WebSVN - Projects - Blame - Rev 2398 - /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
		41
2287	-	42	GMapMarker copter;
		43	GMapMarker home;
		44	PointLatLng start;
		45	PointLatLng end;
		46	PointLatLng pHome;
2328	-	47	GMapRoute mRouteWP;
2342	-	48	GMapMarker wpActiveMarker;
2328	-	49	List<PointLatLng> wpList = new List<PointLatLng>();
2324	-	50	#region NC-Errors
2287	-	51	String[] NC_Error = new string[44]
		52	{
		53	"No Error",
2381	-	54	"FC not compatible",
		55	"MK3Mag not compatible",
		56	"no FC communication",
		57	"no compass communication",
		58	"no GPS communication",
		59	"bad compass value",
		60	"RC Signal lost",
		61	"FC spi rx error",
		62	"ERR: no NC communication",
		63	"ERR: FC Nick Gyro",
		64	"ERR: FC Roll Gyro",
		65	"ERR: FC Yaw Gyro",
		66	"ERR: FC Nick ACC",
		67	"ERR: FC Roll ACC",
		68	"ERR: FC Z-ACC",
		69	"ERR: Pressure sensor",
		70	"ERR: FC I2C",
		71	"ERR: Bl Missing",
		72	"Mixer Error",
		73	"FC: Carefree Error",
		74	"ERR: GPS lost",
		75	"ERR: Magnet Error",
		76	"Motor restart",
		77	"BL Limitation",
		78	"Waypoint range",
		79	"ERR:No SD-Card",
		80	"ERR:SD Logging aborted",
		81	"ERR:Flying range!",
		82	"ERR:Max Altitude",
		83	"No GPS Fix",
		84	"compass not calibrated",
		85	"ERR:BL selftest",
		86	"no ext. compass",
		87	"compass sensor",
		88	"FAILSAFE pos.!",
		89	"ERR:Redundancy",
		90	"Redundancy test",
		91	"GPS Update rate",
		92	"ERR:Canbus",
		93	"ERR: 5V RC-Supply",
		94	"ERR:Power-Supply",
		95	"ACC not calibr.",
		96	"ERR:Parachute!"
2287	-	97	};
2381	-	98	String[] NC_Error_Link = new string[44]
		99	{
		100	"",
		101	"http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		102	"http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		103	"http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		104	"http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		105	"http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		106	"http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		107	"http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		108	"http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		109	"http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		110	"http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		111	"http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		112	"http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		113	"http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		114	"http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		115	"http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		116	"http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		117	"http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		118	"http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		119	"http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		120	"http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		121	"http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		122	"http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		123	"http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		124	"http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		125	"http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		126	"http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		127	"http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		128	"http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		129	"http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		130	"http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		131	"http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		132	"http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		133	"http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		134	"http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		135	"http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		136	"http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		137	"http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		138	"http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		139	"http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		140	"http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		141	"http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		142	"http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		143	"http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		144	};
		145
2324	-	146	#endregion NC-Errors
2287	-	147	[FlagsAttribute]
		148	enum NC_HWError0 : short
		149	{
		150	None = 0,
		151	SPI_RX = 1,
		152	COMPASS_RX = 2,
		153	FC_INCOMPATIBLE = 4,
		154	COMPASS_INCOMPATIBLE = 8,
		155	GPS_RX = 16,
		156	COMPASS_VALUE = 32
		157	};
		158	[FlagsAttribute]
		159	enum FC_HWError0 : short
		160	{
		161	None = 0,
		162	GYRO_NICK = 1,
		163	GYRO_ROLL = 2,
		164	GYRO_YAW = 4,
		165	ACC_NICK = 8,
		166	ACC_ROLL = 16,
		167	ACC_TOP = 32,
		168	PRESSURE = 64,
		169	CAREFREE = 128
		170	};
		171	[FlagsAttribute]
		172	enum FC_HWError1 : short
		173	{
		174	None = 0,
		175	I2C = 1,
		176	BL_MISSING = 2,
		177	SPI_RX = 4,
		178	PPM = 8,
		179	MIXER = 16,
		180	RC_VOLTAGE = 32,
		181	ACC_NOT_CAL = 64,
		182	RES3 = 128
		183	};
		184	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		185	// Various colors for logging info
		186	private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red };
		187
		188	bool _bCBInit = true;
		189	bool _init = true;
		190	bool check_HWError = false;
		191
		192	string filePath = Directory.GetCurrentDirectory();
		193	bool bReadContinously = false;
		194	bool _debugDataAutorefresh = true;
		195	bool _navCtrlDataAutorefresh = true;
		196	bool _blctrlDataAutorefresh = true;
		197	bool _OSDAutorefresh = true;
		198	bool _bErrorLog = false;
		199	bool _bConnErr = false;
		200	bool _bFollowCopter = false;
2324	-	201	bool _bGPXLog = false;
2376	-	202	bool _Simulate = false;
2287	-	203
		204	bool _bSaveWinStateNormal = true;
		205	bool _bSaveWinStateFull = true;
		206
		207	double scaleNormalAll = 1;
		208	double scaleNormalTopBar = 1;
		209	double scaleNormalMotors = 1;
		210	double scaleNormalOSD = 1;
		211	double scaleNormalLOG = 1;
		212	double scaleNormalHorizon = 1;
		213
		214	double scaleFullAll = 1;
		215	double scaleFullTopBar = 1;
		216	double scaleFullMotors = 1;
		217	double scaleFullOSD = 1;
		218	double scaleFullLOG = 1;
		219	double scaleFullHorizon = 1;
		220
		221	int _iCtrlAct = 0;
		222	int iOSDPage = 0;
		223	int iOSDMax = 0;
		224	int _iLifeCounter = 0;
		225	int crcError = 0;
		226
2291	-	227	bool _bSatFix = false;
		228	Storyboard stbSatFixLostAnim;
		229	bool _bAnimSatFixActive = false;
		230	bool _bVoiceSatFixActive = false;
		231	bool _bVoiceSatFixPlay = false;
		232	int _iSatsLast = 0;
		233	int _iSatsJitter = 0;
		234
		235	bool _bMagneticFieldOK = false;
		236	Storyboard stbMagneticFieldAnim;
		237	bool _bAnimMagneticFieldActive = false;
		238	bool _bVoiceMagneticFieldActive = false;
		239	bool _bVoiceMagneticFieldPlay = false;
		240	int _iMagneticFieldLast = 0;
		241	int _iMagneticFieldJitter = 0;
		242
		243	bool _bRCLevelOK = false;
		244	Storyboard stbRCLevelAnim;
		245	bool _bAnimRCLevelActive = false;
		246	bool _bVoiceRCLevelActive = false;
		247	bool _bVoiceRCLevelPlay = false;
		248	int _iRCLevelLast = 0;
		249	int _iRCLevelJitter = 0;
		250
2287	-	251	int _iMotors = 4;
		252	int _LipoCells = 4;
		253
		254	double _dLipoVMax = 16.88;
		255	double _dLipoVMin = 12;
		256	double _dThresholdVoltageWarn = 0;
		257	double _dThresholdVoltageCrit = 0;
		258	Storyboard stbVoltageCritAnim;
		259	bool _bCritAnimVoltActive = false;
		260	bool _bCritVoiceVoltActive = false;
2291	-	261	bool _bWarnVoiceVoltActive = false;
2287	-	262	bool _bVoiceVoltPlay = false;
		263	double _dVoltLast = 0;
		264	int _iVoltJitter = 0;
		265
2291	-	266	double _dThresholdDistanceWarn = 100;
		267	Storyboard stbDistanceWarnAnim;
		268	bool _bAnimDistanceActive = false;
		269	bool _bVoiceDistanceActive = false;
		270	bool _bVoiceDistancePlay = false;
		271	double _dDistanceLast = 0;
		272	int _iDistanceJitter = 0;
		273
		274	double _dThresholdDistanceMax = 1000;
		275	int _iThresholdRC = 160;
		276	int _iThresholdMagField = 15;
		277
2295	-	278	bool _bAutoHome = false;
		279	bool _bFirstSatFix = false;
		280	int _iFirstSatFix = 0;
2291	-	281
2287	-	282	double _dTopHeight = 36;
		283
		284	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		285	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		286	string[] serChanTitle = new string[12];
		287
		288	string[] sAnalogLabel = new string[32];
		289	string[] sAnalogData = new string[32];
2324	-	290	int[] iAnalogData = new int[32];
2287	-	291
		292	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 };
		293	int[] iMotors = new int[] {3,4,5,6,7,8,9,10,11,12 };
		294	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		295	/// <summary>
		296	/// interval for sending debugdata (multiplied by 10ms)
		297	/// </summary>
		298	byte debugInterval = 10; //(=> 100ms)
		299	/// <summary>
		300	/// interval for sending BL-CTRL status (multiplied by 10ms)
		301	/// </summary>
		302	byte blctrlInterval = 75;
		303	/// <summary>
		304	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		305	/// </summary>
		306	byte navctrlInterval = 80;
		307	/// <summary>
		308	/// interval for sending OSD page update (multiplied by 10ms)
		309	/// </summary>
		310	byte OSDInterval = 85;
		311	/// <summary>
		312	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		313	/// </summary>
		314	DataTable dtAnalog = new DataTable();
		315	/// <summary>
		316	/// datatable for motordata (current,temp)
		317	/// </summary>
2315	-	318	DataTable dtMotors = new DataTable();
2287	-	319
		320	DataTable dtWaypoints = new DataTable();
2313	-	321	static volatile int _iWPCount = -1;
		322	static volatile int _iWPIndex = -1;
		323	int _iWPTimeout = 1000;
2287	-	324	bool _bGetWP = false;
2328	-	325	bool _bShowWPRoute = false;
2287	-	326	static volatile bool _bGetWPCount = false;
2324	-	327	DataTable dtGPX = new DataTable();
		328	DataRow drGPX;
		329	bool _bAirborne = false;
2355	-	330	int _wpIndex = -1, _wpCount = 0, _wpEdit = -1;
2340	-	331
2287	-	332	DispatcherTimer timer = new DispatcherTimer();
		333
		334	/// <summary>
		335	/// stuff for enabeling touch zoom for the map
		336	/// </summary>
		337	Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0);
		338	int iFirstStylusID = -1;
		339	public string connectButtonText
		340	{
		341	get
		342	{
		343	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		344	}
		345	}
		346
		347	WinState winState = new WinState();
2304	-	348	#endregion declarations
2287	-	349	public MainWindow()
		350	{
		351	InitializeComponent();
		352	_initForm();
		353	_dataTablesInit();
		354	_setupMap();
		355	_init = false;
		356	timer.Tick += new EventHandler(timerEvent);
		357	timer.Interval = new TimeSpan(0, 0, 1);
		358	timer.Start();
		359	}
		360
		361	#region init
		362	void _initForm()
		363	{
		364	_readIni();
		365	if (_bSaveWinStateNormal)
		366	_setScaleSliders(false);
		367	cBoxTimingsDebug.ItemsSource =
		368	cBoxTimingsNav.ItemsSource =
		369	cBoxTimingsBl.ItemsSource =
		370	cBoxTimingsOSD.ItemsSource =
		371	iTimings;
		372	cBoxLiPoCells.ItemsSource = sLiPoCells;
		373	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		374	_LipoMinMax();
		375	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		376	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		377	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
2291	-	378	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		379	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		380	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		381	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		382	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
2287	-	383
2291	-	384	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		385
2287	-	386	cBoxMotors.ItemsSource = iMotors;
		387	cBoxMotors.SelectedItem = _iMotors;
		388
		389	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		390	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		391	serialPortCtrl.DataReceived += processMessage;
		392
		393	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		394	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		395	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		396	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		397
		398	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		399	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		400	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		401	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
2295	-	402	checkBoxAutoSetHP.IsChecked = _bAutoHome;
2287	-	403	checkBoxFollowCopter.IsChecked = _bFollowCopter;
2324	-	404	checkBoxGPXLog.IsChecked = _bGPXLog;
2328	-	405	checkBoxShowWPRoute.IsChecked = _bShowWPRoute;
2287	-	406
2349	-	407	_initSerialCtrl();
2287	-	408	}
		409	/// <summary>
		410	/// initialize the datatables
		411	/// with columnnames etc
		412	/// </summary>
		413	void _dataTablesInit()
		414	{
2315	-	415	dtMotors.Columns.Add("#");
2313	-	416	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
2315	-	417	dtMotors.Columns.Add("Strom");
2313	-	418	else
2315	-	419	dtMotors.Columns.Add("Current");
		420	dtMotors.Columns.Add("Temp");
		421	dgvMotors1.DataContext = dtMotors.DefaultView;
2287	-	422	_initDTMotors();
		423
		424	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0));
		425	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		426	style.Setters.Add(setter);
		427	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		428	style.Setters.Add(setter);
		429	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		430	style.Setters.Add(setter);
2313	-	431
		432	dtWaypoints.Columns.Add("Index",typeof(int));
2315	-	433	dtWaypoints.Columns.Add("Type", typeof(int));
2313	-	434	dtWaypoints.Columns.Add("Name",typeof(string));
2315	-	435	dtWaypoints.Columns.Add("Latitude",typeof(double));
		436	dtWaypoints.Columns.Add("Longitude",typeof(double));
2313	-	437	dtWaypoints.Columns.Add("Altitude",typeof(string));
		438	dtWaypoints.Columns.Add("Heading",typeof(string));
		439	dtWaypoints.Columns.Add("Speed",typeof(string));
		440	dtWaypoints.Columns.Add("ClimbRate",typeof(string));
		441	dtWaypoints.Columns.Add("Radius",typeof(string));
		442	dtWaypoints.Columns.Add("HoldTime",typeof(string));
		443	dtWaypoints.Columns.Add("AutoTrigger",typeof(string));
		444	dtWaypoints.Columns.Add("CamAngle",typeof(string));
		445	dtWaypoints.Columns.Add("Event",typeof(string));
		446	dtWaypoints.Columns.Add("Out1Timer",typeof(string));
		447	dtWaypoints.Columns.Add("Status",typeof(string));
		448	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		449	dgvWP.ItemsSource = dtWaypoints.DefaultView;
2287	-	450	dgvWP.ColumnHeaderStyle = new Style();
		451	dgvWP.ColumnHeaderStyle = style;
2313	-	452
2324	-	453	dtGPX.Columns.Add("Index",typeof(int));
		454	dtGPX.Columns.Add("Latitude",typeof(double));
		455	dtGPX.Columns.Add("Longitude",typeof(double));
		456	dtGPX.Columns.Add("Elevation",typeof(int));
		457	dtGPX.Columns.Add("Time",typeof(string));
		458	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		459	drGPX = dtGPX.NewRow();
2313	-	460
2287	-	461	}
		462	/// <summary>
2315	-	463	/// initialize the datatable dtMotors for motor values
2313	-	464	/// DataGridView dgvMotors1 is bound to dtMotors1
2287	-	465	/// </summary>
		466	void _initDTMotors()
		467	{
		468	for (int i = 0; i < 12; i++)
		469	{
2315	-	470	if (dtMotors.Rows.Count < 12)
		471	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
2287	-	472	else
		473	{
2315	-	474	dtMotors.Rows[i].SetField(1, "NA");
		475	dtMotors.Rows[i].SetField(2, "NA");
2287	-	476	}
		477	}
		478	}
		479
		480	#endregion init
		481
		482	#region events
		483	private void serialPortCtrl_PortOpened()
		484	{
		485	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		486	_getVersion();
		487	Thread.Sleep(100);
		488	//_OSDMenue(0);
		489	//Thread.Sleep(200);
		490	//_sendSerialData();
		491	_readCont(true);
		492	}
		493	private void serialPortCtrl_PortClosed()
		494	{
