trckbarSerial8.Value = serChan[7];
		3588	//textBoxSerial8.Text = serChanTitle[7];
2312	-	3589
2349	-	3590	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		3591	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		3592	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		3593	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		3594	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		3595	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	3596	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		3597	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		3598	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	3599	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		3600	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		3601	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		3602	}
		3603	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3604	{
		3605	if (!_init)
		3606	{
		3607	serChan[0] = (int)SerChan1ScaleSlider.Value;
		3608	_sendSerialData();
		3609	}
		3610	}
		3611	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		3612	{
		3613	if (!_init)
		3614	{
		3615	serChanTitle[0] = textBoxSerial1.Text;
		3616	}
		3617	}
		3618	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		3619	{
		3620	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		3621	{
		3622	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		3623	}
		3624	}
		3625	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		3626	{
		3627	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		3628	{
		3629	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		3630	}
		3631	}
		3632	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		3633	{
		3634	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		3635	{
		3636	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		3637	}
		3638	}
		3639	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		3640	{
		3641	if (textBoxSerial1_val1.Text.Length > 0)
		3642	{
		3643	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		3644	}
		3645	}
		3646	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		3647	{
		3648	SerChan1ScaleSlider.Value = 0;
		3649	}
		3650	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		3651	{
		3652	SerChan1ScaleSlider.Value = 127;
		3653	}
		3654	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		3655	{
		3656	SerChan1ScaleSlider.Value = 254;
		3657	}
		3658	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		3659	{
		3660	if (textBoxSerial1_val2.Text.Length > 0)
		3661	{
		3662	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		3663	}
		3664	}
		3665	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		3666	{
		3667	if (textBoxSerial1_val3.Text.Length > 0)
		3668	{
		3669	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		3670	}
		3671	}
		3672
		3673	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3674	{
		3675	if (!_init)
		3676	{
		3677	serChan[1] = (int)SerChan2ScaleSlider.Value;
		3678	_sendSerialData();
		3679	}
		3680	}
		3681	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		3682	{
		3683	if (!_init)
		3684	{
		3685	serChanTitle[1] = textBoxSerial2.Text;
		3686	}
		3687	}
		3688	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		3689	{
		3690	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		3691	{
		3692	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		3693	}
		3694	}
		3695	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		3696	{
		3697	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		3698	{
		3699	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		3700	}
		3701	}
		3702	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		3703	{
		3704	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		3705	{
		3706	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3707	}
		3708	}
		3709	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3710	{
		3711	SerChan2ScaleSlider.Value = 0;
		3712	}
		3713	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3714	{
		3715	SerChan2ScaleSlider.Value = 127;
		3716	}
		3717	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3718	{
		3719	SerChan2ScaleSlider.Value = 254;
		3720	}
		3721	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3722	{
		3723	if (textBoxSerial2_val1.Text.Length > 0)
		3724	{
		3725	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3726	}
		3727	}
		3728	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3729	{
		3730	if (textBoxSerial2_val2.Text.Length > 0)
		3731	{
		3732	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3733	}
		3734	}
		3735	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3736	{
		3737	if (textBoxSerial2_val3.Text.Length > 0)
		3738	{
		3739	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3740	}
		3741	}
2350	-	3742
		3743	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3744	{
		3745	if (!_init)
		3746	{
		3747	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3748	_sendSerialData();
		3749	}
		3750	}
		3751	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3752	{
		3753	if (!_init)
		3754	{
		3755	serChanTitle[2] = textBoxSerial3.Text;
		3756	}
		3757	}
		3758	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3759	{
		3760	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3761	{
		3762	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3763	}
		3764	}
		3765	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3766	{
		3767	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3768	{
		3769	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3770	}
		3771	}
		3772	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3773	{
		3774	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3775	{
		3776	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3777	}
		3778	}
		3779	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3780	{
		3781	SerChan3ScaleSlider.Value = 0;
		3782	}
		3783	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3784	{
		3785	SerChan3ScaleSlider.Value = 127;
		3786	}
		3787	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3788	{
		3789	SerChan3ScaleSlider.Value = 254;
		3790	}
		3791	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3792	{
		3793	if (textBoxSerial3_val1.Text.Length > 0)
		3794	{
		3795	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3796	}
		3797	}
		3798	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3799	{
		3800	if (textBoxSerial3_val2.Text.Length > 0)
		3801	{
		3802	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3803	}
		3804	}
		3805	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3806	{
		3807	if (textBoxSerial3_val3.Text.Length > 0)
		3808	{
		3809	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3810	}
		3811	}
2349	-	3812	/// <summary>
		3813	/// checks the input of a textbox
		3814	/// for valid data
		3815	/// in this case values 0-254
		3816	/// </summary>
		3817	/// <param name="sender"></param>
		3818	/// <param name="e"></param>
		3819	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3820	{
		3821	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3822	e.Handled = true;
		3823	else
		3824	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3825	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3826	e.Handled = true;
		3827	else
		3828	{
		3829	int i = -1;
		3830	switch (((TextBox)sender).Name)
		3831	{
		3832	case "textBoxSerial1_val1":
