WebSVN - Projects - Blame - Rev 2431 - /MKLiveView/v1.0/Source/MainWindow.xaml.cs

Rev	Author	Line No.	Line
2431	-	1	///============================================================================
		2	/// MKLiveView
		3	/// Copyright © 2016 Steph
		4	///
		5	///This file is part of MKLiveView.
		6	///
		7	///MKLiveView is free software: you can redistribute it and/or modify
		8	///it under the terms of the GNU General Public License as published by
		9	///the Free Software Foundation, either version 3 of the License, or
		10	///(at your option) any later version.
		11	///
		12	///MKLiveView is distributed in the hope that it will be useful,
		13	///but WITHOUT ANY WARRANTY; without even the implied warranty of
		14	///MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
		15	///GNU General Public License for more details.
		16	///
		17	///You should have received a copy of the GNU General Public License
		18	///along with cssRcon. If not, see <http://www.gnu.org/licenses/>.
		19	///
		20	///============================================================================
		21	///Credits:
		22
		23	/// radioman (http://www.codeplex.com/site/users/view/radioman)
		24	/// for his really GreatMaps! (http://greatmaps.codeplex.com/)
		25	///
		26	/// I made some changes to the source, so You need all files from this project here in order to compile and run
		27	///
		28	/// JOHN C. MACDONALD at Ira A. Fulton College of Engineering and Technology
		29	/// for his MIKROKOPTER SERIAL CONTROL TUTORIAL (http://hdl.lib.byu.edu/1877/2747)
		30	/// and the sourcecode (http://hdl.lib.byu.edu/1877/2748)
		31	/// By his work I finally managed to get the communication with the Mikrokopter controllers to run
		32	/// Some of his code was used in this programm like the SimpelSerialPort class (with lots of changes)
		33	/// and the FilghtControllerMessage class
		34	///
		35	///============================================================================
		36	/// DISCLAIMER
		37	/// ===========
		38	///
		39	/// I created this software with my best knowledge and belief.
		40	///
		41	/// IN NO EVENT, UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING,
		42	/// SHALL I, OR ANY PERSON BE LIABLE FOR ANY LOSS, EXPENSE OR DAMAGE,
		43	/// OF ANY TYPE OR NATURE ARISING OUT OF THE USE OF,
		44	/// OR INABILITY TO USE THIS SOFTWARE OR PROGRAM,
		45	/// INCLUDING, BUT NOT LIMITED TO, CLAIMS, SUITS OR CAUSES OF ACTION
		46	/// INVOLVING ALLEGED INFRINGEMENT OF COPYRIGHTS,
		47	/// PATENTS, TRADEMARKS, TRADE SECRETS, OR UNFAIR COMPETITION.
		48	///
		49	/// This means: use it & have fun (but @ Your own risk...)
		50	/// ===========================================================================
		51	using GMap.NET;
2287	-	52	using GMap.NET.MapProviders;
		53	using GMap.NET.WindowsPresentation;
		54	using MKLiveView.GMapCustomMarkers;
		55	using System;
		56	using System.Collections.Generic;
		57	using System.ComponentModel;
		58	using System.Data;
		59	using System.Diagnostics;
		60	using System.IO;
		61	using System.Linq;
		62	using System.Linq.Expressions;
		63	using System.Runtime.InteropServices;
		64	using System.Text;
		65	using System.Threading;
		66	using System.Threading.Tasks;
		67	using System.Windows;
		68	using System.Windows.Controls;
		69	using System.Windows.Data;
		70	using System.Windows.Documents;
		71	using System.Windows.Input;
		72	using System.Windows.Interop;
		73	using System.Windows.Media;
		74	using System.Windows.Media.Animation;
		75	using System.Windows.Media.Imaging;
		76	using System.Windows.Navigation;
		77	using System.Windows.Shapes;
		78	using System.Windows.Threading;
2313	-	79	using System.Globalization;
2324	-	80	using System.Xml;
		81	using System.Xml.Linq;
2287	-	82
		83	namespace MKLiveView
		84	{
		85	/// <summary>
		86	/// Interaktionslogik für MainWindow.xaml
		87	/// </summary>
		88	public partial class MainWindow : Window
		89	{
2304	-	90	#region declarations
2405	-	91	object lockObj = new Object();
		92	MediaPlayer.MediaPlayer mediaPlayer = new MediaPlayer.MediaPlayer();
2304	-	93
2287	-	94	GMapMarker copter;
		95	GMapMarker home;
		96	PointLatLng start;
		97	PointLatLng end;
		98	PointLatLng pHome;
2328	-	99	GMapRoute mRouteWP;
2342	-	100	GMapMarker wpActiveMarker;
2328	-	101	List<PointLatLng> wpList = new List<PointLatLng>();
2425	-	102	List<int> wpOffset = new List<int>();
2405	-	103	Circle cWPBound = new Circle();
		104	double dWPMaxRange = 0;
		105