		495	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		496	_readCont(false);
		497	}
2324	-	498	bool _bToggle = false;
2287	-	499	void timerEvent(object sender, EventArgs e)
		500	{
		501	if (bReadContinously)
		502	{
		503	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		504
		505	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		506
		507	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		508	check_HWError = true;
		509	_getVersion();
		510	Thread.Sleep(10);
		511	if (_OSDAutorefresh)
		512	{
		513	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		514	_initOSDCB();
		515	_OSDMenueAutoRefresh();
		516	}
		517	if (_iLifeCounter > 0)
		518	{
		519	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		520	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		521	_iLifeCounter = 0;
		522	_bConnErr = false;
2327	-	523	if(_bAirborne && _bGPXLog)
2324	-	524	{
		525	drGPX[0] = dtGPX.Rows.Count;
		526	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		527	}
2327	-	528	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		529	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		530	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
2324	-	531	_bToggle = !_bToggle;
2287	-	532	}
		533	else
		534	{
		535	if (!_bConnErr)
		536	{
		537	Log(LogMsgType.Error, "No communication to NC/FC!");
		538	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		539	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		540	_bConnErr = true;
		541	}
		542	}
		543	}
		544	}
		545
		546	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		547	{
		548	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		549	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		550	}
		551	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		552	{
		553	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		554	if (GridMotors.IsVisible)
		555	_setMotorGridSize();
		556	}
		557	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		558	{
		559	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		560	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		561	}
		562	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		563	{
		564	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		565	}
		566	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		567	{
		568	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		569	}
		570	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		571	{
		572	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		573	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		574	}
		575
		576	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		577	{
		578	Thread t = new Thread(new ThreadStart(_getWP));
		579	t.Start();
		580	}
		581	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		582	{
2313	-	583	Thread t = new Thread(new ThreadStart(_sendWPList));
		584	t.Start();
2287	-	585	}
		586
		587	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		588	{
		589	if (!serialPortCtrl.Port.IsOpen)
		590	serialPortCtrl.Connect(true);
		591	else
		592	_readCont(!bReadContinously);
		593	}
		594	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		595	{
2347	-	596	_setHomePos();
2287	-	597	}
		598	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		599	{
2347	-	600	_clearHomePos();
2287	-	601	}
		602	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		603	{
		604	if (home != null && MainMap.Markers.Contains(home))
		605	MainMap.Position = home.Position;
		606	}
2295	-	607	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		608	{
		609	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		610	}
2287	-	611	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		612	{
		613	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		614	}
		615	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		616	{
		617	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		618	}
		619
2291	-	620	#region thresholds
2287	-	621	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		622	{
		623	if(!_init)
		624	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		625	}
		626	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		627	{
		628	if(!_init)
		629	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		630	}
		631	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		632	{
		633	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		634	}
2291	-	635
		636	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		637	{
		638	if(!_init)
		639	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		640	}
		641	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		642	{
		643	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		644	}
		645
		646	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		647	{
		648	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		649	}
		650	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		651	{
		652	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		653	}
		654	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		655	{
		656	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		657	}
		658	#endregion thresholds
		659
2287	-	660	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		661	{
		662	_switchToNC();
		663	}
		664
		665	private void Window_Loaded(object sender, RoutedEventArgs e)
		666	{
		667	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
2291	-	668	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		669	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		670	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		671	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
2287	-	672	_setMotorGridSize();
		673	}
2310	-	674	private void Window_Closing(object sender, CancelEventArgs e)
		675	{
		676	_writeIni();
2324	-	677	if(_bGPXLog && dtGPX.Rows.Count > 0)
		678	_saveGPXLog();
2310	-	679	}
2379	-	680	private void Window_Closed(object sender, EventArgs e)
		681	{
		682	Application.Current.Shutdown();
		683	}
		684
2287	-	685	#endregion events
		686
		687	#region GMap
		688
		689	void _setupMap()
		690	{
		691	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		692	MainMap.MapProvider = GMapProviders.BingHybridMap;
		693	MainMap.SetPositionByKeywords("Landshut");
		694	MainMap.MinZoom = 0;
		695	MainMap.MaxZoom = 24;
		696	MainMap.Zoom = 16;
		697	MainMap.ShowCenter = true;
		698	MainMap.ShowTileGridLines = false;
		699	sliderMapZoom.Value = 16;
		700	comboBoxMapType.ItemsSource = providerList;
		701	comboBoxMapType.DisplayMemberPath = "Name";
		702	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		703
		704	// acccess mode
		705	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		706	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		707
		708	}
		709
		710	/// <summary>
		711	/// selection of relevant map providers --> if You need more, You can change the line:
		712	/// comboBoxMapType.ItemsSource = providerList;
		713	/// to:
		714	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		715	/// in _setupMap()
		716	/// or add items here:
		717	/// </summary>
		718	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		719	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		720	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		721	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		722	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		723
		724	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		725	{
		726	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		727	copter = new GMapMarker(MainMap.Position);
2318	-	728
		729	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"),"red");
		730	if (comboBoxCopterColor.SelectionBoxItem != null)
		731	{
		732	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	733	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	734	}
2385	-	735	Dispatcher.Invoke(() => {
		736	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		737	{
		738	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		739	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		740	}
		741	});
		742	copter.Offset = new System.Windows.Point(-28, -28);
2287	-	743	copter.ZIndex = int.MaxValue;
		744	MainMap.Markers.Add(copter);
		745	copter.Position = MainMap.Position;
		746	}
2347	-	747	void _setHomePos()
2287	-	748	{
		749	pHome = MainMap.Position;
		750	if (!MainMap.Markers.Contains(home))
		751	{
		752	home = new GMapMarker(MainMap.Position);
		753	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		754	home.Offset = new System.Windows.Point(-18, -18);
		755	// home.ZIndex = int.MaxValue;
		756	MainMap.Markers.Add(home);
		757	}
		758	home.Position = MainMap.Position;
		759	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		760	}
2347	-	761	void _setActiveWP(int iIndex)
2287	-	762	{
2347	-	763	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
		764	{
		765	Dispatcher.Invoke(() =>
		766	{
		767	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		768	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		769	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		770	MainMap.Markers.Add(wpActiveMarker);
		771	});
		772	}
		773	else
		774	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
		775
		776	}
		777	void _clearHomePos()
		778	{
2287	-	779	MainMap.Markers.Remove(home);
		780	}
2335	-	781	void _clearMapMarkers(Type markerType)
		782	{
		783	for (int k = 0; k < MainMap.Markers.Count;)
		784	{
		785	GMapMarker p = MainMap.Markers[k];
2340	-	786	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	787	MainMap.Markers.Remove(p);
		788	else
		789	k++;
		790	}
2287	-	791
2335	-	792	}
2369	-	793
		794	GMapMarker _findWPMarker(string name)
2368	-	795	{
		796	for (int k = 0; k < MainMap.Markers.Count;)
		797	{
		798	GMapMarker p = MainMap.Markers[k];
		799	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
2369	-	800	if (((CustomMarkerWP)p.Shape).WPText == name)
		801	return p;
2368	-	802	else
		803	k++;
		804	else
		805	k++;
		806	}
2369	-	807	return null;
2368	-	808	}
2369	-	809	void _clearWPMarker(string name)
		810	{
		811	GMapMarker p = _findWPMarker(name);
		812	if(p != null)
		813	MainMap.Markers.Remove(p);
		814	}
2368	-	815	void _renameWPMarker(string s1, string s2)
		816	{
2369	-	817	GMapMarker p = _findWPMarker(s1);
		818	if (p != null)
		819	((CustomMarkerWP)p.Shape).WPText = s2;
2368	-	820	}
2372	-	821	void _WPMarkerSetType(string text, int type)
		822	{
		823	GMapMarker p = _findWPMarker(text);
		824	if (p != null)
		825	((CustomMarkerWP)p.Shape).WPType = type;
		826	}
2369	-	827	void _repositionWPMarker(PointLatLng point, string name)
		828	{
		829	GMapMarker p = _findWPMarker(name);
		830	if (p != null)
		831	p.Position = point;
		832	}
		833
2287	-	834	// access mode
		835	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		836	{
		837	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		838	MainMap.ReloadMap();
		839	}
		840	// zoom up
		841	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		842	{
		843	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		844	}
		845
		846	// zoom down
		847	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		848	{
		849	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		850	}
		851
		852	// prefetch
		853	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		854	{
		855	RectLatLng area = MainMap.SelectedArea;
		856	if (!area.IsEmpty)
		857	{
		858	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		859	{
		860	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		861
		862	if (res == MessageBoxResult.Yes)
		863	{
		864	TilePrefetcher obj = new TilePrefetcher();
		865	obj.Owner = this;
		866	obj.ShowCompleteMessage = true;
		867	obj.Start(area, i, MainMap.MapProvider, 100);
		868	}
		869	else if (res == MessageBoxResult.No)
		870	{
		871	continue;
		872	}
		873	else if (res == MessageBoxResult.Cancel)
		874	{
		875	break;
		876	}
		877	}
		878	}
		879	else
		880	{
		881	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		882	}
		883	}
		884
		885	// goto by geocoder
		886	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		887	{
		888	_goto_byGeoCoder();
		889	}
		890	// goto by geocoder
		891	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		892	{
		893	if (e.Key == System.Windows.Input.Key.Enter)
		894	_goto_byGeoCoder();
		895	}
		896	void _goto_byGeoCoder()
		897	{
		898	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		899	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		900	{
		901	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		902	}
		903	}
		904	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		905	{
		906	try
		907	{
		908	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		909	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		910
		911	MainMap.Position = new PointLatLng(lat, lng);
		912	}
		913	catch (Exception ex)
		914	{
		915	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		916	}
		917
		918	}
		919
		920	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		921	{
		922	MainMap.ReloadMap();
		923	}
		924
		925	private void MainMap_OnPositionChanged(PointLatLng point)
		926	{
		927	if (_bFollowCopter)
		928	_setCopterData(MainMap.Position);
		929	}
		930
		931	private void MainMap_OnMapZoomChanged()
		932	{
		933	if (_bFollowCopter)
		934	_setCopterData(MainMap.Position);
		935	if((int)sliderMapZoom.Value != MainMap.Zoom)
		936	sliderMapZoom.Value = MainMap.Zoom;
		937	}
		938
		939	void _setCopterData(PointLatLng p)
		940	{
		941	Dispatcher.Invoke(() =>
		942	{
		943	copter.Position = p;
		944	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		945	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		946	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		947	});
		948	if (home != null && MainMap.Markers.Contains(home))
		949	{
		950	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		951	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		952	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	953
		954	if(d*1000 < _dThresholdDistanceWarn)
		955	{
		956	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		957	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		958	{
		959	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		960	_bAnimDistanceActive = false;
		961	}
		962	}
		963	else
		964	{
		965	if (_iDistanceJitter < 20)
		966	{ _iDistanceJitter++; }
		967	if (_iDistanceJitter == 20)
		968	{
		969	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		970	{
		971	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		972	_bAnimDistanceActive = true;
		973	}
		974	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		975	{
2398	-	976	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\Distance.mp3");
		977	//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		978	//t.Start();
2291	-	979	_bVoiceDistanceActive = true;
		980	}
		981	_iDistanceJitter++;
		982	}
		983	}
2287	-	984	}
		985	}
		986
		987	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		988	{
		989	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		990	}
		991
		992	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		993	{
		994	if (MainMap.Zoom != sliderMapZoom.Value)
		995	MainMap.Zoom = (int)sliderMapZoom.Value;
		996	}
		997	#region Touch zooming hackattack ;)
		998	/// <summary>
		999	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		1000	/// </summary>
		1001	bool bFirstAccess = true;
		1002	double dDistance = 0;
		1003	int iZoom;
		1004	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1005	{
		1006	var id = e.StylusDevice.Id;
		1007	e.StylusDevice.Capture(MainMap);
		1008	if (iFirstStylusID == -1)
		1009	{
		1010	iFirstStylusID = id;
		1011	}
		1012	else
		1013	{
		1014
		1015	MainMap.CanDragMap = false;
		1016	}
		1017	}
		1018	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1019	{
		1020	MainMap.ReleaseStylusCapture();
		1021	iFirstStylusID = -1;
		1022	bFirstAccess = true;
		1023	MainMap.CanDragMap = true;
		1024	iZoom = 0;
		1025	}
		1026	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1027	{
		1028	var id = e.StylusDevice.Id;
		1029	var tp = e.GetPosition(MainMap);
		1030
		1031	// This is the first Stylus point; just record its position.