		3833	i = 0;
		3834	break;
		3835	case "textBoxSerial1_val2":
		3836	i = 1;
		3837	break;
		3838	case "textBoxSerial1_val3":
		3839	i = 2;
		3840	break;
		3841	case "textBoxSerial2_val1":
		3842	i = 3;
		3843	break;
		3844	case "textBoxSerial2_val2":
		3845	i = 4;
		3846	break;
		3847	case "textBoxSerial2_val3":
		3848	i = 5;
		3849	break;
		3850	case "textBoxSerial3_val1":
		3851	i = 6;
		3852	break;
		3853	case "textBoxSerial3_val2":
		3854	i = 7;
		3855	break;
		3856	case "textBoxSerial3_val3":
		3857	i = 8;
		3858	break;
		3859	case "textBoxSerial4_val1":
		3860	i = 9;
		3861	break;
		3862	case "textBoxSerial4_val2":
		3863	i = 10;
		3864	break;
		3865	case "textBoxSerial4_val3":
		3866	i = 11;
		3867	break;
		3868	}
		3869	if (i > -1)
		3870	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3871	}
		3872	}
		3873
		3874	#endregion serial channels
2315	-	3875	#region WP
2312	-	3876	void _readWPLFile()
		3877	{
		3878	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3879	fd.Filter = "Waypointlists \| *.wpl";
		3880	fd.Multiselect = false;
		3881	if (fd.ShowDialog().Value)
		3882	{
		3883	string file = fd.SafeFileName;
		3884	IniFile ini = new IniFile(fd.SafeFileName);
		3885	ini.path = fd.FileName;
		3886
		3887	try
		3888	{
		3889	string sVal = ini.IniReadValue("General", "FileVersion");
		3890	if (sVal == "")
		3891	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3892	else
		3893	{
		3894	if (Convert.ToInt16(sVal) < 3)
		3895	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3896	else
		3897	{
		3898	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3899	if (sVal == "")
		3900	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3901	else
		3902	{
		3903	int wpnum = Convert.ToInt16(sVal);
		3904	string wp;
		3905	int i;
2313	-	3906	NumberFormatInfo nfi = new NumberFormatInfo();
		3907	nfi.NumberDecimalSeparator = ".";
2312	-	3908	dtWaypoints.Rows.Clear();
2368	-	3909	_wpEdit = -1;_wpIndex = -1;
2425	-	3910	wpOffset.Clear();
2327	-	3911	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	3912	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	3913	wpList.Clear();
		3914	if (mRouteWP != null)
		3915	MainMap.Markers.Remove(mRouteWP);
2363	-	3916	//if (wpActiveMarker != null)
		3917	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	3918	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3919
2312	-	3920	for (int k = 1; k <= wpnum; k++)
		3921	{
		3922	DataRow dr = dtWaypoints.NewRow();
		3923	dr.ItemArray = new object[16];
		3924	object[] o = new object[16];
		3925	i = 0;
		3926	wp = "Point" + k.ToString();
		3927	o[i] = k;
		3928	i++;
		3929	sVal = ini.IniReadValue(wp, "Type");
		3930	if (sVal != "")
2315	-	3931	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3932	i++;
		3933	sVal = ini.IniReadValue(wp, "Prefix");
		3934	if (sVal != "")
2350	-	3935	o[i] = sVal + k.ToString();
		3936	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3937	i++;
2313	-	3938	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3939	if (sVal != "")
2313	-	3940	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3941	i++;
2313	-	3942	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3943	if (sVal != "")
2313	-	3944	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3945	i++;
		3946	sVal = ini.IniReadValue(wp, "Altitude");
		3947	if (sVal != "")
2313	-	3948	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3949	i++;
		3950	sVal = ini.IniReadValue(wp, "Heading");
		3951	if (sVal != "")
		3952	o[i] = Convert.ToInt16(sVal);
		3953	i++;
		3954	sVal = ini.IniReadValue(wp, "Speed");
		3955	if (sVal != "")
2315	-	3956	o[i] = Convert.ToInt16(sVal);
2312	-	3957	i++;
		3958	sVal = ini.IniReadValue(wp, "ClimbRate");
		3959	if (sVal != "")
		3960	o[i] = Convert.ToInt16(sVal);
		3961	i++;
		3962	sVal = ini.IniReadValue(wp, "Radius");
		3963	if (sVal != "")
		3964	o[i] = Convert.ToInt16(sVal);
		3965	i++;
		3966	sVal = ini.IniReadValue(wp, "DelayTime");
		3967	if (sVal != "")
		3968	o[i] = Convert.ToInt16(sVal);
		3969	i++;
		3970	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3971	if (sVal != "")
		3972	o[i] = Convert.ToInt16(sVal); ;
		3973	i++;
		3974	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3975	if (sVal != "")
2313	-	3976	o[i] = Convert.ToInt16(sVal);
2312	-	3977	i++;
		3978	o[i] = 0;
		3979	i++;
		3980	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3981	if (sVal != "")
		3982	o[i] = Convert.ToInt16(sVal);
		3983	i++;
		3984	o[i] = "New";
		3985
		3986	dr.ItemArray = o;
		3987	dtWaypoints.Rows.Add(dr);
2425	-	3988	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1], (int)o[0]-1);
2315	-	3989
2312	-	3990	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3991	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3992	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
2419	-	3993	Thread.Sleep(1);
2312	-	3994	}
2419	-	3995	Dispatcher.Invoke(() => MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]));
		3996	Dispatcher.Invoke(() => MainMap.Zoom = 19);
		3997	// Dispatcher.Invoke(() => MainMap.ZoomAndCenterMarkers(null));
		3998	Dispatcher.Invoke(() => _routeUpdate());
2312	-	3999	}
		4000	}
		4001	}
		4002
		4003	}
		4004	catch (Exception e)
		4005	{
		4006
		4007	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		4008	}
		4009
		4010	}
		4011	}
2350	-	4012	void _saveWPLFile()
		4013	{
		4014	if (dtWaypoints.Rows.Count > 0)
		4015	{
		4016	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		4017	fd.Filter = "Waypointlists \| *.wpl";
		4018	fd.AddExtension = true;
		4019	if (fd.ShowDialog().Value)
		4020	{
		4021	string file = fd.SafeFileName;
		4022	IniFile ini = new IniFile(fd.SafeFileName);
		4023	ini.path = fd.FileName;
		4024	NumberFormatInfo nfi = new NumberFormatInfo();
		4025	nfi.NumberDecimalSeparator = ".";
		4026
		4027	try
		4028	{
		4029	ini.IniWriteValue("General", "FileVersion", "3");
		4030	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		4031	ini.IniWriteValue("General", "Mapfile", "");
		4032	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		4033	{
		4034	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		4035	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		4036	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		4037	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		4038	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		4039	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		4040	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		4041	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		4042	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		4043	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		4044	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		4045	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));
		4046	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		4047	}
		4048	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		4049	}
		4050	catch { }
		4051	}
		4052	}
		4053	else
		4054	MessageBox.Show("Nothing to save...");
		4055	}
		4056	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		4057	{
		4058	_saveWPLFile();
		4059	}
		4060	/// <summary>
		4061	/// set the selected color for the route
		4062	/// </summary>
		4063	/// <param name="color"></param>
		4064	/// <returns></returns>
2328	-	4065	Brush _getBrush(string color)