2324	-	106	#region NC-Errors
2287	-	107	String[] NC_Error = new string[44]
		108	{
		109	"No Error",
2381	-	110	"FC not compatible",
		111	"MK3Mag not compatible",
		112	"no FC communication",
		113	"no compass communication",
		114	"no GPS communication",
		115	"bad compass value",
		116	"RC Signal lost",
		117	"FC spi rx error",
		118	"ERR: no NC communication",
		119	"ERR: FC Nick Gyro",
		120	"ERR: FC Roll Gyro",
		121	"ERR: FC Yaw Gyro",
		122	"ERR: FC Nick ACC",
		123	"ERR: FC Roll ACC",
		124	"ERR: FC Z-ACC",
		125	"ERR: Pressure sensor",
		126	"ERR: FC I2C",
		127	"ERR: Bl Missing",
		128	"Mixer Error",
		129	"FC: Carefree Error",
		130	"ERR: GPS lost",
		131	"ERR: Magnet Error",
		132	"Motor restart",
		133	"BL Limitation",
		134	"Waypoint range",
		135	"ERR:No SD-Card",
		136	"ERR:SD Logging aborted",
		137	"ERR:Flying range!",
		138	"ERR:Max Altitude",
		139	"No GPS Fix",
		140	"compass not calibrated",
		141	"ERR:BL selftest",
		142	"no ext. compass",
		143	"compass sensor",
		144	"FAILSAFE pos.!",
		145	"ERR:Redundancy",
		146	"Redundancy test",
		147	"GPS Update rate",
		148	"ERR:Canbus",
		149	"ERR: 5V RC-Supply",
		150	"ERR:Power-Supply",
		151	"ACC not calibr.",
		152	"ERR:Parachute!"
2287	-	153	};
2381	-	154	String[] NC_Error_Link = new string[44]
		155	{
		156	"",
		157	"http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		158	"http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		159	"http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		160	"http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		161	"http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		162	"http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		163	"http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		164	"http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		165	"http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		166	"http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		167	"http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		168	"http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		169	"http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		170	"http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		171	"http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		172	"http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		173	"http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		174	"http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		175	"http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		176	"http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		177	"http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		178	"http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		179	"http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		180	"http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		181	"http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		182	"http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		183	"http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		184	"http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		185	"http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		186	"http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		187	"http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		188	"http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		189	"http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		190	"http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		191	"http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		192	"http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		193	"http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		194	"http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		195	"http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		196	"http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		197	"http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		198	"http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		199	"http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		200	};
		201
2324	-	202	#endregion NC-Errors
2287	-	203	[FlagsAttribute]
		204	enum NC_HWError0 : short
		205	{
		206	None = 0,
		207	SPI_RX = 1,
		208	COMPASS_RX = 2,
		209	FC_INCOMPATIBLE = 4,
		210	COMPASS_INCOMPATIBLE = 8,
		211	GPS_RX = 16,
		212	COMPASS_VALUE = 32
		213	};
		214	[FlagsAttribute]
		215	enum FC_HWError0 : short
		216	{
		217	None = 0,
		218	GYRO_NICK = 1,
		219	GYRO_ROLL = 2,