		1032	if (id == iFirstStylusID)
		1033	{
		1034	pTouch1.X = tp.X;
		1035	pTouch1.Y = tp.Y;
		1036	}
		1037	else
		1038	if (iFirstStylusID > -1)
		1039	{
		1040	pTouch2.X = tp.X;
		1041	pTouch2.Y = tp.Y;
		1042	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1043	if (!bFirstAccess)
		1044	{
		1045	if (distance > dDistance)
		1046	iZoom++;
		1047	else
		1048	if (distance < dDistance)
		1049	iZoom--;
		1050	}
		1051	if (iZoom > 30)
		1052	{
		1053	iZoom = 0;
		1054	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1055	}
		1056	if (iZoom < -30)
		1057	{
		1058	iZoom = 0;
		1059	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1060	}
		1061	dDistance = distance;
		1062	bFirstAccess = false;
		1063	}
		1064	}
		1065	#endregion Touch zooming hackattack ;)
		1066
		1067	#endregion GMap
		1068
		1069	#region settings
		1070	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1071	{
		1072	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		1073	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1074	}
		1075	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1076	{
		1077	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		1078	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1079	}
		1080	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1081	{
		1082	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1083	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1084	}
		1085	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1086	{
		1087	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1088	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1089	}
		1090	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1091	{
		1092	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1093	}
		1094	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1095	{
		1096	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1097	}
		1098	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1099	{
		1100	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1101	}
		1102	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1103	{
		1104	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1105	}
		1106
		1107	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1108	{
		1109	if (cBoxLiPoCells.SelectedIndex > -1)
		1110	{
		1111	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1112	_LipoMinMax();
		1113	}
		1114	}
		1115	void _LipoMinMax()
		1116	{
		1117	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1118	_dLipoVMin = (double)_LipoCells * 3;
		1119	pbTopVoltage.Maximum = _dLipoVMax;
		1120	pbTopVoltage.Minimum = _dLipoVMin;
		1121	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1122	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1123	}
		1124	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1125	{
		1126	if (cBoxMotors.SelectedIndex > -1)
		1127	{
		1128	_iMotors = cBoxMotors.SelectedIndex + 3;
		1129	Dispatcher.Invoke(() =>
		1130	{
		1131	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1132	GridMotors.Height = dgvMotors1.Height + 10;
		1133	});
		1134	}
		1135	}
		1136	void _setMotorGridSize()
		1137	{
		1138	if (dgvMotors1.Columns.Count > 2)
		1139	{
		1140	dgvMotors1.Columns[0].Width = 24;
		1141	dgvMotors1.Columns[1].Width = 50;
		1142	dgvMotors1.Columns[2].Width = 50;
		1143	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1144	GridMotors.Height = dgvMotors1.Height + 10;
		1145	}
		1146
		1147	}
		1148	#endregion settings
		1149
		1150	#region functions
		1151
		1152	#region logging
		1153	/// <summary> Log data to the terminal window. </summary>
		1154	/// <param name="msgtype"> The type of message to be written. </param>
		1155	/// <param name="msg"> The string containing the message to be shown. </param>
		1156	private void Log(LogMsgType msgtype, string msg)
		1157	{
		1158	Dispatcher.Invoke(() =>
		1159	{
		1160	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1161	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1162	// rtfTerminal.AppendText(msg + "\r");
		1163	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1164	tr.Text = msg;
		1165	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1166	rtfTerminal.AppendText("\r");
		1167	rtfTerminal.ScrollToEnd();
		1168	});
		1169	}
2381	-	1170	private void ErrorLog(LogMsgType msgtype, string msg , string linkURL, string linkName)
2287	-	1171	{
2381	-	1172
2287	-	1173	Dispatcher.Invoke(() =>
		1174	{
2381	-	1175	Paragraph para = new Paragraph();
		1176	para.Margin = new Thickness(0); // remove indent between paragraphs
		1177
		1178	Hyperlink link = new Hyperlink();
		1179	if (linkURL != "" && linkName != "")
		1180	{
		1181	link.IsEnabled = true;
		1182	link.Inlines.Add(linkName);
		1183	link.NavigateUri = new Uri(linkURL);
		1184	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1185	}
		1186	//msg = DateTime.Now.ToLongTimeString() + msg;
		1187	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1188	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1189	r.Foreground = new SolidColorBrush(Colors.Black);
		1190	para.Inlines.Add(r);
		1191	para.Inlines.Add(msg);
		1192	para.Inlines.Add(link);
		1193	rtfError.Document.Blocks.Add(para);
		1194	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1195	//tr.Text = msg + link;
		1196	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1197	//rtfError.AppendText("\r");
2287	-	1198	rtfError.ScrollToEnd();
		1199
2381	-	1200	//_bErrorLog = true;
2287	-	1201	});
		1202	}
		1203	/// <summary>
		1204	/// Clear the line in the errorlog window
		1205	/// containing the error string when error has ceased
		1206	/// </summary>
		1207	/// <param name="s">substring of errrormessage</param>
		1208	void _clearErrorLog(string s)
		1209	{
		1210	Dispatcher.Invoke((Action)(() =>
		1211	{
		1212	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1213	TextRange foundRange = FindTextInRange(searchRange, s);
		1214
		1215	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1216
		1217
		1218	if (iStart > -1)
		1219	{
		1220	int iLength = 0;
		1221	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1222	if (iEnd > 0)
		1223	{
		1224	iLength = iEnd + 1;
		1225	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1226	if (iHttp == iLength)
		1227	{
		1228	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1229	if (iEnd2 > iLength)
		1230	{
		1231	iLength = iEnd2 + 1;
		1232	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1233
		1234	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1235	rtfError.Selection.Text = string.Empty;
		1236	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1237	}
		1238
		1239	}
		1240	else
		1241	{
		1242	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1243	rtfError.Selection.Text = string.Empty;
		1244	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1245	}
		1246	}
		1247	}
		1248	}));
		1249
		1250	}
		1251	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1252	{
		1253	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1254	if (offset < 0)
		1255	return null; // Not found
		1256
		1257	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1258	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1259
		1260	return result;
		1261	}
		1262	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1263	{
		1264	while (position != null)
		1265	{
		1266	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1267	{
		1268	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1269	if (characterCount <= count)
		1270	{
		1271	return position.GetPositionAtOffset(characterCount);
		1272	}
		1273
		1274	characterCount -= count;
		1275	}
		1276
		1277	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1278	if (nextContextPosition == null)
		1279	return position;
		1280
		1281	position = nextContextPosition;
		1282	}
		1283
		1284	return position;
		1285	}
		1286	#endregion logging
		1287
		1288	#region processing received data
		1289
		1290	private void processMessage(byte[] message)
		1291	{
		1292	if (message.Length > 0)
		1293	{
		1294	_iLifeCounter++;
		1295	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1296	//Log(LogMsgType.Incoming, message.Length.ToString());
		1297	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1298	char cmdID;
		1299	byte adr;
		1300	byte[] data;
		1301	byte[] tmp = null;
		1302	if (message[0] != '#')
		1303	{
		1304	int iFound = -1;
		1305	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1306	{ //so this is a workaround to not spam the log box
		1307	if (message[i] == 35)
		1308	{
		1309	iFound = i;
		1310	break;
		1311	}
		1312	}
		1313	if (iFound > 0)
		1314	{
		1315	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1316	tmp = new byte[message.Length - iFound];
		1317	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1318	}
		1319	s = s.Trim('\0', '\n', '\r');
		1320	if (s.Length > 0)
		1321	Log(LogMsgType.Normal, s);
		1322	if (tmp != null)
		1323	{
		1324	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1325	processMessage(tmp);
		1326	}
		1327	}
		1328	//Debug.Print(s);
		1329	else
		1330	{
		1331	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1332
		1333	if (adr == 255) { crcError++; }
		1334	else crcError = 0;
		1335	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1336	//display the active controller (FC / NC)
		1337	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...???
		1338	{
		1339	_iCtrlAct = adr;
		1340	switch (adr)
		1341	{
		1342	case 1:
		1343	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2381	-	1344	// Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1345	// Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
2287	-	1346	// _setFieldsNA(); //display fields NA for FC
		1347	break;
		1348	case 2:
		1349	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1350	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1351	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1352	break;
		1353	//case 3:
		1354	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1355	// break;
		1356	//case 4:
		1357	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1358	// break;
		1359	default:
		1360	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1361	break;
		1362	}
		1363	// _loadLabelNames();
		1364	}
		1365	// else
		1366	// Debug.Print("Address == 0?");
		1367
		1368	if (data != null && data.Length > 0)
		1369	{
		1370	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1371	s = s.Trim('\0', '\n');
		1372
		1373	switch (cmdID)
		1374	{
		1375	//case 'A': //Label names
		1376	// _processLabelNames(s);
		1377	// break;
		1378
		1379	case 'D': //Debug data
		1380	_processDebugVals(adr, data);
		1381	break;
		1382
		1383	case 'V': //Version
		1384	_processVersion(adr, data);
		1385	break;
		1386
		1387	case 'K'://BL-CTRL data
		1388	_processBLCtrl(data);
		1389	break;
		1390
		1391	case 'O': //NC Data
		1392	_processNCData(data);
		1393	break;
		1394
2381	-	1395	//case 'E': //NC error-string
		1396	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1397	// break;
2287	-	1398
		1399	case 'L': //OSD Menue (called by pagenumber)
		1400	_processOSDSingle(data);
		1401	break;
		1402
		1403	case 'H': //OSD Menue (with autoupdate - called by Key)
		1404	_processOSDAuto(data);
		1405	break;
		1406
		1407	case 'X': //Waypoint data
		1408	_processWPData(data);
		1409	break;
		1410
2313	-	1411	case 'W': //return new Waypoint items count after sending waypoint to copter
		1412	_iWPCount = data[0];
		1413	break;
2287	-	1414	//default:
		1415	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1416	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1417	// break;
		1418	}
		1419	}
		1420	//else
		1421	//{
		1422	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1423	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1424	//}
		1425	}
		1426	}
		1427	}
		1428	/// <summary>
		1429	/// Analog label names 'A'
		1430	/// each label name is returned as a single string
		1431	/// and added to string array sAnalogLabel[]
		1432	/// and the datatable dtAnalog
		1433	/// </summary>
		1434	/// <param name="s">the label name</param>
		1435	void _processLabelNames(string s)
		1436	{
		1437	//if (iLableIndex < 32)
		1438	//{
		1439	// sAnalogLabel[iLableIndex] = s;
		1440	// if (dtAnalog.Rows.Count < 32)
		1441	// dtAnalog.Rows.Add(s, "");
		1442	// else
		1443	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1444
		1445	// // _getAnalogLabels(iLableIndex + 1);
		1446	//}
		1447	//Debug.Print(s);
		1448	}
		1449	/// <summary>
		1450	/// Debug values 'D'
		1451	/// </summary>
		1452	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1453	/// <param name="data">the received byte array to process</param>
		1454	void _processDebugVals(byte adr, byte[] data)
		1455	{
		1456	if (data.Length == 66)
		1457	{
2324	-	1458
2287	-	1459	double v;
		1460	int index = 0;
		1461	Int16 i16 = 0;
		1462	double dTemp = 0;
		1463	for (int i = 2; i < 66; i += 2)
		1464	{
		1465	i16 = data[i + 1];
		1466	i16 = (Int16)(i16 << 8);
		1467	iAnalogData[index] = data[i] + i16;
		1468	sAnalogData[index] = (data[i] + i16).ToString();
		1469	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1470
		1471	if (adr == 2) //NC
		1472	{
		1473	switch (index)
		1474	{
		1475	case 0: //pitch (German: nick)
		1476	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1477	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1478	break;
		1479	case 1: //roll
		1480	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1481	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1482	break;
		1483	case 4: //altitude
		1484	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1485	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2324	-	1486	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1487	break;
		1488	case 7: //Voltage
		1489	v = (double)iAnalogData[index] / (double)10;
		1490	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1491	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1492	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1493	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1494	{
		1495	if (v == _dVoltLast)
		1496	if(_iVoltJitter < 20) _iVoltJitter++;
		1497	else
		1498	{
		1499	_iVoltJitter = 0;
		1500	_dVoltLast = v;
		1501	}
		1502	if (_iVoltJitter == 20)
		1503	{
		1504	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1505
		1506	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1507	{
		1508	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1509	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1510	{
		1511	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1512	_bCritAnimVoltActive = true;
		1513	}
		1514	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1515	{
2398	-	1516	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3");
		1517	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1518	//t.Start();
2287	-	1519	_bCritVoiceVoltActive = true;
		1520	}
		1521	}
		1522	else
		1523	{
		1524	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1525	{
		1526	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1527	_bCritAnimVoltActive = false;
		1528	}
		1529	_bCritVoiceVoltActive = false;
		1530
2291	-	1531	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1532	{
2398	-	1533	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3");
		1534	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1535	//t.Start();
2291	-	1536	_bWarnVoiceVoltActive = true;
2287	-	1537	}
		1538	}
		1539	}
		1540	}
		1541	else
		1542	{
		1543	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1544	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1545	{
		1546	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1547	_bCritAnimVoltActive = false;
		1548	}
		1549	_bCritVoiceVoltActive = false;
2291	-	1550	_bWarnVoiceVoltActive = false;
2287	-	1551	_iVoltJitter = 0;
		1552	}
		1553	break;
		1554	case 8: // Current
		1555	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1556	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1557	break;
		1558	case 10: //heading
2291	-	1559	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2287	-	1560	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
2398	-	1561	//Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
2287	-	1562	break;
		1563	case 12: // SPI error
2291	-	1564	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1565	break;
		1566	case 14: //i2c error
2291	-	1567	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1568	break;
		1569	case 20: //Earthmagnet field
2291	-	1570	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1571	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1572
		1573	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1574	{
		1575	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1576	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1577	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1578	{
		1579	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1580	_bAnimMagneticFieldActive = false;
		1581	}
		1582	}
		1583	else
		1584	{
		1585	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1586	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1587	{
		1588	if (_iMagneticFieldJitter < 20)
		1589	_iMagneticFieldJitter++;
		1590	}
		1591	else
		1592	{
		1593	_iMagneticFieldJitter = 0;
		1594	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1595	}
		1596	if(_iMagneticFieldJitter == 20)
		1597	{
		1598	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1599	{
		1600	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1601	_bAnimMagneticFieldActive = true;
		1602	}
		1603	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1604	{
2398	-	1605	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1606	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1607	//t.Start();
2291	-	1608	_bVoiceMagneticFieldActive = true;
		1609	}
		1610	}
		1611	}
2287	-	1612	break;
		1613	case 21: //GroundSpeed
		1614	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1615	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1616	break;
2291	-	1617
		1618	///******** needs testing --> not sure what position this is *************
2287	-	1619	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1620	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1621	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1622	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1623	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1624	dTemp = Math.Sqrt(dTemp) / (double)10;
		1625	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1626	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1627	break;
2291	-	1628
2287	-	1629	case 31: //Sats used
		1630	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1631	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1632	break;
		1633	}
		1634	}
		1635	index++;
		1636	}
		1637	}
		1638	else
		1639	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1640	}
		1641	/// <summary>
		1642	/// Version string 'V'
		1643	/// </summary>
		1644	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1645	/// <param name="data">the received byte array to process</param>
		1646	void _processVersion(byte adr, byte[] data)
		1647	{
		1648	if (data.Length == 12)
		1649	{
		1650	if (!check_HWError)
		1651	{
		1652	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1653	string sVersion = "";
		1654	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1655	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1656	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1657	Log(LogMsgType.Incoming, sVersion);
		1658	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1659	Log(LogMsgType.Incoming, sVersion);
		1660	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1661	}
		1662	if (data[5] > 0) //error0
		1663	{
		1664	if (adr == 1)
2381	-	1665	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(),"","");
2287	-	1666	if (adr == 2)
2381	-	1667	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(),"","");
2287	-	1668	}
		1669	if (data[6] > 0) //error1
		1670	{
		1671	if (adr == 1)
2381	-	1672	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(),"","");
2287	-	1673	if (adr == 2)
2381	-	1674	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(),"",""); //@moment NC has only one error field
2287	-	1675	}
2381	-	1676	//if ((data[5] + data[6] == 0) && _bErrorLog)
		1677	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
2287	-	1678
		1679	}
		1680	check_HWError = false;
		1681	}
		1682	/// <summary>
		1683	/// BL-Ctrl data 'K'
		1684	/// for FC you have to use a customized firmware
		1685	/// </summary>
		1686	/// <param name="data">the received byte array to process</param>
		1687	void _processBLCtrl(byte[] data)
		1688	{
		1689	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1690	{
		1691	bool bAvailable = false;
		1692	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1693	{
		1694
		1695	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1696	bAvailable = true;
		1697	else
		1698	bAvailable = false;
		1699
		1700	if (data[i] < _iMotors)
		1701	{
		1702	if (bAvailable)
		1703	{
2315	-	1704	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1705	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1706	}
		1707	else
		1708	{
2315	-	1709	dtMotors.Rows[data[i]].SetField(1, "NA");
		1710	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1711	}
		1712	}
		1713	//if (data[i] > 3 && data[i] < 8)
		1714	//{
		1715	// if (bAvailable)
		1716	// {
		1717	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1718	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1719	// }
		1720	// else
		1721	// {
		1722	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1723	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1724	// }
		1725	//}
		1726	}
		1727	}
		1728	}
		1729	/// <summary>
		1730	/// Navi-Ctrl data 'O'
		1731	/// GPS-Position, capacatiy, flying time...