		4066	{
		4067	switch (color)
		4068	{
		4069	case "red":
		4070	return Brushes.Red;
		4071	case "green":
		4072	return Brushes.Lime;
		4073	case "blue":
		4074	return Brushes.Aqua;
		4075	case "pink":
		4076	return Brushes.Magenta;
		4077	case "yellow":
		4078	return Brushes.Yellow;
		4079	default:
		4080	return Brushes.Magenta;
		4081	}
		4082	}
2359	-	4083	void _routeUpdate()
		4084	{
		4085	Dispatcher.Invoke(() =>
		4086	{
		4087	if (comboBoxRouteColor.SelectionBoxItem != null)
		4088	{
		4089	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4090	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4091	}
		4092	else
		4093	mRouteWP = new GMapRoute(wpList, null);
		4094
		4095	if (_bShowWPRoute)
2368	-	4096	MainMap.Markers.Add(mRouteWP);
2359	-	4097	});
		4098
		4099	MapRoute mr = new MapRoute(wpList, "WPList");
		4100	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		4101	}
2425	-	4102	GMapMarker _createWP(PointLatLng p, string name, int type, int index)
2363	-	4103	{
		4104	GMapMarker wpMarker = new GMapMarker(p);
2385	-	4105	Dispatcher.Invoke(()=>
		4106	{
		4107	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
2419	-	4108	wpMarker.Tag = name;
2385	-	4109	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		4110	wpMarker.ZIndex = 100;
		4111	_setMarkerColor(wpMarker, type);
		4112	MainMap.Markers.Add(wpMarker);
		4113	if (type == 0 \|\| type == 3)
2425	-	4114	{
2385	-	4115	wpList.Add(p);
2425	-	4116	wpOffset.Add(index);
		4117	}
2419	-	4118	((CustomMarkerWP)wpMarker.Shape).positionChanged += _updateDTWPPos;
		4119	((CustomMarkerWP)wpMarker.Shape).newPosition += _updateDTWPPosFin;
2421	-	4120	((CustomMarkerWP)wpMarker.Shape).mouseCaptured += _WPMouseCaptured;
2385	-	4121	});
2363	-	4122	return wpMarker;
		4123	}
2419	-	4124	bool _WPisMouseCaptured = false;
2421	-	4125	void _WPMouseCaptured(bool isCaptured)
2419	-	4126	{
		4127	_WPisMouseCaptured = isCaptured;
		4128	MainMap.CanDragMap = !isCaptured;
		4129	}
		4130	void _updateDTWPPos(CustomMarkerWP wp)
		4131	{
		4132	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4133	int index = Convert.ToInt16(sIndex) -1;
		4134	GMapMarker p = ((GMapMarker)wp.DataContext);
		4135	if (p != null && index < dtWaypoints.Rows.Count)
		4136	{
		4137	//Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4138	if(wp.WPType == 0 \| wp.WPType == 3)
2424	-	4139	{
		4140	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		4141	int wpListIndex = wpList.IndexOf(x);
		4142	if (wpListIndex > -1)
		4143	{
		4144	wpList[wpListIndex] = p.Position;
		4145	MainMap.Markers.Remove(mRouteWP);
		4146	_routeUpdate();
		4147	}
2419	-	4148	}
2424	-	4149	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4150	dtWaypoints.Rows[index][4] = p.Position.Lng;
2419	-	4151	}
		4152	}
		4153	void _updateDTWPPosFin(CustomMarkerWP wp)
		4154	{
		4155	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4156	int index = Convert.ToInt16(sIndex) -1;
		4157	GMapMarker p = ((GMapMarker)wp.DataContext);
		4158	if (p != null && index < dtWaypoints.Rows.Count)
		4159	{
		4160	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4161	dtWaypoints.Rows[index][4] = p.Position.Lng;
2421	-	4162	Dispatcher.Invoke(() =>
		4163	{
		4164	dgvWP.Items.Refresh();
		4165	dgvWP.SelectedIndex = index;
		4166	_dgvWPselectEditRow();
		4167	});
		4168
2419	-	4169	}
		4170
		4171	}
2428	-	4172
2425	-	4173	/// <summary>
		4174	/// find the index of of a wp from datatable in the waypointlist wpList
		4175	/// </summary>
		4176	/// <param name="dtIndex">the index of wp in datatable (0-based)</param>
		4177	/// <returns></returns>
		4178	int _getWPIndexfromList(int dtIndex)
		4179	{
		4180	if ((int)dtWaypoints.Rows[dtIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dtIndex][1] == 3)
		4181	{
		4182	GMapMarker wp = _findWPMarker((string)dtWaypoints.Rows[dtIndex][2]);
		4183	if (wp != null)
		4184	return wpList.IndexOf(wp.Position);
		4185	}
		4186	return -1;
		4187	}
		4188	/// <summary>
		4189	/// find the index of of a wp from datatable in the waypointlist wpList
		4190	/// </summary>
		4191	/// <param name="name">the name of the wp</param>
		4192	/// <returns></returns>
		4193	int _getWPIndexfromList(string name)
		4194	{
		4195	GMapMarker wp = _findWPMarker(name);
		4196	if ((wp != null && wp.Shape != null) && ((CustomMarkerWP)wp.Shape).WPType == 0 \| ((CustomMarkerWP)wp.Shape).WPType == 3)
		4197	return wpList.IndexOf(wp.Position);
		4198	else
		4199	return -1;
		4200	}
		4201	int _getWPListOffset(int index)
		4202	{
		4203	int k = 0;
		4204	for(int i = 0; i < wpOffset.Count;i++)
		4205	{
		4206	if (wpOffset[i] <= index)
		4207	k++;
		4208	}
2419	-	4209
2425	-	4210	return k;
		4211	}
2315	-	4212	void _setMarkerColor(GMapMarker wpMarker,int iType)
		4213	{
2369	-	4214	if(wpMarker != null)
2315	-	4215	Dispatcher.Invoke(() =>
		4216	{
		4217	switch (iType)
		4218	{
		4219	case 0:
		4220	if (comboBoxWPColor.SelectionBoxItem != null)
		4221	{
		4222	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		4223	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4224	}
		4225	else
2372	-	4226	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	4227	break;
		4228	case 1:
		4229	if (comboBoxPOIColor.SelectionBoxItem != null)
		4230	{
		4231	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		4232	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4233	}
		4234	else
2372	-	4235	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	4236	break;
		4237	case 2:
		4238	if (comboBoxFSColor.SelectionBoxItem != null)
		4239	{
		4240	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		4241	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4242	}
		4243	else
		4244	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4245	break;
2372	-	4246	case 3:
		4247	if (comboBoxLandingColor.SelectionBoxItem != null)
		4248	{
		4249	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		4250	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4251	}
		4252	else
		4253	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		4254	break;
2315	-	4255	default:
		4256	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4257	break;
		4258	}
		4259	});
2312	-	4260
2315	-	4261	}
2372	-	4262	void _MarkerColorSelection(object sender,int type)
		4263	{
2315	-	4264	Dispatcher.Invoke(() =>
		4265	{
2372	-	4266	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	4267	{
		4268	for (int k = 0; k < MainMap.Markers.Count; k++)
		4269	{
		4270	GMapMarker p = MainMap.Markers[k];
2372	-	4271	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	4272	{
2372	-	4273	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	4274	{
2372	-	4275	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	4276	((CustomMarkerWP)(p.Shape)).setColor(s);
		4277	}
		4278	}
		4279	}
		4280	}
		4281	});
2287	-	4282	}
2379	-	4283	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	4284	{
2376	-	4285	_MarkerColorSelection(sender, 0);
		4286	}
		4287	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		4288	{
		4289	_MarkerColorSelection(sender, 1);
		4290	}
		4291	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		4292	{
		4293	_MarkerColorSelection(sender, 2);
		4294	}
		4295	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		4296	{
		4297	_MarkerColorSelection(sender,3);
		4298	}
2385	-	4299	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