		1732	/// </summary>
		1733	/// <param name="data">the received byte array to process</param>
		1734	void _processNCData(byte[] data)
		1735	{
		1736	int i_32, i_16, iVal;
		1737	double d;
		1738	i_32 = data[4];
		1739	iVal = i_32 << 24;
		1740	i_32 = data[3];
		1741	iVal += i_32 << 16;
		1742	i_32 = data[2];
		1743	iVal += i_32 << 8;
		1744	iVal += data[1];
		1745	d = (double)iVal / Math.Pow(10, 7);
2324	-	1746	Dispatcher.Invoke(() => { drGPX[2] = d; });
		1747
2287	-	1748	PointLatLng p = new PointLatLng();
		1749
		1750	p.Lng = d;
		1751	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1752	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1753
		1754	i_32 = data[8];
		1755	iVal = i_32 << 24;
		1756	i_32 = data[7];
		1757	iVal += i_32 << 16;
		1758	i_32 = data[6];
		1759	iVal += i_32 << 8;
		1760	iVal += data[5];
		1761	d = (double)iVal / Math.Pow(10, 7);
2324	-	1762	Dispatcher.Invoke(() => { drGPX[1] = d; });
		1763	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	1764	p.Lat = d;
2291	-	1765	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1766	{
		1767	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	1768	if(_bAutoHome && !_bFirstSatFix)
		1769	{
		1770	if (_iFirstSatFix < 3)
		1771	_iFirstSatFix++;
		1772	else
		1773	{
		1774	_bFirstSatFix = true;
2347	-	1775	Dispatcher.Invoke(() => _setHomePos());
2295	-	1776	}
		1777	}
2291	-	1778	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1779	{
		1780	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1781	_bAnimSatFixActive = false;
		1782	}
		1783	if (!_bFollowCopter)
		1784	{
		1785	_setCopterData(p);
		1786	if (!MainMap.ViewArea.Contains(p))
		1787	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1788
2291	-	1789	}
		1790	else
2287	-	1791	Dispatcher.Invoke(() => MainMap.Position = p);
		1792	}
		1793	else
2291	-	1794	{
		1795	if(_bSatFix)
		1796	{
		1797	if (data[50] == _iSatsLast)
		1798	{
		1799	if (_iSatsJitter < 20) _iSatsJitter++;
		1800	}
		1801	else
		1802	{
		1803	_iSatsJitter = 0;
		1804	_iSatsLast = data[50];
		1805	}
2287	-	1806
2291	-	1807	if (_iSatsJitter == 20)
		1808	{
		1809	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1810	{
		1811	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1812	_bAnimSatFixActive = true;
		1813	}
		1814	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1815	{
2398	-	1816	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		1817	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		1818	//th.Start();
2291	-	1819	_bVoiceSatFixActive = true;
		1820	}
		1821
		1822	_bSatFix = false;
		1823	}
		1824	}
		1825	}
		1826
2287	-	1827	i_16 = data[28];
		1828	i_16 = (Int16)(i_16 << 8);
		1829	iVal = data[27] + i_16;
		1830	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1831
		1832	i_16 = data[45];
		1833	i_16 = (Int16)(i_16 << 8);
		1834	iVal = data[44] + i_16;
		1835	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1836	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1837
		1838	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
2355	-	1839	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2347	-	1840	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count > 0)
2342	-	1841	{
2347	-	1842	_setActiveWP(data[48]-1);
2355	-	1843	if((data[67] & 2) == 2)
		1844	Dispatcher.Invoke(() => {
		1845	DataGridRow row;
		1846	if (_wpIndex > -1)
		1847	{
		1848	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1849	row.Background = new SolidColorBrush(Colors.Transparent);
		1850	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1851	row.BorderThickness = new Thickness(0);
		1852	}
		1853	_wpIndex = data[48] - 1;
		1854	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
2366	-	1855	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		1856	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	1857	row.BorderThickness = new Thickness(2);
		1858	dgvWP.UpdateLayout();
		1859	});
2347	-	1860	_wpIndex = data[48]-1;
2342	-	1861	}
2347	-	1862	else
		1863	{
		1864	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	1865	{
2347	-	1866	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	1867	Dispatcher.Invoke(() =>
		1868	{
		1869	DataGridRow row;
2368	-	1870	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	1871	{
		1872	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpIndex);
		1873	row.Background = new SolidColorBrush(Colors.Transparent);
		1874	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		1875	row.BorderThickness = new Thickness(0);
		1876	_wpIndex = -1;
		1877	}
		1878	});
		1879
		1880	}
2347	-	1881	}
2342	-	1882
2287	-	1883	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	1884	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	1885	_wpCount = data[49];
2287	-	1886	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1887
		1888	//--------------- Capacity used ------------------------
		1889	i_16 = data[81];
		1890	i_16 = (Int16)(i_16 << 8);
		1891	iVal = data[80] + i_16;
		1892	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1893	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1894
2398	-	1895	//--------------- Ground speed ------------------------
		1896	i_16 = data[59];
		1897	i_16 = (Int16)(i_16 << 8);
		1898	iVal = data[58] + i_16;
		1899	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		1900
		1901	//--------------- Heading north ------------------------
		1902	i_16 = data[61];
		1903	i_16 = (Int16)(i_16 << 8);
		1904	iVal = data[60] + i_16;
		1905	Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
		1906
		1907	//--------------- Heading compass ------------------------
		1908	i_16 = data[63];
		1909	i_16 = (Int16)(i_16 << 8);
		1910	iVal = data[62] + i_16;
		1911	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
		1912	//Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		1913	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
2287	-	1914	//--------------- Flying time ------------------------
		1915	i_16 = data[56];
		1916	i_16 = (Int16)(i_16 << 8);
		1917	iVal = data[55] + i_16;
		1918	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1919	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1920	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1921	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1922
		1923	//--------------- RC quality ------------------------
		1924	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1925	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1926
2291	-	1927	if(data[66] > _iThresholdRC)
		1928	{
		1929	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1930	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1931	{
		1932	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1933	_bAnimRCLevelActive = false;
		1934	}
		1935	}
		1936	else
		1937	{
		1938	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1939	if (_iRCLevelJitter == 20)
		1940	{
		1941	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1942	{
		1943	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1944	_bAnimRCLevelActive = true;
		1945	}
		1946	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1947	{
2398	-	1948	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1949	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1950	//th.Start();
2291	-	1951	_bVoiceRCLevelActive = true;
		1952	}
		1953	_iRCLevelJitter++;
		1954	}
		1955	}
		1956
2287	-	1957	//--------------- NC Error ------------------------
		1958	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1959	if (data[69] > 0)
		1960	_readNCError();
		1961	if (data[69] > 0 & data[69] < 44)
2381	-	1962	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		1963	//else
		1964	// if (_bErrorLog) _clearErrorLog("NC Error");
2287	-	1965
2298	-	1966	//-------------FC / NC Status Flags
		1967	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1968	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		1969	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		1970	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		1971	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		1972	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		1973
		1974	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1975	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		1976	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		1977	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		1978	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		1979	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
		1980	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		1981	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		1982
		1983	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1984	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1985	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1986	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1987	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1988	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1989	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	1990
		1991	//Sidebar StatusSymbols
		1992	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		1993	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
		1994	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
		1995
		1996	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		1997	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
		1998	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
		1999
		2000	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	2001	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
		2002	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	-	2003
		2004	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2005	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
		2006	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
		2007
		2008	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	2009	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
		2010	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
		2011	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	-	2012
2324	-	2013	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	2014	}
		2015	/// <summary>
		2016	/// Navi-Ctrl WP data struct 'X'
		2017	/// called by index
		2018	/// </summary>
		2019	/// <param name="data">the received byte array to process</param>
		2020	void _processWPData(byte[] data)
		2021	{
2313	-	2022	_iWPCount = data[0];
2287	-	2023	_bGetWPCount = false;
		2024	if (data.Length >= 28)
		2025	{
		2026	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		2027	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		2028	if (_bGetWP)
		2029	{
		2030	if (data[1] == 1)
2315	-	2031	{
2333	-	2032	Dispatcher.Invoke(() =>
		2033	{
2356	-	2034	wpList.Clear();
		2035	_clearMapMarkers(typeof(CustomMarkerWP));
		2036	if (mRouteWP != null)
		2037	MainMap.Markers.Remove(mRouteWP);
		2038	if (wpActiveMarker != null)
		2039	MainMap.Markers.Remove(wpActiveMarker);
		2040	lblWPRouteDistance.Content = "0 m";
		2041	dtWaypoints.Rows.Clear();
2368	-	2042	_wpEdit = -1;_wpIndex = -1;
2318	-	2043	});
2315	-	2044	}
2287	-	2045	DataRow dr = dtWaypoints.NewRow();
		2046	dr = Waypoints.toDataRow(data, dr);
2313	-	2047	dtWaypoints.Rows.Add(dr);
2363	-	2048	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1]);
2313	-	2049	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2050	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	2051	if (data[1] == data[0])
		2052	{
		2053	_bGetWP = false;
2368	-	2054	_routeUpdate();
2287	-	2055	}
		2056
		2057	}
		2058	}
		2059	else
		2060	{
		2061	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		2062	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		2063	}
		2064	}
		2065	/// <summary>
		2066	/// OSD Menue 'L'
		2067	/// single page called by pagenumber
		2068	/// no autoupdate
		2069	/// </summary>
		2070	/// <param name="data">the received byte array to process</param>
		2071	void _processOSDSingle(byte[] data)
		2072	{
		2073	if (data.Length == 84)
		2074	{
		2075	string sMessage = "";
		2076	iOSDPage = data[0];
		2077	iOSDMax = data[1];
		2078	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		2079	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		2080	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2081	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2082	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2083	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2084	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2085	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2086
		2087	}
		2088	//else
		2089	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2090
		2091	}
		2092	/// <summary>
		2093	/// OSD Menue 'H'
		2094	/// called by keys (0x01,0x02,0x03,0x04)
		2095	/// autoupdate
		2096	/// </summary>
		2097	/// <param name="data">the received byte array to process</param>
		2098	void _processOSDAuto(byte[] data)
		2099	{
		2100	if (data.Length == 81)
		2101	{
		2102	string sMessage = "";
		2103	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2104	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2105	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2106	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2107	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2108
		2109	}
		2110	//else
		2111	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2112	}
		2113
		2114	#endregion processing received data
		2115
		2116	#region controller messages
		2117	/// <summary> send message to controller to request data
		2118	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2119	/// </summary>
		2120	/// <param name="CMDID"> the command ID </param>
		2121	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2122	private void _sendControllerMessage(char CMDID, byte address)
		2123	{
		2124	if (serialPortCtrl.Port.IsOpen)
		2125	{
		2126	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2127	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2128	serialStream.Write(bytes, 0, bytes.Length);
		2129
		2130	}
		2131	else
		2132	Log(LogMsgType.Error, "NOT CONNECTED!");
		2133	}
		2134	/// <summary> send message to controller to request data
		2135	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2136	/// </summary>
		2137	/// <param name="CMDID"> the command ID </param>
		2138	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2139	/// <param name="data"> additional data for the request</param>
		2140	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2141	{
		2142	if (serialPortCtrl.Port.IsOpen)
		2143	{
		2144	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2145	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2146	serialStream.Write(bytes, 0, bytes.Length);
		2147
		2148	}
		2149	else
		2150	Log(LogMsgType.Error, "NOT CONNECTED!");
		2151	}
		2152
		2153	/// <summary>
		2154	/// start/stop continous polling of controller values
		2155	/// </summary>
		2156	/// <param name="b">start/stop switch</param>
		2157	void _readCont(bool b)
		2158	{
		2159	bReadContinously = b;
		2160	if (bReadContinously)
		2161	{
		2162	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2163	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2164	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2165	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2166	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2167	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2168	}
		2169	else
		2170	{
		2171	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2172	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2173	_bConnErr = false;
		2174	}
		2175	_iLifeCounter = 0;
		2176	}
		2177
		2178	private void _getVersion()
		2179	{
		2180	_sendControllerMessage('v', 0);
		2181	}
		2182	/// <summary>
		2183	/// get FC version struct via NC
		2184	/// by sending '1' as data (not documented in wiki...)
		2185	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2186	/// </summary>
		2187	/// <param name="ctrl">controller number 1=FC</param>
		2188	private void _getVersion(byte ctrl)
		2189	{
		2190	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2191	}
		2192	/// <summary>
		2193	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2194	/// </summary>
		2195	private void _switchToNC()
		2196	{
		2197	if (serialPortCtrl.Port.IsOpen)
		2198	{
		2199	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2200	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2201	serialStream.Write(bytes, 0, bytes.Length);
		2202
		2203	Thread.Sleep(100);
		2204	_getVersion();
		2205	Thread.Sleep(100);
		2206	// _OSDMenue(0);
		2207	}
		2208	else
		2209	Log(LogMsgType.Error, "NOT CONNECTED!");
		2210	}
		2211	/// <summary>
		2212	/// switch to FC
		2213	/// </summary>
		2214	private void _switchToFC()
		2215	{
		2216	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2217	Thread.Sleep(100);
		2218	_getVersion();
		2219	Thread.Sleep(100);
		2220	// _OSDMenue(0);
		2221	}
		2222	/// <summary>
		2223	/// send RESET signal to FC
		2224	/// </summary>
		2225	private void _resetCtrl()
		2226	{
		2227	_sendControllerMessage('R', 1);
		2228	}
		2229	/// <summary>
		2230	/// poll the debug data (4sec subscription)
		2231	/// </summary>
		2232	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2233	private void _readDebugData(bool auto)
		2234	{
		2235	byte interval = auto ? debugInterval : (byte)0;
		2236	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2237	}
		2238	/// <summary>
		2239	/// poll the BL-CTRL status via NC (4sec subscription)
		2240	/// </summary>
		2241	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2242	private void _readBLCtrl(bool auto)
		2243	{
		2244	byte interval = auto ? blctrlInterval : (byte)0;
		2245	_sendControllerMessage('k', 0, new byte[1] { interval });
		2246	}
		2247	/// <summary>
		2248	/// poll the NC data struct (4sec subscription)
		2249	/// </summary>
		2250	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2251	private void _readNavData(bool auto)
		2252	{
		2253	byte interval = auto ? navctrlInterval : (byte)0;
		2254	_sendControllerMessage('o', 2, new byte[1] { interval });
		2255	}
		2256	/// <summary>
		2257	/// get the errortext for pending NC error
		2258	/// </summary>
		2259	private void _readNCError()
		2260	{
		2261	_sendControllerMessage('e', 2);
		2262	}
		2263	/// <summary>
		2264	/// request the Waypoint at index
		2265	/// </summary>
		2266	/// <param name="index"></param>
		2267	void _getpWP(int index)
		2268	{
		2269	if (serialPortCtrl.Port.IsOpen)
		2270	{
		2271	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2272	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2273	serialStream.Write(bytes, 0, bytes.Length);
		2274	}
		2275	else
		2276	Log(LogMsgType.Error, "NOT CONNECTED!");
		2277
		2278	}
		2279	void _getWP()
		2280	{
2335	-	2281	int iTimeout = 0;
2287	-	2282	_bGetWPCount = true;
2315	-	2283	_getpWP(1); //get the itemscount of wp
2335	-	2284	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2285	{
		2286	Thread.Sleep(10);
		2287	iTimeout++;
		2288	}
		2289	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2290	_getWPList();
		2291	}
		2292	void _getWPList()
		2293	{
		2294	_bGetWP = true;
2313	-	2295	int iTimeout=0;
		2296	for (int j = 0; j < _iWPCount; j++)
2287	-	2297	{
		2298	_getpWP(j + 1);
2313	-	2299	iTimeout = 0;
		2300	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2301	{
		2302	Thread.Sleep(1);
		2303	iTimeout++;
		2304	}
2287	-	2305	}
		2306	}
2363	-	2307	/// <summary>
		2308	/// Wrapper for _clearCopterWPList()
		2309	/// necessary, cause it is called by threadnew which does not like return values...