2376	-	4300	{
2318	-	4301	Dispatcher.Invoke(() => {
		4302	if (comboBoxCopterColor.SelectionBoxItem != null)
		4303	{
		4304	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	4305	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	4306	}
		4307	else
2385	-	4308	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
2318	-	4309	});
		4310	}
2385	-	4311	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		4312	{
		4313	Dispatcher.Invoke(() => {
		4314	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		4315	{
		4316	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		4317	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		4318	}
		4319	else
		4320	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		4321	});
		4322	}
2328	-	4323	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		4324	{
		4325	Dispatcher.Invoke(() =>
		4326	{
		4327	if (comboBoxRouteColor.SelectionBoxItem != null)
		4328	{
		4329	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4330	MainMap.Markers.Remove(mRouteWP);
		4331	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4332	if (_bShowWPRoute)
		4333	MainMap.Markers.Add(mRouteWP);
		4334	}
		4335	});
		4336	}
2408	-	4337	private void comboBoxWPMaxRangeColor_DropDownClosed(object sender, EventArgs e)
		4338	{
		4339	Dispatcher.Invoke(() =>
		4340	{
		4341	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		4342	{
		4343	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		4344	{
		4345	if (cWPBound != null && cWPBound.Tag != null)
		4346	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		4347
		4348	createCircle(home.Position, dWPMaxRange);
		4349	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		4350	cWPBound.setColor(s);
		4351
		4352	}
		4353	}
		4354	});
		4355
		4356	}
2328	-	4357	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		4358	{
		4359	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		4360	if (_bShowWPRoute)
		4361	{
		4362	if (mRouteWP != null)
		4363	MainMap.Markers.Add(mRouteWP);
		4364	}
		4365	else
		4366	{
		4367	if (mRouteWP != null)
		4368	MainMap.Markers.Remove(mRouteWP);
		4369	}
		4370	}
2428	-	4371
2315	-	4372	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	4373	{
2315	-	4374	_readWPLFile();
2287	-	4375	}
2335	-	4376	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		4377	{
		4378	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	4379	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	4380	wpList.Clear();
		4381	if (mRouteWP != null)
		4382	MainMap.Markers.Remove(mRouteWP);
2347	-	4383	//if (wpActiveMarker != null)
		4384	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	4385	dtWaypoints.Rows.Clear();
2356	-	4386	_wpEdit = -1;
2368	-	4387	_wpIndex = -1;
2425	-	4388	wpOffset.Clear();
2335	-	4389	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4390	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		4391	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		4392	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		4393	}
2340	-	4394	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		4395	{
		4396	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		4397	t.Start();
		4398	}
2355	-	4399	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	4400	{
		4401	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4402	{
2372	-	4403	if (_wpCount > 0)
2376	-	4404	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	4405	else
2376	-	4406	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	4407
2372	-	4408	//int index = dgvWP.SelectedIndex;
		4409	//Thread t = new Thread(() => _sendWPList(index));
		4410	//t.Start();
2354	-	4411
		4412	Dispatcher.Invoke(() => {
		4413	DataGridRow row;
2368	-	4414	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	4415	{
2368	-	4416	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	4417	row.Background = new SolidColorBrush(Colors.Transparent);
		4418	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4419	row.BorderThickness = new Thickness(0);
2376	-	4420	dgvWP.UpdateLayout();
2354	-	4421	}
2376	-	4422	//_wpEdit = dgvWP.SelectedIndex;
		4423	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4424	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		4425	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		4426	//row.BorderThickness = new Thickness(2);
2354	-	4427	});
2340	-	4428	}
		4429	}
2385	-	4430	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		4431	{
		4432	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4433	{
		4434
		4435	object[] o = new object[16];
		4436	o[0] = dgvWP.SelectedIndex + 1;
		4437	o[1] = cbWPEditType.SelectedIndex;
		4438	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4439	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4440	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		4441	o[5] = tbWPEditAlt.Text;
		4442	switch (cbWPEditHeading.SelectedIndex)
		4443	{
		4444	case 0:
		4445	o[6] = "0";
		4446	break;
		4447	case 1:
		4448	o[6] = "-" + tbWPEditHeading.Text;
		4449	break;
		4450	case 2:
		4451	o[6] = tbWPEditHeading.Text;
		4452	break;
		4453	}
		4454	switch (cbWPEditSpeed.SelectedIndex)
		4455	{
		4456	case 0:
		4457	o[7] = "0";
		4458	break;
		4459	case 1:
		4460	o[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4461	break;
		4462	case 2:
		4463	o[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4464	break;
		4465	}
		4466	switch (cbWPEditClimbrate.SelectedIndex)
		4467	{
		4468	case 0:
		4469	o[8] = "255";
		4470	break;
		4471	case 1:
		4472	o[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		4473	break;
		4474	}
		4475	o[9] = tbWPEditRadius.Text;
		4476	o[10] = tbWPEditHoldtime.Text;
		4477	o[11] = tbWPEditAutoTrigger.Text;
		4478	switch (cbWPEditCamAngle.SelectedIndex)
		4479	{
		4480	case 0:
		4481	o[12] = "0";
		4482	break;
		4483	case 1:
		4484	o[12] = "255";
		4485	break;
		4486	case 2:
		4487	o[12] = tbWPEditCamAngle.Text;
		4488	break;
		4489	}
		4490	o[13] = 0;
		4491	o[14] = tbWPEditOut1.Text;
		4492	DataRow dr = dtWaypoints.NewRow();
		4493	dr.ItemArray = o;
		4494
		4495	if (_wpCount > 0)
		4496	_sendWayPoint(dr, -1, 'w', false);
		4497	else
		4498	_sendWayPoint(dr, 1, 'w', false);
2399	-	4499
2429	-	4500	if (_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count)
		4501	_sendWayPoint(dtWaypoints.Rows[wpOffset[_wpIndex]], _wpIndex+1, 's', false);
2385	-	4502	}
		4503	}
2376	-	4504	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		4505	{
		4506	_Simulate = !_Simulate;
		4507	if (dtWaypoints.Rows.Count > 0)
		4508	{
		4509	DataRow dr = dtWaypoints.Rows[0];
		4510	dr[13] = _Simulate ? 3 : 0;
2379	-	4511	_sendWayPoint(dr, 0, 's', true);
2381	-	4512	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
2376	-	4513	}
		4514	}
2428	-	4515
2355	-	4516	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		4517	{
2359	-	4518	_dgvWPselectEditRow();
		4519	}
		4520	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		4521	{
		4522	}
		4523	void _dgvWPselectEditRow()
		4524	{
2355	-	4525	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4526	{
2368	-	4527	Dispatcher.Invoke(() => {
2355	-	4528	DataGridRow row;
2421	-	4529	dgvWP.UpdateLayout();
2368	-	4530	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	4531	{
		4532	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4533	row.Background = new SolidColorBrush(Colors.Transparent);