		2310	/// </summary>
2340	-	2311	void clearCopterWPList()
2313	-	2312	{
2340	-	2313	_clearCopterWPList();
		2314	}
2363	-	2315	/// <summary>
		2316	/// clear the WP list of the copter
		2317	/// by sending 'invalid' and index '0'
		2318	/// </summary>
		2319	/// <returns></returns>
2340	-	2320	bool _clearCopterWPList()
		2321	{
2335	-	2322	int iTimeout = 0;
2313	-	2323	if (serialPortCtrl.Port.IsOpen)
		2324	{
		2325	byte[] bData = new byte[30];
		2326	for (int i = 0; i < 30; i++)
		2327	bData[i] = 0;
		2328	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2329	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2330	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2331
2313	-	2332	_iWPCount = -1;
2340	-	2333	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2334	{
2313	-	2335	Thread.Sleep(10);
2335	-	2336	iTimeout++;
		2337	}
2313	-	2338	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2339	if (_iWPCount > -1)
2340	-	2340	return true;
		2341	else
		2342	Log(LogMsgType.Error, "Timeout while sending list!");
		2343	}
		2344	else
		2345	Log(LogMsgType.Error, "NOT CONNECTED!");
		2346
		2347	return false;
		2348	}
		2349	void _sendWPList()
		2350	{
2362	-	2351	_sendWPList(0);
		2352	}
		2353	void _sendWPList(int iStart)
		2354	{
2340	-	2355	int iTimeout = 0;
		2356	if (serialPortCtrl.Port.IsOpen)
		2357	{
		2358	if (_clearCopterWPList())
2313	-	2359	{
2362	-	2360	int k = 1;
		2361	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	2362	{
2362	-	2363	k = iStart > 0 ? k : -1;
2376	-	2364	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	2365
2335	-	2366	_iWPCount = -1;
		2367	iTimeout = 0;
		2368	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		2369	{
		2370	Thread.Sleep(10);
		2371	iTimeout++;
		2372	}
		2373	if (_iWPCount == -1)
		2374	{
		2375	Log(LogMsgType.Error, "Timeout while sending list!");
		2376	break;
		2377	}
		2378	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	2379	k++;
2335	-	2380	}
2313	-	2381	}
		2382	}
		2383	else
		2384	Log(LogMsgType.Error, "NOT CONNECTED!");
		2385
		2386	}
2376	-	2387	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	2388	{
2313	-	2389
2340	-	2390	if (serialPortCtrl.Port.IsOpen)
		2391	{
		2392	byte[] bData = new byte[30];
		2393	for (int i = 0; i < 30; i++)
		2394	bData[i] = 0;
		2395	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2396	byte[] bytes;
		2397	int iVal;
		2398	double dVal;
		2399	NumberFormatInfo nfi = new NumberFormatInfo();
		2400	nfi.NumberDecimalSeparator = ",";
		2401
		2402	//longitude
		2403	dVal = Convert.ToDouble(dr[4], nfi);
		2404	iVal = (int)(dVal * Math.Pow(10, 7));
		2405	bData[0] = (byte)(iVal & 0xff);
		2406	bData[1] = (byte)((iVal >> 8) & 0xff);
		2407	bData[2] = (byte)((iVal >> 16) & 0xff);
		2408	bData[3] = (byte)(iVal >> 24);
		2409	//latitude
		2410	dVal = Convert.ToDouble(dr[3], nfi);
		2411	iVal = (int)(dVal * Math.Pow(10, 7));
		2412	bData[4] = (byte)(iVal & 0xff);
		2413	bData[5] = (byte)((iVal >> 8) & 0xff);
		2414	bData[6] = (byte)((iVal >> 16) & 0xff);
		2415	bData[7] = (byte)(iVal >> 24);
		2416	//altitude
		2417	dVal = Convert.ToDouble(dr[5], nfi);
		2418	iVal = (int)(dVal * 10);
		2419	bData[8] = (byte)(iVal & 0xff);
		2420	bData[9] = (byte)((iVal >> 8) & 0xff);
		2421	bData[10] = (byte)((iVal >> 16) & 0xff);
		2422	bData[11] = (byte)(iVal >> 24);
2376	-	2423	if(bSim)
		2424	bData[12] = 3; //Status 'SIMULATE'
2340	-	2425	//Status 'NEWDATA'
2376	-	2426	else
		2427	bData[12] = 1;
2340	-	2428	//heading
		2429	iVal = Convert.ToInt16(dr[6]);
		2430	bData[13] = (byte)(iVal & 0xff);
		2431	bData[14] = (byte)((iVal >> 8) & 0xff);
		2432	//ToleranceRadius
		2433	bData[15] = Convert.ToByte(dr[9]);
		2434	//HoldTime
		2435	bData[16] = Convert.ToByte(dr[10]);
		2436	//Event_Flag
		2437	bData[17] = Convert.ToByte(dr[13]);
		2438	//Index
2379	-	2439	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
2340	-	2440	//Type
		2441	bData[19] = Convert.ToByte(dr[1]);
		2442	//WP_EventChannelValue
		2443	bData[20] = Convert.ToByte(dr[14]);
		2444	//AltitudeRate
		2445	bData[21] = Convert.ToByte(dr[8]);
		2446	//Speed
		2447	bData[22] = Convert.ToByte(dr[7]);
		2448	//CamAngle
		2449	bData[23] = (byte)Convert.ToInt16(dr[12]);
		2450	//Name
2362	-	2451	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		2452	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	2453	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		2454	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		2455	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		2456	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		2457	//Autotrigger
		2458	bData[28] = Convert.ToByte(dr[11]);
		2459
2356	-	2460	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	2461	serialStream.Write(bytes, 0, bytes.Length);
		2462
		2463	return true;
		2464	}
		2465
		2466	return false;
		2467	}
2287	-	2468	#region OSD-Menue
		2469
		2470	/// <summary>
		2471	/// one time query of the OSD Menue with pagenumber
		2472	/// </summary>
		2473	/// <param name="iMenue">Menue page</param>
		2474	void _OSDMenue(int iMenue)
		2475	{
		2476	if (serialPortCtrl.Port.IsOpen)
		2477	{
		2478	if (iMenue > iOSDMax)
		2479	iMenue = 0;
		2480	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2481	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2482	serialStream.Write(bytes, 0, bytes.Length);
		2483	}
		2484	else
		2485	Log(LogMsgType.Error, "NOT CONNECTED!");
		2486
		2487	}
		2488	/// <summary>
		2489	/// call the OSDMenue and start autorefresh
		2490	/// usually by sending a menuekey
		2491	/// 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)
		2492	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2493	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2494	/// </summary>
		2495	void _OSDMenueAutoRefresh()
		2496	{
		2497	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2498	}
		2499	void _OSDMenueAutoRefresh(byte key)
		2500	{
		2501	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2502	}
		2503	/// <summary>
		2504	/// initialize the OSD menue combobox
		2505	/// combox is filled by numbers from 0 to max pagenumber
		2506	/// </summary>
		2507	void _initOSDCB()
		2508	{
		2509	_bCBInit = true;
		2510	if (iOSDMax == 0)
		2511	{
		2512	_OSDMenue(0);
		2513	Thread.Sleep(10);
		2514	}
		2515	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2516	for (int i = 0; i <= iOSDMax; i++)
		2517	{
		2518	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2519	}
		2520	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2521	_bCBInit = false;
		2522	}
		2523	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2524	{
		2525	iOSDPage++;
		2526	if (iOSDPage > iOSDMax)
		2527	iOSDPage = 0;
		2528
		2529	_OSDMenue(iOSDPage);
		2530	}
		2531	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2532	{
		2533	iOSDPage--;
		2534	if (iOSDPage < 0)
		2535	iOSDPage = iOSDMax;
		2536
		2537	_OSDMenue(iOSDPage);
		2538	}
		2539	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2540	{
		2541	_OSDMenueAutoRefresh(8);
		2542	}
		2543	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2544	{
		2545	_OSDMenueAutoRefresh(4);
		2546	}
		2547	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2548	{
		2549	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2550	_OSDMenue(cbOSD.SelectedIndex);
		2551	}
		2552	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2553	{
		2554	Dispatcher.Invoke(() =>
		2555	{
		2556	TextRange tr;
		2557	if (bNew)
		2558	{
		2559	rtfOSD.SelectAll();
		2560	rtfOSD.Selection.Text = string.Empty;
		2561	}
		2562	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2563	tr.Text = msg;
		2564	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2565	// rtfOSD.AppendText("\r");
		2566	rtfOSD.ScrollToEnd();
		2567
		2568	});
		2569	}
		2570
		2571	#endregion OSD-Menue
		2572
		2573	#endregion controller messages
		2574
2398	-	2575	void _mediaPlayer(object file)
2295	-	2576	{
2398	-	2577	if (File.Exists((string)file))
2295	-	2578	{
		2579	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
2398	-	2580	mp.Open((string)file);
2295	-	2581	mp.Play();
		2582	}
		2583	}
2310	-	2584
2362	-	2585	#region ui
2310	-	2586	/// <summary>
		2587	/// Switch between fullscreen and normal window mode
		2588	/// save & restore scaling settings
		2589	/// </summary>
		2590	/// <param name="sender"></param>
		2591	/// <param name="e"></param>
2287	-	2592	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2593	{
		2594	if (winState.isMaximized)
		2595	{
		2596	winState.Restore(this);
		2597	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2598	if(_bSaveWinStateFull)
		2599	_saveScaleSliders(true);
		2600	if(_bSaveWinStateNormal)
		2601	_setScaleSliders(false);
		2602	}
		2603	else
		2604	{
		2605	winState.Maximize(this);
		2606	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2607	if(_bSaveWinStateNormal)
		2608	_saveScaleSliders(false);
		2609	if(_bSaveWinStateFull)
		2610	_setScaleSliders(true);
		2611	}
		2612	}
		2613
		2614	/// <summary>
		2615	/// reset the scaling of all UI elements to default
		2616	/// </summary>
		2617	/// <param name="sender"></param>
		2618	/// <param name="e"></param>
		2619	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2620	{
		2621	UIScaleHorizonSlider.Value =
		2622	UIScaleLOGSlider.Value =
		2623	UIScaleMotorsSlider.Value =
		2624	UIScaleOSDSlider.Value =
		2625	UIScaleSlider.Value =
		2626	UIScaleTopSlider.Value = 1;
		2627	}
		2628	/// <summary>
		2629	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2630	/// </summary>
		2631	/// <param name="sender"></param>
		2632	/// <param name="e"></param>
		2633	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2634	{
		2635	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2636	if (GridMotors != null)
		2637	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2638	if (GridSideBar != null)
		2639	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2640	if (GridOSD != null)
		2641	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2642	if (GridData != null)
		2643	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2644	if (GridWP != null)
		2645	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2646	}
2310	-	2647	/// <summary>
		2648	/// restore the saved scalings for the fullscreen/normal window mode
		2649	/// </summary>
		2650	/// <param name="bFull">the mode the window is set to</param>
2287	-	2651	void _setScaleSliders(bool bFull)
		2652	{
		2653	if(bFull)
		2654	{
		2655	UIScaleSlider.Value = scaleFullAll;
		2656	UIScaleTopSlider.Value = scaleFullTopBar;
		2657	UIScaleMotorsSlider.Value = scaleFullMotors;
		2658	UIScaleOSDSlider.Value = scaleFullOSD;
		2659	UIScaleLOGSlider.Value = scaleFullLOG;
		2660	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2661	}
		2662	else
		2663	{
		2664	UIScaleSlider.Value = scaleNormalAll;
		2665	UIScaleTopSlider.Value = scaleNormalTopBar;
		2666	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2667	UIScaleOSDSlider.Value = scaleNormalOSD;
		2668	UIScaleLOGSlider.Value = scaleNormalLOG;
		2669	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2670	}
		2671	}
		2672
2310	-	2673	/// <summary>
		2674	/// save the scalings for the actual window mode
		2675	/// </summary>
		2676	/// <param name="bFull">the actual window mode</param>
2287	-	2677	void _saveScaleSliders(bool bFull)
		2678	{
		2679
		2680	if (bFull)
		2681	{
		2682	scaleFullAll = UIScaleSlider.Value;
		2683	scaleFullTopBar = UIScaleTopSlider.Value;
		2684	scaleFullMotors = UIScaleMotorsSlider.Value;
		2685	scaleFullOSD = UIScaleOSDSlider.Value;
		2686	scaleFullLOG = UIScaleLOGSlider.Value;
		2687	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2688	}
		2689	else
		2690	{
		2691	scaleNormalAll = UIScaleSlider.Value;
		2692	scaleNormalTopBar = UIScaleTopSlider.Value;
		2693	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2694	scaleNormalOSD = UIScaleOSDSlider.Value;
		2695	scaleNormalLOG = UIScaleLOGSlider.Value;
		2696	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2697	}
		2698	}
2362	-	2699	#endregion ui
2287	-	2700
		2701	/// <summary>
		2702	/// read settings from ini-file
		2703	/// </summary>
		2704	void _readIni()
		2705	{
		2706	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2707	_writeIni();
		2708	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2709	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	2710	try
		2711	{
2287	-	2712
2312	-	2713	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2714	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		2715	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2716	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2717	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2718	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2719	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2720	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	2721
2312	-	2722	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2723	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		2724	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2725	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		2726	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2727	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		2728	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2729	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	2730
2312	-	2731	sVal = ini.IniReadValue("topBar", "voltage");
		2732	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2733	sVal = ini.IniReadValue("topBar", "capacity");
		2734	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2735	sVal = ini.IniReadValue("topBar", "current");
		2736	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2737	sVal = ini.IniReadValue("topBar", "flightTime");
		2738	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2739	sVal = ini.IniReadValue("topBar", "distanceHP");
		2740	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2741	sVal = ini.IniReadValue("topBar", "height");
		2742	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2743	sVal = ini.IniReadValue("topBar", "speed");
		2744	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2745	sVal = ini.IniReadValue("topBar", "magneticField");
		2746	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2747	sVal = ini.IniReadValue("topBar", "satellites");
		2748	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2749	sVal = ini.IniReadValue("topBar", "rc");
		2750	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	2751
2312	-	2752	sVal = ini.IniReadValue("style", "saveFullScreen");
		2753	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2754	sVal = ini.IniReadValue("style", "saveNormalState");
		2755	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	2756
2312	-	2757	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2758	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		2759	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2760	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		2761	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2762	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		2763	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2764	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		2765	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2766	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		2767	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2768	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	2769
2312	-	2770	sVal = ini.IniReadValue("style", "scaleFullAll");
		2771	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		2772	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2773	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		2774	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2775	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		2776	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2777	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		2778	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2779	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		2780	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2781	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	2782
2312	-	2783	sVal = ini.IniReadValue("general", "LiPoCells");
		2784	_LipoCells = Convert.ToInt16(sVal);
		2785	sVal = ini.IniReadValue("general", "Motors");
		2786	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	2787
2312	-	2788	sVal = ini.IniReadValue("map", "followMe");
		2789	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		2790	sVal = ini.IniReadValue("map", "AutoSetHome");
		2791	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	2792	sVal = ini.IniReadValue("map", "GPXLog");
		2793	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	2794
2312	-	2795	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2796	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2797	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2798	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2799	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		2800	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2801	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2802	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2803	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2804	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2805	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2806	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2807	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2808	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2809	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2810	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2811	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2812	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2813	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2814	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2815	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2816	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	2817
		2818	sVal = ini.IniReadValue("waypoints", "wpcolor");
		2819	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		2820	sVal = ini.IniReadValue("waypoints", "poicolor");
		2821	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		2822	sVal = ini.IniReadValue("waypoints", "fscolor");