		4534	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4535	row.BorderThickness = new Thickness(0);
		4536	}
		4537	_wpEdit = dgvWP.SelectedIndex;
		4538	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4539	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		4540	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		4541	row.BorderThickness = new Thickness(2);
		4542	dgvWP.UpdateLayout();
2340	-	4543
2355	-	4544	_setWPEditFields(_wpEdit);
		4545	});
		4546	}
		4547	}
		4548	void _setWPEditFields(int index)
		4549	{
		4550	int iVal;
2421	-	4551	lblWPEditIndex.Content = dtWaypoints.Rows[index][0].ToString();
2355	-	4552	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		4553	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		4554	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		4555	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		4556	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		4557	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		4558	if (iVal == 0)
		4559	{
		4560	cbWPEditHeading.SelectedIndex = 0;
		4561	tbWPEditHeading.Text = " - - -";
		4562	tbWPEditHeading.IsReadOnly = true;
		4563	}
		4564	if (iVal > 0 && iVal < 360)
		4565	{
		4566	cbWPEditHeading.SelectedIndex = 2;
		4567	tbWPEditHeading.Text = iVal.ToString();
		4568	tbWPEditHeading.IsReadOnly = false;
		4569	}
		4570	if (iVal < 0)
		4571	{
		4572	cbWPEditHeading.SelectedIndex = 1;
		4573	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		4574	tbWPEditHeading.IsReadOnly = false;
		4575	}
		4576	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		4577	if (iVal == 0)
		4578	{
		4579	cbWPEditSpeed.SelectedIndex = 0;
		4580	tbWPEditSpeed.Text = "MAX";
		4581	tbWPEditSpeed.IsReadOnly = true;
		4582	}
		4583	if (iVal > 0 && iVal < 248)
		4584	{
		4585	cbWPEditSpeed.SelectedIndex = 1;
		4586	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		4587	tbWPEditSpeed.IsReadOnly = false;
		4588	}
		4589	if (iVal > 247)
		4590	{
		4591	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		4592	tbWPEditSpeed.Text = "";
		4593	tbWPEditSpeed.IsReadOnly = true;
		4594	}
		4595	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		4596	if (iVal == 255)
		4597	{
		4598	cbWPEditClimbrate.SelectedIndex = 0;
		4599	tbWPEditClimbrate.Text = "AUTO";
		4600	tbWPEditClimbrate.IsReadOnly = true;
		4601	}
		4602	else
		4603	{
		4604	cbWPEditClimbrate.SelectedIndex = 1;
		4605	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		4606	tbWPEditClimbrate.IsReadOnly = false;
		4607	}
		4608	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		4609	tbWPEditRadius.Text = iVal.ToString();
		4610	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		4611	tbWPEditHoldtime.Text = iVal.ToString();
		4612	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		4613	tbWPEditAutoTrigger.Text = iVal.ToString();
		4614	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		4615	if (iVal == 0)
		4616	{
		4617	cbWPEditCamAngle.SelectedIndex = 0;
		4618	tbWPEditCamAngle.Text = " - - - ";
		4619	tbWPEditCamAngle.IsReadOnly = true;
		4620	}
		4621	if (iVal < 0 \| iVal == 255)
		4622	{
		4623	cbWPEditCamAngle.SelectedIndex = 1;
		4624	tbWPEditCamAngle.Text = "AUTO";
		4625	tbWPEditCamAngle.IsReadOnly = true;
		4626	}
		4627	if (iVal > 0 & iVal < 255)
		4628	{
		4629	cbWPEditCamAngle.SelectedIndex = 2;
		4630	tbWPEditCamAngle.Text = iVal.ToString();
		4631	tbWPEditCamAngle.IsReadOnly = false;
		4632	}
		4633	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		4634	tbWPEditOut1.Text = iVal.ToString();
		4635
		4636	}
2361	-	4637	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		4638	{
2363	-	4639	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4640	{
2369	-	4641	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	4642	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		4643	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		4644	int i = wpList.IndexOf(pOld);
2363	-	4645	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		4646	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4647	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4648	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	4649	if (i > -1)
		4650	{
2425	-	4651	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
2372	-	4652	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		4653	else
2425	-	4654	{
2372	-	4655	wpList.Remove(pOld);
2425	-	4656	wpOffset.Remove(wpOffset[i]);
		4657	}
2372	-	4658	}
		4659	else
		4660	{
		4661	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		4662	{
		4663	int found = 0;
		4664	for (int k = 0; k < dgvWP.SelectedIndex; k++)
2425	-	4665	{
		4666	if ((int)dtWaypoints.Rows[k][1] == 0 \|\| (int)dtWaypoints.Rows[k][1] == 3)
		4667	{
2372	-	4668	found++;
2425	-	4669	}
		4670	}
2372	-	4671	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
2425	-	4672	wpOffset.Insert(found, dgvWP.SelectedIndex);
2372	-	4673	}
		4674	}
2363	-	4675	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		4676	switch (cbWPEditHeading.SelectedIndex)
		4677	{
		4678	case 0:
		4679	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		4680	break;
		4681	case 1:
		4682	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		4683	break;
		4684	case 2:
		4685	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		4686	break;
		4687	}
		4688	switch (cbWPEditSpeed.SelectedIndex)
		4689	{
		4690	case 0:
		4691	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		4692	break;
		4693	case 1:
		4694	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4695	break;
		4696	case 2:
		4697	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4698	break;
		4699	}
		4700	switch (cbWPEditClimbrate.SelectedIndex)
		4701	{
		4702	case 0:
		4703	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		4704	break;
		4705	case 1:
		4706	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		4707	break;
		4708	}
		4709	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		4710	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		4711	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		4712	switch (cbWPEditCamAngle.SelectedIndex)
		4713	{
		4714	case 0:
		4715	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		4716	break;
		4717	case 1:
		4718	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		4719	break;
		4720	case 2:
		4721	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		4722	break;
		4723	}
		4724	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	4725
2369	-	4726	// _clearMapMarkers(typeof(CustomMarkerWP));
		4727	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		4728	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	4729	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	4730	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	4731	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	4732	// wpList.Clear();
2363	-	4733	if (mRouteWP != null)
		4734	MainMap.Markers.Remove(mRouteWP);
		4735
2369	-	4736	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		4737	//{
		4738	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		4739	//}
2363	-	4740	_routeUpdate();
		4741	dgvWP.Items.Refresh();
		4742
		4743	}
		4744
2361	-	4745	}
		4746	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		4747	{
2368	-	4748	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4749	{
		4750	int index = dgvWP.SelectedIndex;
		4751	Dispatcher.Invoke(() => {
		4752	DataGridRow row;
		4753	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		4754	{
		4755	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4756	row.Background = new SolidColorBrush(Colors.Transparent);
		4757	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4758	row.BorderThickness = new Thickness(0);
		4759	}
2372	-	4760	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	4761	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
2425	-	4762	else
		4763	wpOffset.Remove((int)dtWaypoints.Rows[index][0] + 1);
2368	-	4764	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	4765	if (wpActiveMarker != null)
		4766	MainMap.Markers.Remove(wpActiveMarker);
2368	-	4767	dtWaypoints.Rows[index].Delete();
		4768	_wpIndex = -1;
		4769	_wpEdit = -1;
		4770	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		4771	{
		4772	dtWaypoints.Rows[i][0] = i + 1;
		4773	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		4774	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		4775	_renameWPMarker(s1, s2);
		4776	dtWaypoints.Rows[i][2] = s2;
		4777	}
		4778	lblWPCount.Content = dtWaypoints.Rows.Count;
		4779	if (mRouteWP != null)
		4780	MainMap.Markers.Remove(mRouteWP);
		4781	_routeUpdate();
2361	-	4782
2368	-	4783	dgvWP.UpdateLayout();
		4784	});
		4785	}
2361	-	4786	}
2366	-	4787	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		4788	{
		4789	_wpWEdit(sender);
		4790	}
2361	-	4791	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		4792	{
2366	-	4793	_wpWEdit(sender);
		4794	}
2369	-	4795	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		4796	{
		4797	_wpWEdit(sender);
		4798	}
2366	-	4799	void _wpWEdit(object sender)
		4800	{
2369	-	4801	// if (!((TextBox)sender).IsReadOnly)
2361	-	4802	{
		4803	KeyPad.Keypad k = new KeyPad.Keypad(this);
		4804
2363	-	4805	switch (((TextBox)sender).Name)
		4806	{
		4807	case "tbWPEditLat":
		4808	k.Title = "Latitude";
		4809	k.LENGTH = 17;
		4810	k.MAX = 359.9;
		4811	break;
		4812	case "tbWPEditLon":
		4813	k.Title = "Longitude";
		4814	k.LENGTH = 17;
		4815	k.MAX = 359.9;
		4816	break;
		4817	case "tbWPEditAlt":
		4818	k.Title = "Altitude";
		4819	k.LENGTH = 3;
		4820	k.MAX = 254;
		4821	k.disableDecimal();
		4822	break;
		4823	case "tbWPEditHeading":
		4824	k.Title = "Heading";
		4825	k.LENGTH = 3;
		4826	k.MAX = 359;
		4827	k.MIN = 1;
		4828	k.disableDecimal();
		4829	break;
		4830	case "tbWPEditSpeed":
		4831	k.Title = "Speed";
		4832	k.LENGTH = 4;
		4833	k.MAX = 24.7;
		4834	k.MIN = 0.1;
		4835	break;
		4836	case "tbWPEditClimbrate":
		4837	k.Title = "Climbrate";
		4838	k.LENGTH = 4;
		4839	k.MAX = 25.4;
		4840	k.MIN = 0.1;
		4841	break;
		4842	case "tbWPEditRadius":
		4843	k.Title = "Radius";
		4844	k.LENGTH = 3;
		4845	k.MAX = 254;
		4846	k.disableDecimal();
		4847	break;
		4848	case "tbWPEditHoldtime":
		4849	k.Title = "Holdtime";
		4850	k.LENGTH = 3;
		4851	k.MAX = 254;
		4852	break;
		4853	case "tbWPEditAutoTrigger":
		4854	k.Title = "Autotrigger";
		4855	k.LENGTH = 3;
		4856	k.MAX = 254;
		4857	k.disableDecimal();
		4858	break;
		4859	case "tbWPEditCamAngle":
		4860	k.Title = "Camera angle";
		4861	k.LENGTH = 3;
		4862	k.MAX = 254;
		4863	k.MIN = 1;
		4864	k.disableDecimal();
		4865	break;
		4866	case "tbWPEditOut1":
		4867	k.Title = "OUT1 timer interval";
		4868	k.LENGTH = 3;
		4869	k.MAX = 254;
		4870	k.disableDecimal();
		4871	break;
		4872	}
		4873	k.Result = ((TextBox)sender).Text;
2366	-	4874	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	4875	((TextBox)sender).Text = k.Result;
2361	-	4876	}
2366	-	4877
2361	-	4878	}
		4879	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	4880	{
2359	-	4881	object[] o = new object[16];
2356	-	4882
2359	-	4883	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		4884	o[1] = 0;
		4885	// cbWPEditType.SelectedIndex = 0;
		4886	// tbWPEditPrefix.Text = "P";
		4887	o[2] = "P" + o[0].ToString();
		4888	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4889	o[3] = copter.Position.Lat;
		4890	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4891	o[4] = copter.Position.Lng;
		4892	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		4893	o[5] = iAnalogData[4].ToString();
2356	-	4894
2359	-	4895	// cbWPEditHeading.SelectedIndex = 2;
		4896	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		4897	// tbWPEditHeading.IsReadOnly = false;
2356	-	4898
2359	-	4899	// cbWPEditSpeed.SelectedIndex = 1;
		4900	// tbWPEditSpeed.Text = "5.0";
		4901	// tbWPEditSpeed.IsReadOnly = false;
2372	-	4902	o[7] = "10";
2356	-	4903
2359	-	4904	// cbWPEditClimbrate.SelectedIndex = 1;
		4905	// tbWPEditClimbrate.Text = "5.0";
		4906	// tbWPEditClimbrate.IsReadOnly = false;
2372	-	4907	o[8] = "10";
2356	-	4908
2359	-	4909	// tbWPEditRadius.Text = "10";
2372	-	4910	o[9] = "5";
2359	-	4911	// tbWPEditHoldtime.Text = "5";
		4912	o[10] = "5";
		4913	// tbWPEditAutoTrigger.Text = "0";
		4914	o[11] = "0";
		4915	// cbWPEditCamAngle.SelectedIndex = 1;
		4916	// tbWPEditCamAngle.Text = "AUTO";
		4917	// tbWPEditCamAngle.IsReadOnly = true;
		4918	o[12] = "255";
2356	-	4919
2359	-	4920	o[13] = "0";
		4921	// tbWPEditOut1.Text = "0";
		4922	o[14] = "0";
		4923	o[15] = "0";
		4924
		4925	dtWaypoints.Rows.Add(o);
2425	-	4926	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1],(int)o[0]-1);
2359	-	4927	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4928	if (mRouteWP != null)
		4929	MainMap.Markers.Remove(mRouteWP);
		4930	_routeUpdate();
		4931	Dispatcher.Invoke(() => {
		4932	dgvWP.Items.Refresh();
		4933	dgvWP.SelectedIndex = (int)o[0] -1;
		4934	dgvWP.UpdateLayout();
		4935	_dgvWPselectEditRow();
		4936	});
2356	-	4937	}
2428	-	4938
		4939	private void btnWPEditmoveUp_Click(object sender, RoutedEventArgs e)
		4940	{
		4941	if (dgvWP.SelectedIndex > 0 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4942	{
		4943	int index = dgvWP.SelectedIndex;
		4944	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)
		4945	{
		4946	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		4947	int wpListIndex = wpList.IndexOf(x);
		4948	if (wpListIndex > 0)
		4949	{
		4950	wpList.RemoveAt(wpListIndex);
		4951	wpList.Insert(wpListIndex - 1, x);
		4952	MainMap.Markers.Remove(mRouteWP);
		4953	_routeUpdate();
		4954	}
		4955	}
		4956	DataRow dr = dtWaypoints.Rows[index];
		4957	DataRow newRow = dtWaypoints.NewRow();
		4958	newRow.ItemArray = dr.ItemArray;
		4959	dtWaypoints.Rows.Remove(dr);
		4960	dtWaypoints.Rows.InsertAt(newRow, index - 1);
		4961	dtWaypoints.Rows[index][0] = 100;
		4962	dtWaypoints.Rows[index - 1][0] = index;
		4963	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index - 1][2].ToString());
		4964	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		4965	dtWaypoints.Rows[index - 1][2] = dtWaypoints.Rows[index - 1][2].ToString().Substring(0, 1) + index.ToString();
		4966	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index - 1][2].ToString();
		4967	dtWaypoints.Rows[index][0] = index + 1;
		4968	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		4969	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		4970	dgvWP.Items.Refresh();
		4971	dgvWP.SelectedIndex = index - 1;
		4972	_dgvWPselectEditRow();
		4973	if (wpOffset.Contains(index)) // calculating offset for wpList (index is 0-based - offset starts with index 1)
		4974	{