		2823	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		2824	sVal = ini.IniReadValue("waypoints", "coptercolor");
		2825	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2385	-	2826	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		2827	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
2379	-	2828	sVal = ini.IniReadValue("waypoints", "landingcolor");
		2829	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	2830	sVal = ini.IniReadValue("waypoints", "routecolor");
		2831	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		2832	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		2833	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2349	-	2834
		2835	for (int i = 0; i < 12; i++)
		2836	{
		2837	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		2838	if (sVal != "")
		2839	serChan[i] = Convert.ToInt16(sVal);
		2840	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		2841	if (sVal != "")
		2842	serChanTitle[i] = sVal;
		2843	for (int y = 0; i < 4 && y < 3; y++)
		2844	{
		2845	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		2846	if (sVal != "")
		2847	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		2848	}
		2849	}
		2850
2312	-	2851	}
		2852	catch (Exception e)
		2853	{
2287	-	2854
2312	-	2855	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		2856	}
		2857
2287	-	2858	}
		2859
		2860	/// <summary>
		2861	/// save settings to ini-file
		2862	/// </summary>
		2863	void _writeIni()
		2864	{
		2865
		2866	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2867	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2868
2312	-	2869	try
		2870	{
2287	-	2871
2312	-	2872	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2873	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2874	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2875	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	2876
2312	-	2877	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2878	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2879	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2880	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	2881
2312	-	2882	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2883	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	2884
2312	-	2885	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2886	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	2887	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	2888
2312	-	2889	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2890	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2891	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2892	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2893	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2894	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2895	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2896	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2897	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2898	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	2899
2312	-	2900	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2901	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	2902
2312	-	2903	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2904	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2905	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2906	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2907	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2908	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	2909
2312	-	2910	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2911	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2912	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2913	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2914	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2915	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	2916
2312	-	2917	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2918
		2919	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2920	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2921	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2922	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2923	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2924	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2925	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2926	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2927	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2928	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2929	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	2930
		2931	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		2932	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		2933	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		2934	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2385	-	2935	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
2379	-	2936	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
2328	-	2937	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		2938	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2349	-	2939
		2940	for (int i = 0; i < 12; i++)
		2941	{
		2942	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		2943	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		2944	for (int y = 0; i < 4 && y < 3; y++)
		2945	{
		2946	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		2947	}
		2948	}
		2949
2312	-	2950	}
		2951	catch (Exception e)
		2952	{
		2953
		2954	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);
		2955	}
2287	-	2956	}
2350	-	2957
2349	-	2958	#region serial channels
		2959	/// <summary>
		2960	/// Sending the serial channel values
		2961	/// </summary>
		2962	void _sendSerialData()
		2963	{
		2964	byte[] serData = new byte[12];
		2965	for (int i = 0; i < 12; i++)
		2966	{
		2967	serData[i] = unchecked((byte)(serChan[i] - 127));
		2968	}
		2969	_sendControllerMessage('y', 1, serData);
		2970	}
		2971	/// <summary>
		2972	/// init the controls for displaying
		2973	/// and setting serial control channels
		2974	/// </summary>
		2975	void _initSerialCtrl()
		2976	{
		2977	SerChan1ScaleSlider.Value = serChan[0];
		2978	textBoxSerial1.Text = serChanTitle[0];
		2979	SerChan2ScaleSlider.Value = serChan[1];
		2980	textBoxSerial2.Text = serChanTitle[1];
2350	-	2981	SerChan3ScaleSlider.Value = serChan[2];
		2982	textBoxSerial3.Text = serChanTitle[2];
2349	-	2983	//SerChan4ScaleSlider.Value = serChan[3];
		2984	//textBoxSerial4.Text = serChanTitle[3];
		2985	//trckbarSerial5.Value = serChan[4];
		2986	//textBoxSerial5.Text = serChanTitle[4];
		2987	//trckbarSerial6.Value = serChan[5];
		2988	//textBoxSerial6.Text = serChanTitle[5];
		2989	//trckbarSerial7.Value = serChan[6];
		2990	//textBoxSerial7.Text = serChanTitle[6];
		2991	//trckbarSerial8.Value = serChan[7];
		2992	//textBoxSerial8.Text = serChanTitle[7];
2312	-	2993
2349	-	2994	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		2995	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		2996	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		2997	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		2998	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		2999	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	3000	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		3001	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		3002	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	3003	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		3004	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		3005	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		3006	}
		3007	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3008	{
		3009	if (!_init)
		3010	{
		3011	serChan[0] = (int)SerChan1ScaleSlider.Value;
		3012	_sendSerialData();
		3013	}
		3014	}
		3015	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		3016	{
		3017	if (!_init)
		3018	{
		3019	serChanTitle[0] = textBoxSerial1.Text;
		3020	}
		3021	}
		3022	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		3023	{
		3024	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		3025	{
		3026	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		3027	}
		3028	}
		3029	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		3030	{
		3031	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		3032	{
		3033	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		3034	}
		3035	}
		3036	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		3037	{
		3038	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		3039	{
		3040	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		3041	}
		3042	}
		3043	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		3044	{
		3045	if (textBoxSerial1_val1.Text.Length > 0)
		3046	{
		3047	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		3048	}
		3049	}
		3050	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		3051	{
		3052	SerChan1ScaleSlider.Value = 0;
		3053	}
		3054	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		3055	{
		3056	SerChan1ScaleSlider.Value = 127;
		3057	}
		3058	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		3059	{
		3060	SerChan1ScaleSlider.Value = 254;
		3061	}
		3062	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		3063	{
		3064	if (textBoxSerial1_val2.Text.Length > 0)
		3065	{
		3066	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		3067	}
		3068	}
		3069	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		3070	{
		3071	if (textBoxSerial1_val3.Text.Length > 0)
		3072	{
		3073	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		3074	}
		3075	}
		3076
		3077	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3078	{
		3079	if (!_init)
		3080	{
		3081	serChan[1] = (int)SerChan2ScaleSlider.Value;
		3082	_sendSerialData();
		3083	}
		3084	}
		3085	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		3086	{
		3087	if (!_init)
		3088	{
		3089	serChanTitle[1] = textBoxSerial2.Text;
		3090	}
		3091	}
		3092	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		3093	{
		3094	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		3095	{
		3096	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		3097	}
		3098	}
		3099	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		3100	{
		3101	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		3102	{
		3103	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		3104	}
		3105	}
		3106	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		3107	{
		3108	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		3109	{
		3110	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3111	}
		3112	}
		3113	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3114	{
		3115	SerChan2ScaleSlider.Value = 0;
		3116	}
		3117	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3118	{
		3119	SerChan2ScaleSlider.Value = 127;
		3120	}
		3121	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3122	{
		3123	SerChan2ScaleSlider.Value = 254;
		3124	}
		3125	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3126	{
		3127	if (textBoxSerial2_val1.Text.Length > 0)
		3128	{
		3129	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3130	}
		3131	}
		3132	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3133	{
		3134	if (textBoxSerial2_val2.Text.Length > 0)
		3135	{
		3136	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3137	}
		3138	}
		3139	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3140	{
		3141	if (textBoxSerial2_val3.Text.Length > 0)
		3142	{
		3143	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3144	}
		3145	}
2350	-	3146
		3147	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3148	{
		3149	if (!_init)
		3150	{
		3151	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3152	_sendSerialData();
		3153	}
		3154	}
		3155	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3156	{
		3157	if (!_init)
		3158	{
		3159	serChanTitle[2] = textBoxSerial3.Text;
		3160	}
		3161	}
		3162	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3163	{
		3164	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3165	{
		3166	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3167	}
		3168	}
		3169	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3170	{
		3171	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3172	{
		3173	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3174	}
		3175	}
		3176	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3177	{
		3178	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3179	{
		3180	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3181	}
		3182	}
		3183	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3184	{
		3185	SerChan3ScaleSlider.Value = 0;
		3186	}
		3187	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3188	{
		3189	SerChan3ScaleSlider.Value = 127;
		3190	}
		3191	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3192	{
		3193	SerChan3ScaleSlider.Value = 254;
		3194	}
		3195	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3196	{
		3197	if (textBoxSerial3_val1.Text.Length > 0)
		3198	{
		3199	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3200	}
		3201	}
		3202	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3203	{
		3204	if (textBoxSerial3_val2.Text.Length > 0)
		3205	{
		3206	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3207	}
		3208	}
		3209	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3210	{
		3211	if (textBoxSerial3_val3.Text.Length > 0)
		3212	{
		3213	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3214	}
		3215	}
2349	-	3216	/// <summary>
		3217	/// checks the input of a textbox
		3218	/// for valid data
		3219	/// in this case values 0-254
		3220	/// </summary>
		3221	/// <param name="sender"></param>
		3222	/// <param name="e"></param>
		3223	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3224	{
		3225	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3226	e.Handled = true;
		3227	else
		3228	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3229	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3230	e.Handled = true;
		3231	else
		3232	{
		3233	int i = -1;
		3234	switch (((TextBox)sender).Name)
		3235	{
		3236	case "textBoxSerial1_val1":
		3237	i = 0;
		3238	break;
		3239	case "textBoxSerial1_val2":
		3240	i = 1;
		3241	break;
		3242	case "textBoxSerial1_val3":
		3243	i = 2;
		3244	break;
		3245	case "textBoxSerial2_val1":
		3246	i = 3;
		3247	break;
		3248	case "textBoxSerial2_val2":
		3249	i = 4;
		3250	break;
		3251	case "textBoxSerial2_val3":
		3252	i = 5;
		3253	break;
		3254	case "textBoxSerial3_val1":
		3255	i = 6;
		3256	break;
		3257	case "textBoxSerial3_val2":
		3258	i = 7;
		3259	break;
		3260	case "textBoxSerial3_val3":
		3261	i = 8;
		3262	break;
		3263	case "textBoxSerial4_val1":
		3264	i = 9;
		3265	break;
		3266	case "textBoxSerial4_val2":
		3267	i = 10;
		3268	break;
		3269	case "textBoxSerial4_val3":
		3270	i = 11;
		3271	break;
		3272	}
		3273	if (i > -1)
		3274	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3275	}
		3276	}
		3277
		3278	#endregion serial channels
2315	-	3279	#region WP
2312	-	3280	void _readWPLFile()
		3281	{
		3282	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3283	fd.Filter = "Waypointlists \| *.wpl";
		3284	fd.Multiselect = false;
		3285	if (fd.ShowDialog().Value)
		3286	{
		3287	string file = fd.SafeFileName;
		3288	IniFile ini = new IniFile(fd.SafeFileName);
		3289	ini.path = fd.FileName;
		3290
		3291	try
		3292	{
		3293	string sVal = ini.IniReadValue("General", "FileVersion");
		3294	if (sVal == "")
		3295	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3296	else
		3297	{
		3298	if (Convert.ToInt16(sVal) < 3)
		3299	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3300	else
		3301	{
		3302	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3303	if (sVal == "")
		3304	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3305	else
		3306	{
		3307	int wpnum = Convert.ToInt16(sVal);
		3308	string wp;
		3309	int i;
2313	-	3310	NumberFormatInfo nfi = new NumberFormatInfo();
		3311	nfi.NumberDecimalSeparator = ".";
2312	-	3312	dtWaypoints.Rows.Clear();
2368	-	3313	_wpEdit = -1;_wpIndex = -1;
2327	-	3314	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	3315	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	3316	wpList.Clear();
		3317	if (mRouteWP != null)
		3318	MainMap.Markers.Remove(mRouteWP);
2363	-	3319	//if (wpActiveMarker != null)
		3320	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	3321	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3322
2312	-	3323	for (int k = 1; k <= wpnum; k++)
		3324	{
		3325	DataRow dr = dtWaypoints.NewRow();
		3326	dr.ItemArray = new object[16];
		3327	object[] o = new object[16];
		3328	i = 0;
		3329	wp = "Point" + k.ToString();
		3330	o[i] = k;
		3331	i++;
		3332	sVal = ini.IniReadValue(wp, "Type");
		3333	if (sVal != "")
2315	-	3334	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	3335	i++;
		3336	sVal = ini.IniReadValue(wp, "Prefix");
		3337	if (sVal != "")
2350	-	3338	o[i] = sVal + k.ToString();
		3339	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	3340	i++;
2313	-	3341	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	3342	if (sVal != "")
2313	-	3343	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3344	i++;
2313	-	3345	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	3346	if (sVal != "")
2313	-	3347	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3348	i++;
		3349	sVal = ini.IniReadValue(wp, "Altitude");
		3350	if (sVal != "")
2313	-	3351	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	3352	i++;
		3353	sVal = ini.IniReadValue(wp, "Heading");
		3354	if (sVal != "")
		3355	o[i] = Convert.ToInt16(sVal);
		3356	i++;
		3357	sVal = ini.IniReadValue(wp, "Speed");
		3358	if (sVal != "")
2315	-	3359	o[i] = Convert.ToInt16(sVal);
2312	-	3360	i++;
		3361	sVal = ini.IniReadValue(wp, "ClimbRate");
		3362	if (sVal != "")
		3363	o[i] = Convert.ToInt16(sVal);
		3364	i++;
		3365	sVal = ini.IniReadValue(wp, "Radius");
		3366	if (sVal != "")
		3367	o[i] = Convert.ToInt16(sVal);
		3368	i++;
		3369	sVal = ini.IniReadValue(wp, "DelayTime");
		3370	if (sVal != "")
		3371	o[i] = Convert.ToInt16(sVal);
		3372	i++;
		3373	sVal = ini.IniReadValue(wp, "AutoTrigger");
		3374	if (sVal != "")
		3375	o[i] = Convert.ToInt16(sVal); ;