		4975	int iOffset = wpOffset.IndexOf(index);
		4976	if (iOffset > 0) // if not first element
		4977	{
		4978	if (wpOffset[iOffset - 1] < index-1) //if previous element is not immediately before actual offset
		4979	wpOffset[iOffset] = index-1; //then decrease offset value by one
		4980	}
		4981	else
		4982	wpOffset[iOffset] = index-1; //if first element, decrease offset by one
		4983	}
		4984	else //selected line is POI
		4985	{
		4986	if (wpOffset.Contains(index - 1)) // if next point is WP
		4987	{
		4988	int iOffset = wpOffset.IndexOf(index - 1);
		4989	wpOffset[iOffset] = index; //decrease linenumber of following WP
		4990	}
		4991	}
		4992
		4993	}
		4994	}
		4995	private void btnWPEditmoveDown_Click(object sender, RoutedEventArgs e)
		4996	{
		4997	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count - 1)
		4998	{
		4999	int index = dgvWP.SelectedIndex;
		5000	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)
		5001	{
		5002	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		5003	int wpListIndex = wpList.IndexOf(x);
		5004	if (wpListIndex > -1)
		5005	{
		5006	wpList.RemoveAt(wpListIndex);
		5007	if (wpList.Count > wpListIndex)
		5008	wpList.Insert(wpListIndex + 1, x);
		5009	else
		5010	wpList.Add(x);
		5011	MainMap.Markers.Remove(mRouteWP);
		5012	_routeUpdate();
		5013	}
		5014	}
		5015	DataRow dr = dtWaypoints.Rows[index];
		5016	DataRow newRow = dtWaypoints.NewRow();
		5017	newRow.ItemArray = dr.ItemArray;
		5018	dtWaypoints.Rows.Remove(dr);
		5019	dtWaypoints.Rows.InsertAt(newRow, index + 1);
		5020	dtWaypoints.Rows[index][0] = 100;
		5021	dtWaypoints.Rows[index + 1][0] = index + 2;
		5022	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index + 1][2].ToString());
		5023	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5024	dtWaypoints.Rows[index + 1][2] = dtWaypoints.Rows[index + 1][2].ToString().Substring(0, 1) + (index+2).ToString();
		5025	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index + 1][2].ToString();
		5026	dtWaypoints.Rows[index][0] = index + 1;
		5027	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5028	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5029	dgvWP.Items.Refresh();
		5030	dgvWP.SelectedIndex = index + 1;
		5031	_dgvWPselectEditRow();
		5032	if(wpOffset.Contains(index)) // If selected line is WP
		5033	{
		5034	int iOffset = wpOffset.IndexOf(index);
		5035	if(iOffset < wpOffset.Count -1) // if not last element
		5036	{
		5037	if (wpOffset[iOffset + 1] > index + 1) //if next element is not immediately after actual offset
		5038	wpOffset[iOffset] = index + 1; //then increase offset value by one
		5039	}
		5040	else
		5041	wpOffset[iOffset] = index + 1; //if last element increase offset by one
		5042	}
		5043	else //selected line is POI
		5044	{
		5045	if (wpOffset.Contains(index + 1)) // if next point is WP
		5046	{
		5047	int iOffset = wpOffset.IndexOf(index + 1);
		5048	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5049	}
		5050	}
		5051	}
		5052
		5053	}
		5054
2405	-	5055	private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e)
		5056	{
		5057	if (WPStatus.Visibility == Visibility.Visible)
		5058	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5059	else
		5060	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5061	}
		5062	private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e)
		5063	{
		5064	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		5065	{
		5066	if (cWPBound != null && cWPBound.Tag != null)
		5067	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2356	-	5068
2408	-	5069	createCircle(home.Position, dWPMaxRange);
2419	-	5070	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		5071	{
		5072	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		5073	cWPBound.setColor(s);
		5074	}
2405	-	5075	}
2408	-	5076
2405	-	5077	if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null))
		5078	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		5079	}
2315	-	5080	#endregion WP
2324	-	5081	#region GPX
		5082	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		5083	{
		5084	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		5085	}
		5086	void _gpxAdd(double lat,double lon, int elevation)
		5087	{
		5088	DataRow dr = dtGPX.NewRow();
		5089	dr[0] = dtGPX.Rows.Count - 1;
		5090	dr[1] = lat;
		5091	dr[2] = lon;
		5092	dr[3] = elevation;
		5093	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		5094	dtGPX.Rows.Add(dr);
		5095	}
		5096	void _saveGPXLog()
		5097	{
		5098	if (!Directory.Exists("GPXLog"))
		5099	Directory.CreateDirectory("GPXLog");
		5100	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		5101	XmlTextWriter myXmlTextWriter = null;
		5102	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		5103	NumberFormatInfo nfi = new NumberFormatInfo();
		5104	nfi.NumberDecimalSeparator = ".";
2315	-	5105
2324	-	5106	try
		5107	{
		5108	myXmlTextWriter.Formatting = Formatting.Indented;
		5109
		5110	myXmlTextWriter.WriteStartDocument();
		5111
		5112	myXmlTextWriter.WriteStartElement("gpx");
		5113
		5114	myXmlTextWriter.WriteAttributeString("version", "1.0");
		5115	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		5116	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		5117	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		5118	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		5119
		5120	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		5121
		5122	myXmlTextWriter.WriteStartElement("trk");
		5123	myXmlTextWriter.WriteStartElement("trkseg");
		5124	for(int i = 0; i< dtGPX.Rows.Count;i++)
		5125	{
		5126	myXmlTextWriter.WriteStartElement("trkpt");
		5127	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		5128	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		5129	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		5130	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		5131	myXmlTextWriter.WriteEndElement();
		5132	}
		5133	myXmlTextWriter.WriteEndElement();
		5134	myXmlTextWriter.WriteEndElement();
		5135	myXmlTextWriter.WriteEndElement();
		5136	}
		5137	catch (Exception e)
		5138	{
		5139	Console.WriteLine("Exception: {0}", e.ToString());
		5140	}
		5141	finally
		5142	{
		5143	if (myXmlTextWriter != null)
		5144	{
		5145	myXmlTextWriter.Close();
		5146	}
		5147	}
		5148	}
2425	-	5149
		5150	private void Grid_TouchDown(object sender, TouchEventArgs e)
		5151	{
		5152
		5153	}
		5154
2324	-	5155	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		5156	{
		5157	_loadGPXLog();
		5158	}
2327	-	5159	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		5160	{
		5161	_clearMapMarkers(typeof(GMapRoute));
		5162	}
2324	-	5163	void _loadGPXLog()
		5164	{
		5165
		5166	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		5167	fd.Filter = "GPX-Logfile \| *.gpx";
		5168	fd.Multiselect = false;
		5169	if (fd.ShowDialog().Value)
		5170	{
		5171	string file = fd.FileName;
		5172	try
		5173	{
		5174	XDocument gpxDoc = XDocument.Load(file);
		5175	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		5176
		5177	NumberFormatInfo nfi = new NumberFormatInfo();
		5178	nfi.NumberDecimalSeparator = ".";
		5179
		5180	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		5181	select new
		5182	{
		5183	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		5184	Segs = (
		5185	from trackpoint in track.Descendants(gpx + "trkpt")