		3376	i++;
		3377	sVal = ini.IniReadValue(wp, "CAM-Nick");
		3378	if (sVal != "")
2313	-	3379	o[i] = Convert.ToInt16(sVal);
2312	-	3380	i++;
		3381	o[i] = 0;
		3382	i++;
		3383	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		3384	if (sVal != "")
		3385	o[i] = Convert.ToInt16(sVal);
		3386	i++;
		3387	o[i] = "New";
		3388
		3389	dr.ItemArray = o;
		3390	dtWaypoints.Rows.Add(dr);
2363	-	3391	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1]);
2315	-	3392
2312	-	3393	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		3394	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		3395	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3396	Thread.Sleep(10);
		3397	}
2359	-	3398	_routeUpdate();
2312	-	3399	}
		3400	}
		3401	}
		3402
		3403	}
		3404	catch (Exception e)
		3405	{
		3406
		3407	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		3408	}
		3409
		3410	}
		3411	}
2350	-	3412	void _saveWPLFile()
		3413	{
		3414	if (dtWaypoints.Rows.Count > 0)
		3415	{
		3416	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		3417	fd.Filter = "Waypointlists \| *.wpl";
		3418	fd.AddExtension = true;
		3419	if (fd.ShowDialog().Value)
		3420	{
		3421	string file = fd.SafeFileName;
		3422	IniFile ini = new IniFile(fd.SafeFileName);
		3423	ini.path = fd.FileName;
		3424	NumberFormatInfo nfi = new NumberFormatInfo();
		3425	nfi.NumberDecimalSeparator = ".";
		3426
		3427	try
		3428	{
		3429	ini.IniWriteValue("General", "FileVersion", "3");
		3430	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		3431	ini.IniWriteValue("General", "Mapfile", "");
		3432	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		3433	{
		3434	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		3435	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		3436	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		3437	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		3438	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		3439	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		3440	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		3441	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		3442	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		3443	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		3444	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		3445	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));
		3446	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		3447	}
		3448	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		3449	}
		3450	catch { }
		3451	}
		3452	}
		3453	else
		3454	MessageBox.Show("Nothing to save...");
		3455	}
		3456	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		3457	{
		3458	_saveWPLFile();
		3459	}
		3460	/// <summary>
		3461	/// set the selected color for the route
		3462	/// </summary>
		3463	/// <param name="color"></param>
		3464	/// <returns></returns>
2328	-	3465	Brush _getBrush(string color)
		3466	{
		3467	switch (color)
		3468	{
		3469	case "red":
		3470	return Brushes.Red;
		3471	case "green":
		3472	return Brushes.Lime;
		3473	case "blue":
		3474	return Brushes.Aqua;
		3475	case "pink":
		3476	return Brushes.Magenta;
		3477	case "yellow":
		3478	return Brushes.Yellow;
		3479	default:
		3480	return Brushes.Magenta;
		3481	}
		3482	}
2359	-	3483	void _routeUpdate()
		3484	{
		3485	Dispatcher.Invoke(() =>
		3486	{
		3487	if (comboBoxRouteColor.SelectionBoxItem != null)
		3488	{
		3489	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3490	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3491	}
		3492	else
		3493	mRouteWP = new GMapRoute(wpList, null);
		3494
		3495	if (_bShowWPRoute)
2368	-	3496	MainMap.Markers.Add(mRouteWP);
2359	-	3497	});
		3498
		3499	MapRoute mr = new MapRoute(wpList, "WPList");
		3500	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		3501	}
2363	-	3502	GMapMarker _createWP(PointLatLng p, string name, int type)
		3503	{
		3504	GMapMarker wpMarker = new GMapMarker(p);
2385	-	3505	Dispatcher.Invoke(()=>
		3506	{
		3507	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
		3508	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		3509	wpMarker.ZIndex = 100;
		3510	_setMarkerColor(wpMarker, type);
		3511	MainMap.Markers.Add(wpMarker);
		3512	if (type == 0 \|\| type == 3)
		3513	wpList.Add(p);
		3514	});
2363	-	3515	return wpMarker;
		3516	}
2315	-	3517	void _setMarkerColor(GMapMarker wpMarker,int iType)
		3518	{
2369	-	3519	if(wpMarker != null)
2315	-	3520	Dispatcher.Invoke(() =>
		3521	{
		3522	switch (iType)
		3523	{
		3524	case 0:
		3525	if (comboBoxWPColor.SelectionBoxItem != null)
		3526	{
		3527	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		3528	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3529	}
		3530	else
2372	-	3531	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	3532	break;
		3533	case 1:
		3534	if (comboBoxPOIColor.SelectionBoxItem != null)
		3535	{
		3536	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		3537	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3538	}
		3539	else
2372	-	3540	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	3541	break;
		3542	case 2:
		3543	if (comboBoxFSColor.SelectionBoxItem != null)
		3544	{
		3545	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		3546	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3547	}
		3548	else
		3549	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3550	break;
2372	-	3551	case 3:
		3552	if (comboBoxLandingColor.SelectionBoxItem != null)
		3553	{
		3554	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		3555	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		3556	}
		3557	else
		3558	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		3559	break;
2315	-	3560	default:
		3561	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		3562	break;
		3563	}
		3564	});
2312	-	3565
2315	-	3566	}
2372	-	3567	void _MarkerColorSelection(object sender,int type)
		3568	{
2315	-	3569	Dispatcher.Invoke(() =>
		3570	{
2372	-	3571	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	3572	{
		3573	for (int k = 0; k < MainMap.Markers.Count; k++)
		3574	{
		3575	GMapMarker p = MainMap.Markers[k];
2372	-	3576	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	3577	{
2372	-	3578	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	3579	{
2372	-	3580	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	3581	((CustomMarkerWP)(p.Shape)).setColor(s);
		3582	}
		3583	}
		3584	}
		3585	}
		3586	});
2287	-	3587	}
2379	-	3588	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	3589	{
2376	-	3590	_MarkerColorSelection(sender, 0);
		3591	}
		3592	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		3593	{
		3594	_MarkerColorSelection(sender, 1);
		3595	}
		3596	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		3597	{
		3598	_MarkerColorSelection(sender, 2);
		3599	}
		3600	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		3601	{
		3602	_MarkerColorSelection(sender,3);
		3603	}
2385	-	3604	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
2376	-	3605	{
2318	-	3606	Dispatcher.Invoke(() => {
		3607	if (comboBoxCopterColor.SelectionBoxItem != null)
		3608	{
		3609	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	3610	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	3611	}
		3612	else
2385	-	3613	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
2318	-	3614	});
		3615	}
2385	-	3616	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		3617	{
		3618	Dispatcher.Invoke(() => {
		3619	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		3620	{
		3621	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		3622	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		3623	}
		3624	else
		3625	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		3626	});
		3627	}
2328	-	3628	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		3629	{
		3630	Dispatcher.Invoke(() =>
		3631	{
		3632	if (comboBoxRouteColor.SelectionBoxItem != null)
		3633	{
		3634	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		3635	MainMap.Markers.Remove(mRouteWP);
		3636	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		3637	if (_bShowWPRoute)
		3638	MainMap.Markers.Add(mRouteWP);
		3639	}
		3640	});
		3641	}
		3642	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		3643	{
		3644	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		3645	if (_bShowWPRoute)
		3646	{
		3647	if (mRouteWP != null)
		3648	MainMap.Markers.Add(mRouteWP);
		3649	}
		3650	else
		3651	{
		3652	if (mRouteWP != null)
		3653	MainMap.Markers.Remove(mRouteWP);
		3654	}
		3655	}
2315	-	3656	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	3657	{
2315	-	3658	_readWPLFile();
2287	-	3659	}
2335	-	3660	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		3661	{
		3662	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	3663	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	3664	wpList.Clear();
		3665	if (mRouteWP != null)
		3666	MainMap.Markers.Remove(mRouteWP);
2347	-	3667	//if (wpActiveMarker != null)
		3668	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	3669	dtWaypoints.Rows.Clear();
2356	-	3670	_wpEdit = -1;
2368	-	3671	_wpIndex = -1;
2335	-	3672	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		3673	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		3674	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		3675	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		3676	}
2340	-	3677	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		3678	{
		3679	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		3680	t.Start();
		3681	}
2355	-	3682	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	3683	{
		3684	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3685	{
2372	-	3686	if (_wpCount > 0)
2376	-	3687	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	3688	else
2376	-	3689	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	3690
2372	-	3691	//int index = dgvWP.SelectedIndex;
		3692	//Thread t = new Thread(() => _sendWPList(index));
		3693	//t.Start();
2354	-	3694
		3695	Dispatcher.Invoke(() => {
		3696	DataGridRow row;
2368	-	3697	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	3698	{
2368	-	3699	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	3700	row.Background = new SolidColorBrush(Colors.Transparent);
		3701	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3702	row.BorderThickness = new Thickness(0);
2376	-	3703	dgvWP.UpdateLayout();
2354	-	3704	}
2376	-	3705	//_wpEdit = dgvWP.SelectedIndex;
		3706	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3707	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		3708	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		3709	//row.BorderThickness = new Thickness(2);
2354	-	3710	});
2340	-	3711	}
		3712	}
2385	-	3713	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		3714	{
		3715	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3716	{
		3717
		3718	object[] o = new object[16];
		3719	o[0] = dgvWP.SelectedIndex + 1;
		3720	o[1] = cbWPEditType.SelectedIndex;
		3721	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3722	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3723	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		3724	o[5] = tbWPEditAlt.Text;
		3725	switch (cbWPEditHeading.SelectedIndex)
		3726	{
		3727	case 0:
		3728	o[6] = "0";
		3729	break;
		3730	case 1:
		3731	o[6] = "-" + tbWPEditHeading.Text;
		3732	break;
		3733	case 2:
		3734	o[6] = tbWPEditHeading.Text;
		3735	break;
		3736	}
		3737	switch (cbWPEditSpeed.SelectedIndex)
		3738	{
		3739	case 0:
		3740	o[7] = "0";
		3741	break;
		3742	case 1:
		3743	o[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3744	break;
		3745	case 2:
		3746	o[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3747	break;
		3748	}
		3749	switch (cbWPEditClimbrate.SelectedIndex)
		3750	{
		3751	case 0:
		3752	o[8] = "255";
		3753	break;
		3754	case 1:
		3755	o[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		3756	break;
		3757	}
		3758	o[9] = tbWPEditRadius.Text;
		3759	o[10] = tbWPEditHoldtime.Text;
		3760	o[11] = tbWPEditAutoTrigger.Text;
		3761	switch (cbWPEditCamAngle.SelectedIndex)
		3762	{
		3763	case 0:
		3764	o[12] = "0";
		3765	break;
		3766	case 1:
		3767	o[12] = "255";
		3768	break;
		3769	case 2:
		3770	o[12] = tbWPEditCamAngle.Text;
		3771	break;
		3772	}
		3773	o[13] = 0;
		3774	o[14] = tbWPEditOut1.Text;
		3775	DataRow dr = dtWaypoints.NewRow();
		3776	dr.ItemArray = o;
		3777
		3778	if (_wpCount > 0)
		3779	_sendWayPoint(dr, -1, 'w', false);
		3780	else
		3781	_sendWayPoint(dr, 1, 'w', false);
		3782	}
		3783	}
2376	-	3784	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		3785	{
		3786	_Simulate = !_Simulate;
		3787	if (dtWaypoints.Rows.Count > 0)
		3788	{
		3789	DataRow dr = dtWaypoints.Rows[0];
		3790	dr[13] = _Simulate ? 3 : 0;
2379	-	3791	_sendWayPoint(dr, 0, 's', true);
2381	-	3792	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
2376	-	3793	}
		3794	}
2355	-	3795	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		3796	{
2359	-	3797	_dgvWPselectEditRow();
		3798	}
		3799	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		3800	{
		3801	}
		3802	void _dgvWPselectEditRow()
		3803	{
2355	-	3804	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3805	{
2368	-	3806	Dispatcher.Invoke(() => {
2355	-	3807	DataGridRow row;
2368	-	3808	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	3809	{
		3810	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3811	row.Background = new SolidColorBrush(Colors.Transparent);
		3812	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		3813	row.BorderThickness = new Thickness(0);
		3814	}
		3815	_wpEdit = dgvWP.SelectedIndex;
		3816	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		3817	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		3818	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		3819	row.BorderThickness = new Thickness(2);
		3820	dgvWP.UpdateLayout();
2340	-	3821
2355	-	3822	_setWPEditFields(_wpEdit);
		3823	});
		3824	}
		3825	}
		3826	void _setWPEditFields(int index)
		3827	{
		3828	int iVal;
		3829	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		3830	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		3831	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		3832	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		3833	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		3834	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		3835	if (iVal == 0)
		3836	{
		3837	cbWPEditHeading.SelectedIndex = 0;
		3838	tbWPEditHeading.Text = " - - -";
		3839	tbWPEditHeading.IsReadOnly = true;
		3840	}
		3841	if (iVal > 0 && iVal < 360)
		3842	{
		3843	cbWPEditHeading.SelectedIndex = 2;
		3844	tbWPEditHeading.Text = iVal.ToString();
		3845	tbWPEditHeading.IsReadOnly = false;
		3846	}
		3847	if (iVal < 0)
		3848	{
		3849	cbWPEditHeading.SelectedIndex = 1;
		3850	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		3851	tbWPEditHeading.IsReadOnly = false;
		3852	}
		3853	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		3854	if (iVal == 0)
		3855	{
		3856	cbWPEditSpeed.SelectedIndex = 0;
		3857	tbWPEditSpeed.Text = "MAX";
		3858	tbWPEditSpeed.IsReadOnly = true;
		3859	}
		3860	if (iVal > 0 && iVal < 248)
		3861	{
		3862	cbWPEditSpeed.SelectedIndex = 1;
		3863	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		3864	tbWPEditSpeed.IsReadOnly = false;
		3865	}
		3866	if (iVal > 247)
		3867	{
		3868	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		3869	tbWPEditSpeed.Text = "";
		3870	tbWPEditSpeed.IsReadOnly = true;
		3871	}
		3872	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		3873	if (iVal == 255)
		3874	{
		3875	cbWPEditClimbrate.SelectedIndex = 0;
		3876	tbWPEditClimbrate.Text = "AUTO";
		3877	tbWPEditClimbrate.IsReadOnly = true;
		3878	}
		3879	else
		3880	{
		3881	cbWPEditClimbrate.SelectedIndex = 1;
		3882	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		3883	tbWPEditClimbrate.IsReadOnly = false;
		3884	}
		3885	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		3886	tbWPEditRadius.Text = iVal.ToString();
		3887	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		3888	tbWPEditHoldtime.Text = iVal.ToString();
		3889	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		3890	tbWPEditAutoTrigger.Text = iVal.ToString();
		3891	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		3892	if (iVal == 0)
		3893	{
		3894	cbWPEditCamAngle.SelectedIndex = 0;
		3895	tbWPEditCamAngle.Text = " - - - ";
		3896	tbWPEditCamAngle.IsReadOnly = true;
		3897	}
		3898	if (iVal < 0 \| iVal == 255)
		3899	{
		3900	cbWPEditCamAngle.SelectedIndex = 1;
		3901	tbWPEditCamAngle.Text = "AUTO";
		3902	tbWPEditCamAngle.IsReadOnly = true;
		3903	}
		3904	if (iVal > 0 & iVal < 255)
		3905	{
		3906	cbWPEditCamAngle.SelectedIndex = 2;
		3907	tbWPEditCamAngle.Text = iVal.ToString();
		3908	tbWPEditCamAngle.IsReadOnly = false;
		3909	}
		3910	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		3911	tbWPEditOut1.Text = iVal.ToString();
		3912
		3913	}
		3914
2361	-	3915	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		3916	{
2363	-	3917	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		3918	{
2369	-	3919	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	3920	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		3921	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		3922	int i = wpList.IndexOf(pOld);
2363	-	3923	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		3924	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		3925	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		3926	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	3927	if (i > -1)
		3928	{
		3929	if((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		3930	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		3931	else
		3932	wpList.Remove(pOld);
		3933	}
		3934	else
		3935	{
		3936	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		3937	{
		3938	int found = 0;
		3939	for (int k = 0; k < dgvWP.SelectedIndex; k++)
		3940	if ((int)dtWaypoints.Rows[k][1] == 0)
		3941	found++;
		3942	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		3943	}
		3944	}
2363	-	3945	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		3946	switch (cbWPEditHeading.SelectedIndex)
		3947	{
		3948	case 0:
		3949	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		3950	break;
		3951	case 1:
		3952	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		3953	break;
		3954	case 2:
		3955	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		3956	break;
		3957	}
		3958	switch (cbWPEditSpeed.SelectedIndex)
		3959	{
		3960	case 0:
		3961	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		3962	break;
		3963	case 1:
		3964	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		3965	break;
		3966	case 2:
		3967	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		3968	break;
		3969	}
		3970	switch (cbWPEditClimbrate.SelectedIndex)
		3971	{
		3972	case 0:
		3973	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		3974	break;
		3975	case 1:
		3976	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		3977	break;
		3978	}
		3979	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		3980	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		3981	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		3982	switch (cbWPEditCamAngle.SelectedIndex)
		3983	{
		3984	case 0:
		3985	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		3986	break;
		3987	case 1:
		3988	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		3989	break;
		3990	case 2:
		3991	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		3992	break;
		3993	}
		3994	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	3995
2369	-	3996	// _clearMapMarkers(typeof(CustomMarkerWP));
		3997	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		3998	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	3999	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	4000	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	4001	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	4002	// wpList.Clear();
2363	-	4003	if (mRouteWP != null)
		4004	MainMap.Markers.Remove(mRouteWP);
		4005
2369	-	4006	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		4007	//{
		4008	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		4009	//}
2363	-	4010	_routeUpdate();
		4011	dgvWP.Items.Refresh();
		4012
		4013	}
		4014
2361	-	4015	}
		4016	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		4017	{
2368	-	4018	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4019	{
		4020	int index = dgvWP.SelectedIndex;
		4021	Dispatcher.Invoke(() => {
		4022	DataGridRow row;
		4023	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		4024	{
		4025	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4026	row.Background = new SolidColorBrush(Colors.Transparent);
		4027	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4028	row.BorderThickness = new Thickness(0);
		4029	}
2372	-	4030	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	4031	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
		4032	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	4033	if (wpActiveMarker != null)
		4034	MainMap.Markers.Remove(wpActiveMarker);
2368	-	4035	dtWaypoints.Rows[index].Delete();
		4036	_wpIndex = -1;
		4037	_wpEdit = -1;
		4038	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		4039	{
		4040	dtWaypoints.Rows[i][0] = i + 1;
		4041	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		4042	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		4043	_renameWPMarker(s1, s2);
		4044	dtWaypoints.Rows[i][2] = s2;
		4045	}
		4046	lblWPCount.Content = dtWaypoints.Rows.Count;
		4047	if (mRouteWP != null)
		4048	MainMap.Markers.Remove(mRouteWP);
		4049	_routeUpdate();
2361	-	4050
2368	-	4051	dgvWP.UpdateLayout();
		4052	});
		4053	}
2361	-	4054	}
2366	-	4055	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		4056	{
		4057	_wpWEdit(sender);
		4058	}
2361	-	4059	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		4060	{
2366	-	4061	_wpWEdit(sender);
		4062	}
2369	-	4063	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		4064	{
		4065	_wpWEdit(sender);
		4066	}
2366	-	4067	void _wpWEdit(object sender)
		4068	{
2369	-	4069	// if (!((TextBox)sender).IsReadOnly)
2361	-	4070	{
		4071	KeyPad.Keypad k = new KeyPad.Keypad(this);
		4072
2363	-	4073	switch (((TextBox)sender).Name)
		4074	{
		4075	case "tbWPEditLat":
		4076	k.Title = "Latitude";
		4077	k.LENGTH = 17;
		4078	k.MAX = 359.9;
		4079	break;
		4080	case "tbWPEditLon":
		4081	k.Title = "Longitude";
		4082	k.LENGTH = 17;
		4083	k.MAX = 359.9;
		4084	break;
		4085	case "tbWPEditAlt":
		4086	k.Title = "Altitude";
		4087	k.LENGTH = 3;
		4088	k.MAX = 254;
		4089	k.disableDecimal();
		4090	break;
		4091	case "tbWPEditHeading":
		4092	k.Title = "Heading";
		4093	k.LENGTH = 3;
		4094	k.MAX = 359;
		4095	k.MIN = 1;
		4096	k.disableDecimal();
		4097	break;
		4098	case "tbWPEditSpeed":
		4099	k.Title = "Speed";
		4100	k.LENGTH = 4;
		4101	k.MAX = 24.7;
		4102	k.MIN = 0.1;
		4103	break;
		4104	case "tbWPEditClimbrate":
		4105	k.Title = "Climbrate";
		4106	k.LENGTH = 4;
		4107	k.MAX = 25.4;
		4108	k.MIN = 0.1;
		4109	break;
		4110	case "tbWPEditRadius":
		4111	k.Title = "Radius";
		4112	k.LENGTH = 3;
		4113	k.MAX = 254;
		4114	k.disableDecimal();
		4115	break;
		4116	case "tbWPEditHoldtime":
		4117	k.Title = "Holdtime";
		4118	k.LENGTH = 3;
		4119	k.MAX = 254;
		4120	break;
		4121	case "tbWPEditAutoTrigger":
		4122	k.Title = "Autotrigger";
		4123	k.LENGTH = 3;
		4124	k.MAX = 254;
		4125	k.disableDecimal();
		4126	break;
		4127	case "tbWPEditCamAngle":
		4128	k.Title = "Camera angle";
		4129	k.LENGTH = 3;
		4130	k.MAX = 254;
		4131	k.MIN = 1;
		4132	k.disableDecimal();
		4133	break;
		4134	case "tbWPEditOut1":
		4135	k.Title = "OUT1 timer interval";
		4136	k.LENGTH = 3;
		4137	k.MAX = 254;
		4138	k.disableDecimal();
		4139	break;
		4140	}
		4141	k.Result = ((TextBox)sender).Text;
2366	-	4142	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	4143	((TextBox)sender).Text = k.Result;
2361	-	4144	}
2366	-	4145
2361	-	4146	}
		4147	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	4148	{
2359	-	4149	object[] o = new object[16];
2356	-	4150
2359	-	4151	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		4152	o[1] = 0;
		4153	// cbWPEditType.SelectedIndex = 0;
		4154	// tbWPEditPrefix.Text = "P";
		4155	o[2] = "P" + o[0].ToString();
		4156	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4157	o[3] = copter.Position.Lat;
		4158	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4159	o[4] = copter.Position.Lng;
		4160	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		4161	o[5] = iAnalogData[4].ToString();
2356	-	4162
2359	-	4163	// cbWPEditHeading.SelectedIndex = 2;
		4164	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		4165	// tbWPEditHeading.IsReadOnly = false;
2356	-	4166
2359	-	4167	// cbWPEditSpeed.SelectedIndex = 1;
		4168	// tbWPEditSpeed.Text = "5.0";
		4169	// tbWPEditSpeed.IsReadOnly = false;
2372	-	4170	o[7] = "10";
2356	-	4171
2359	-	4172	// cbWPEditClimbrate.SelectedIndex = 1;
		4173	// tbWPEditClimbrate.Text = "5.0";
		4174	// tbWPEditClimbrate.IsReadOnly = false;
2372	-	4175	o[8] = "10";
2356	-	4176
2359	-	4177	// tbWPEditRadius.Text = "10";
2372	-	4178	o[9] = "5";
2359	-	4179	// tbWPEditHoldtime.Text = "5";
		4180	o[10] = "5";
		4181	// tbWPEditAutoTrigger.Text = "0";
		4182	o[11] = "0";
		4183	// cbWPEditCamAngle.SelectedIndex = 1;
		4184	// tbWPEditCamAngle.Text = "AUTO";
		4185	// tbWPEditCamAngle.IsReadOnly = true;
		4186	o[12] = "255";
2356	-	4187
2359	-	4188	o[13] = "0";
		4189	// tbWPEditOut1.Text = "0";
		4190	o[14] = "0";
		4191	o[15] = "0";
		4192
		4193	dtWaypoints.Rows.Add(o);
2368	-	4194	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1]);
2359	-	4195	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		4196	if (mRouteWP != null)
		4197	MainMap.Markers.Remove(mRouteWP);
		4198	_routeUpdate();
		4199	Dispatcher.Invoke(() => {
		4200	dgvWP.Items.Refresh();
		4201	dgvWP.SelectedIndex = (int)o[0] -1;
		4202	dgvWP.UpdateLayout();
		4203	_dgvWPselectEditRow();
		4204	});
2356	-	4205	}
		4206
2315	-	4207	#endregion WP
2324	-	4208	#region GPX
		4209	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		4210	{
		4211	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		4212	}
		4213	void _gpxAdd(double lat,double lon, int elevation)
		4214	{
		4215	DataRow dr = dtGPX.NewRow();
		4216	dr[0] = dtGPX.Rows.Count - 1;
		4217	dr[1] = lat;
		4218	dr[2] = lon;
		4219	dr[3] = elevation;
		4220	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		4221	dtGPX.Rows.Add(dr);
		4222	}
		4223	void _saveGPXLog()
		4224	{
		4225	if (!Directory.Exists("GPXLog"))
		4226	Directory.CreateDirectory("GPXLog");
		4227	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		4228	XmlTextWriter myXmlTextWriter = null;
		4229	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		4230	NumberFormatInfo nfi = new NumberFormatInfo();
		4231	nfi.NumberDecimalSeparator = ".";
2315	-	4232
2324	-	4233	try
		4234	{
		4235	myXmlTextWriter.Formatting = Formatting.Indented;
		4236
		4237	myXmlTextWriter.WriteStartDocument();
		4238
		4239	myXmlTextWriter.WriteStartElement("gpx");
		4240
		4241	myXmlTextWriter.WriteAttributeString("version", "1.0");
		4242	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		4243	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		4244	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		4245	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		4246
		4247	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		4248
		4249	myXmlTextWriter.WriteStartElement("trk");
		4250	myXmlTextWriter.WriteStartElement("trkseg");
		4251	for(int i = 0; i< dtGPX.Rows.Count;i++)
		4252	{
		4253	myXmlTextWriter.WriteStartElement("trkpt");
		4254	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		4255	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		4256	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		4257	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		4258	myXmlTextWriter.WriteEndElement();
		4259	}
		4260	myXmlTextWriter.WriteEndElement();
		4261	myXmlTextWriter.WriteEndElement();
		4262	myXmlTextWriter.WriteEndElement();
		4263	}
		4264	catch (Exception e)
		4265	{
		4266	Console.WriteLine("Exception: {0}", e.ToString());
		4267	}
		4268	finally
		4269	{
		4270	if (myXmlTextWriter != null)
		4271	{
		4272	myXmlTextWriter.Close();
		4273	}
		4274	}
		4275	}
2356	-	4276
2385	-	4277
2324	-	4278	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		4279	{
		4280	_loadGPXLog();
		4281	}
2327	-	4282	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		4283	{
		4284	_clearMapMarkers(typeof(GMapRoute));
		4285	}
2324	-	4286	void _loadGPXLog()
		4287	{
		4288
		4289	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		4290	fd.Filter = "GPX-Logfile \| *.gpx";
		4291	fd.Multiselect = false;
		4292	if (fd.ShowDialog().Value)
		4293	{
		4294	string file = fd.FileName;
		4295	try
		4296	{
		4297	XDocument gpxDoc = XDocument.Load(file);
		4298	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		4299
		4300	NumberFormatInfo nfi = new NumberFormatInfo();
		4301	nfi.NumberDecimalSeparator = ".";
		4302
		4303	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		4304	select new
		4305	{
		4306	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		4307	Segs = (
		4308	from trackpoint in track.Descendants(gpx + "trkpt")
		4309	select new
		4310	{
		4311	Latitude = trackpoint.Attribute("lat").Value,
		4312	Longitude = trackpoint.Attribute("lon").Value,
		4313	Elevation = trackpoint.Element(gpx + "ele") != null ?
		4314	trackpoint.Element(gpx + "ele").Value : null,
		4315	Time = trackpoint.Element(gpx + "time") != null ?
		4316	trackpoint.Element(gpx + "time").Value : null
		4317	}
		4318	)
		4319	};
		4320
		4321	List<PointLatLng> wpl = new List<PointLatLng>();
		4322	foreach(var trk in tracks)
		4323	{
		4324	foreach(var trkseg in trk.Segs)
		4325	{
		4326	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		4327	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		4328	}
		4329
		4330	}
		4331	if(wpl.Count() > 0)
		4332	{
2327	-	4333	_clearMapMarkers(typeof(GMapRoute));
2324	-	4334	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	4335	Dispatcher.Invoke(() =>
		4336	{
		4337	GMapRoute mRoute;
		4338	if (comboBoxRouteColor.SelectionBoxItem != null)
		4339	{
		4340	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	4341	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	4342	}
		4343	else
2366	-	4344	mRoute = new GMapRoute(wpl, null);
2324	-	4345
2328	-	4346	MainMap.Markers.Add(mRoute);
		4347	});
2324	-	4348	}
		4349
		4350	}
		4351	catch (Exception e)
		4352	{
		4353	Console.WriteLine("Exception: {0}", e.ToString());
		4354	}
		4355	}
		4356	}
		4357	#endregion GPX
2315	-	4358	#endregion functions
2287	-	4359	}
2315	-	4360	/// <summary>
		4361	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		4362	/// </summary>
2313	-	4363	public class waypointsConverter : IValueConverter
		4364	{
		4365	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		4366	{
		4367	if (value != null)
		4368	{
		4369	switch ((string)parameter)
		4370	{
		4371	case "Latitude":
		4372	return value.ToString() + " °";
		4373	case "Longitude":
		4374	return value.ToString() + " °";
		4375	case "Radius":
		4376	return value.ToString() + " m";
		4377	case "Altitude":
		4378	return value.ToString() + " m";
		4379	case "ClimbRate":
		4380	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		4381	case "DelayTime":
		4382	return value.ToString() + " s";
		4383	case "Heading":
		4384	return Waypoints.Heading(System.Convert.ToInt32(value));
		4385	case "Speed":
		4386	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		4387	case "CamAngle":
		4388	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		4389	case "Type":
		4390	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		4391	case "AutoTrigger":
		4392	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		4393	case "Status":
2355	-	4394	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	4395	}
		4396
		4397	return value.ToString();
		4398	}
		4399	else return value;
		4400	}
		4401
		4402	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		4403	{
		4404	throw new NotImplementedException();
		4405	}
		4406	}
		4407
2287	-	4408	public class IniFile
		4409	{
		4410	public string path;
		4411
		4412	[DllImport("kernel32")]
		4413	private static extern long WritePrivateProfileString(string section,
		4414	string key, string val, string filePath);
		4415
		4416	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		4417	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		4418	uint nSize, string lpFileName);
		4419
		4420	[DllImport("kernel32")]
		4421	private static extern int GetPrivateProfileString(string section,
		4422	string key, string def, StringBuilder retVal,
		4423	int size, string filePath);
		4424
		4425	public IniFile(string INIPath)
		4426	{
		4427	path = INIPath;
		4428	}
		4429
		4430	public void IniWriteValue(string Section, string Key, string Value)
		4431	{
		4432	WritePrivateProfileString(Section, Key, Value, this.path);
		4433	}
		4434
		4435	public string IniReadValue(string Section, string Key)
		4436	{
		4437	StringBuilder temp = new StringBuilder(255);
		4438	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		4439	return temp.ToString();
		4440	}
		4441	//Ini_sections auslesen in String-Array
		4442	public string[] IniSectionNames()
		4443	{
		4444
		4445	// uint MAX_BUFFER = 32767;
		4446	uint MAX_BUFFER = 8388608;
		4447	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		4448	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		4449	if (bytesReturned == 0)
		4450	{
		4451	Marshal.FreeCoTaskMem(pReturnedString);
		4452	return null;
		4453	}
		4454	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		4455	Marshal.FreeCoTaskMem(pReturnedString);
		4456	//use of Substring below removes terminating null for split
		4457	return local.Substring(0, local.Length - 1).Split('\0');
		4458
		4459
		4460	}
		4461	}
		4462
		4463	/// <summary>
		4464	/// Selected Win AI Function Calls
		4465	/// </summary>
		4466	public class WinApi
		4467	{
		4468	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		4469	public static extern int GetSystemMetrics(int which);
		4470	[DllImport("user32.dll")]
		4471	public static extern void
		4472	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		4473	int X, int Y, int width, int height, uint flags);
		4474
		4475	private const int SM_CXSCREEN = 0;
		4476	private const int SM_CYSCREEN = 1;
		4477	private static IntPtr HWND_TOP = IntPtr.Zero;
		4478	private const int SWP_SHOWWINDOW = 64; // 0x0040
		4479
		4480	public static int ScreenX
		4481	{
		4482	get { return GetSystemMetrics(SM_CXSCREEN); }
		4483	}
		4484
		4485	public static int ScreenY
		4486	{
		4487	get { return GetSystemMetrics(SM_CYSCREEN); }
		4488	}
		4489
		4490	public static void SetWinFullScreen(IntPtr hwnd)
		4491	{
		4492	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		4493	}
		4494	}
		4495	/// <summary>
		4496	/// Class used to preserve / restore state of the window
		4497	/// </summary>
		4498	public class WinState
		4499	{
		4500	private WindowState winState;
		4501	private WindowStyle brdStyle;
		4502	private bool topMost;
		4503	private Rect restore;
		4504	private bool IsMaximized = false;
		4505
		4506	public bool isMaximized
		4507	{
		4508	get { return IsMaximized; }
		4509	}
		4510	public void Maximize(Window targetForm)
		4511	{
		4512	if (!IsMaximized)
		4513	{
		4514	IsMaximized = true;
		4515	Save(targetForm);
		4516	targetForm.WindowState = WindowState.Maximized;
		4517	targetForm.WindowStyle = WindowStyle.None;
		4518	targetForm.Topmost = true;
		4519	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		4520	}
		4521	}
		4522
		4523	public void Save(Window targetForm)
		4524	{
		4525	winState = targetForm.WindowState;
		4526	brdStyle = targetForm.WindowStyle;
		4527	topMost = targetForm.Topmost;
		4528	restore = targetForm.RestoreBounds;
		4529	}
		4530	public void Restore(Window targetForm)
		4531	{
		4532	targetForm.WindowState = winState;
		4533	targetForm.WindowStyle = brdStyle;
		4534	targetForm.Topmost = topMost;
		4535
		4536	targetForm.Left = restore.Left;
		4537	targetForm.Top = restore.Top;
		4538	targetForm.Height = restore.Height;
		4539	targetForm.Width = restore.Width;
		4540	IsMaximized = false;
		4541	}
		4542	}
		4543
		4544	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2432 - Rev 2398