		5186	select new
		5187	{
		5188	Latitude = trackpoint.Attribute("lat").Value,
		5189	Longitude = trackpoint.Attribute("lon").Value,
		5190	Elevation = trackpoint.Element(gpx + "ele") != null ?
		5191	trackpoint.Element(gpx + "ele").Value : null,
		5192	Time = trackpoint.Element(gpx + "time") != null ?
		5193	trackpoint.Element(gpx + "time").Value : null
		5194	}
		5195	)
		5196	};
		5197
		5198	List<PointLatLng> wpl = new List<PointLatLng>();
		5199	foreach(var trk in tracks)
		5200	{
		5201	foreach(var trkseg in trk.Segs)
		5202	{
		5203	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		5204	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		5205	}
		5206
		5207	}
		5208	if(wpl.Count() > 0)
		5209	{
2327	-	5210	_clearMapMarkers(typeof(GMapRoute));
2324	-	5211	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	5212	Dispatcher.Invoke(() =>
		5213	{
		5214	GMapRoute mRoute;
		5215	if (comboBoxRouteColor.SelectionBoxItem != null)
		5216	{
		5217	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	5218	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	5219	}
		5220	else
2366	-	5221	mRoute = new GMapRoute(wpl, null);
2324	-	5222
2328	-	5223	MainMap.Markers.Add(mRoute);
		5224	});
2324	-	5225	}
		5226
		5227	}
		5228	catch (Exception e)
		5229	{
		5230	Console.WriteLine("Exception: {0}", e.ToString());
		5231	}
		5232	}
		5233	}
		5234	#endregion GPX
2315	-	5235	#endregion functions
2287	-	5236	}
2425	-	5237
		5238	/// <summary>
2315	-	5239	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		5240	/// </summary>
2313	-	5241	public class waypointsConverter : IValueConverter
		5242	{
		5243	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		5244	{
		5245	if (value != null)
		5246	{
		5247	switch ((string)parameter)
		5248	{
		5249	case "Latitude":
		5250	return value.ToString() + " °";
		5251	case "Longitude":
		5252	return value.ToString() + " °";
		5253	case "Radius":
		5254	return value.ToString() + " m";
		5255	case "Altitude":
		5256	return value.ToString() + " m";
		5257	case "ClimbRate":
		5258	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		5259	case "DelayTime":
		5260	return value.ToString() + " s";
		5261	case "Heading":
		5262	return Waypoints.Heading(System.Convert.ToInt32(value));
		5263	case "Speed":
		5264	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		5265	case "CamAngle":
		5266	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		5267	case "Type":
		5268	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		5269	case "AutoTrigger":
		5270	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		5271	case "Status":
2355	-	5272	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	5273	}
		5274
		5275	return value.ToString();
		5276	}
		5277	else return value;
		5278	}
		5279
		5280	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		5281	{
		5282	throw new NotImplementedException();
		5283	}
		5284	}
2287	-	5285	public class IniFile
		5286	{
		5287	public string path;
		5288
		5289	[DllImport("kernel32")]
		5290	private static extern long WritePrivateProfileString(string section,
		5291	string key, string val, string filePath);
		5292
		5293	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		5294	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		5295	uint nSize, string lpFileName);
		5296
		5297	[DllImport("kernel32")]
		5298	private static extern int GetPrivateProfileString(string section,
		5299	string key, string def, StringBuilder retVal,
		5300	int size, string filePath);
		5301
		5302	public IniFile(string INIPath)
		5303	{
		5304	path = INIPath;
		5305	}
		5306
		5307	public void IniWriteValue(string Section, string Key, string Value)
		5308	{
		5309	WritePrivateProfileString(Section, Key, Value, this.path);
		5310	}
		5311
		5312	public string IniReadValue(string Section, string Key)
		5313	{
		5314	StringBuilder temp = new StringBuilder(255);
		5315	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		5316	return temp.ToString();
		5317	}
		5318	//Ini_sections auslesen in String-Array
		5319	public string[] IniSectionNames()
		5320	{
		5321
		5322	// uint MAX_BUFFER = 32767;
		5323	uint MAX_BUFFER = 8388608;
		5324	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		5325	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		5326	if (bytesReturned == 0)
		5327	{
		5328	Marshal.FreeCoTaskMem(pReturnedString);
		5329	return null;
		5330	}
		5331	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		5332	Marshal.FreeCoTaskMem(pReturnedString);
		5333	//use of Substring below removes terminating null for split
		5334	return local.Substring(0, local.Length - 1).Split('\0');
		5335
		5336
		5337	}
		5338	}
		5339	/// <summary>
		5340	/// Selected Win AI Function Calls
		5341	/// </summary>
		5342	public class WinApi
		5343	{
		5344	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		5345	public static extern int GetSystemMetrics(int which);
		5346	[DllImport("user32.dll")]
		5347	public static extern void
		5348	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		5349	int X, int Y, int width, int height, uint flags);
		5350
		5351	private const int SM_CXSCREEN = 0;
		5352	private const int SM_CYSCREEN = 1;
		5353	private static IntPtr HWND_TOP = IntPtr.Zero;
		5354	private const int SWP_SHOWWINDOW = 64; // 0x0040
		5355
		5356	public static int ScreenX
		5357	{
		5358	get { return GetSystemMetrics(SM_CXSCREEN); }
		5359	}
		5360
		5361	public static int ScreenY
		5362	{
		5363	get { return GetSystemMetrics(SM_CYSCREEN); }
		5364	}
		5365
		5366	public static void SetWinFullScreen(IntPtr hwnd)
		5367	{
		5368	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		5369	}
		5370	}
		5371	/// <summary>
		5372	/// Class used to preserve / restore state of the window
		5373	/// </summary>
		5374	public class WinState
		5375	{
		5376	private WindowState winState;
		5377	private WindowStyle brdStyle;
		5378	private bool topMost;
		5379	private Rect restore;
		5380	private bool IsMaximized = false;
		5381
		5382	public bool isMaximized
		5383	{
		5384	get { return IsMaximized; }
		5385	}
		5386	public void Maximize(Window targetForm)
		5387	{
		5388	if (!IsMaximized)
		5389	{
		5390	IsMaximized = true;
		5391	Save(targetForm);
		5392	targetForm.WindowState = WindowState.Maximized;
		5393	targetForm.WindowStyle = WindowStyle.None;
		5394	targetForm.Topmost = true;
		5395	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		5396	}
		5397	}
		5398
		5399	public void Save(Window targetForm)
		5400	{
		5401	winState = targetForm.WindowState;
		5402	brdStyle = targetForm.WindowStyle;
		5403	topMost = targetForm.Topmost;
		5404	restore = targetForm.RestoreBounds;
		5405	}
		5406	public void Restore(Window targetForm)
		5407	{
		5408	targetForm.WindowState = winState;
		5409	targetForm.WindowStyle = brdStyle;
		5410	targetForm.Topmost = topMost;
		5411
		5412	targetForm.Left = restore.Left;
		5413	targetForm.Top = restore.Top;
		5414	targetForm.Height = restore.Height;
		5415	targetForm.Width = restore.Width;
		5416	IsMaximized = false;
		5417	}
		5418	}
		5419
		5420	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2429 - Rev