		220	GYRO_YAW = 4,
		221	ACC_NICK = 8,
		222	ACC_ROLL = 16,
		223	ACC_TOP = 32,
		224	PRESSURE = 64,
		225	CAREFREE = 128
		226	};
		227	[FlagsAttribute]
		228	enum FC_HWError1 : short
		229	{
		230	None = 0,
		231	I2C = 1,
		232	BL_MISSING = 2,
		233	SPI_RX = 4,
		234	PPM = 8,
		235	MIXER = 16,
		236	RC_VOLTAGE = 32,
		237	ACC_NOT_CAL = 64,
		238	RES3 = 128
		239	};
		240	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		241	// Various colors for logging info
		242	private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red };
		243
		244	bool _bCBInit = true;
		245	bool _init = true;
		246	bool check_HWError = false;
		247
		248	string filePath = Directory.GetCurrentDirectory();
		249	bool bReadContinously = false;
		250	bool _debugDataAutorefresh = true;
		251	bool _navCtrlDataAutorefresh = true;
		252	bool _blctrlDataAutorefresh = true;
		253	bool _OSDAutorefresh = true;
		254	bool _bErrorLog = false;
		255	bool _bConnErr = false;
		256	bool _bFollowCopter = false;
2324	-	257	bool _bGPXLog = false;
2376	-	258	bool _Simulate = false;
2287	-	259
		260	bool _bSaveWinStateNormal = true;
		261	bool _bSaveWinStateFull = true;
		262
		263	double scaleNormalAll = 1;
		264	double scaleNormalTopBar = 1;
		265	double scaleNormalMotors = 1;
		266	double scaleNormalOSD = 1;
		267	double scaleNormalLOG = 1;
		268	double scaleNormalHorizon = 1;
		269
		270	double scaleFullAll = 1;
		271	double scaleFullTopBar = 1;
		272	double scaleFullMotors = 1;
		273	double scaleFullOSD = 1;
		274	double scaleFullLOG = 1;
		275	double scaleFullHorizon = 1;
		276
		277	int _iCtrlAct = 0;
		278	int iOSDPage = 0;
		279	int iOSDMax = 0;
		280	int _iLifeCounter = 0;
		281	int crcError = 0;
		282
2291	-	283	bool _bSatFix = false;
		284	Storyboard stbSatFixLostAnim;
		285	bool _bAnimSatFixActive = false;
		286	bool _bVoiceSatFixActive = false;
		287	bool _bVoiceSatFixPlay = false;
		288	int _iSatsLast = 0;
		289	int _iSatsJitter = 0;
		290
		291	bool _bMagneticFieldOK = false;
		292	Storyboard stbMagneticFieldAnim;
		293	bool _bAnimMagneticFieldActive = false;
		294	bool _bVoiceMagneticFieldActive = false;
		295	bool _bVoiceMagneticFieldPlay = false;
		296	int _iMagneticFieldLast = 0;
		297	int _iMagneticFieldJitter = 0;
		298
		299	bool _bRCLevelOK = false;
		300	Storyboard stbRCLevelAnim;
		301	bool _bAnimRCLevelActive = false;
		302	bool _bVoiceRCLevelActive = false;
		303	bool _bVoiceRCLevelPlay = false;
		304	int _iRCLevelLast = 0;
		305	int _iRCLevelJitter = 0;
		306
2287	-	307	int _iMotors = 4;
		308	int _LipoCells = 4;
		309
		310	double _dLipoVMax = 16.88;
		311	double _dLipoVMin = 12;
		312	double _dThresholdVoltageWarn = 0;
		313	double _dThresholdVoltageCrit = 0;
		314	Storyboard stbVoltageCritAnim;
		315	bool _bCritAnimVoltActive = false;
		316	bool _bCritVoiceVoltActive = false;
2291	-	317	bool _bWarnVoiceVoltActive = false;
2287	-	318	bool _bVoiceVoltPlay = false;
		319	double _dVoltLast = 0;
		320	int _iVoltJitter = 0;
		321
2291	-	322	double _dThresholdDistanceWarn = 100;
		323	Storyboard stbDistanceWarnAnim;
		324	bool _bAnimDistanceActive = false;
		325	bool _bVoiceDistanceActive = false;
		326	bool _bVoiceDistancePlay = false;
		327	double _dDistanceLast = 0;
		328	int _iDistanceJitter = 0;
		329
		330	double _dThresholdDistanceMax = 1000;
		331	int _iThresholdRC = 160;
		332	int _iThresholdMagField = 15;
		333
2295	-	334	bool _bAutoHome = false;
		335	bool _bFirstSatFix = false;
		336	int _iFirstSatFix = 0;
2291	-	337
2287	-	338	double _dTopHeight = 36;
		339
		340	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		341	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		342	string[] serChanTitle = new string[12];
		343
		344	string[] sAnalogLabel = new string[32];
		345	string[] sAnalogData = new string[32];
2324	-	346	int[] iAnalogData = new int[32];
2287	-	347
2424	-	348	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 };
		349	int[] iMotors = new int[] { 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 };
2287	-	350	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		351	/// <summary>
		352	/// interval for sending debugdata (multiplied by 10ms)
		353	/// </summary>
		354	byte debugInterval = 10; //(=> 100ms)
		355	/// <summary>
		356	/// interval for sending BL-CTRL status (multiplied by 10ms)
		357	/// </summary>
		358	byte blctrlInterval = 75;
		359	/// <summary>
		360	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		361	/// </summary>
		362	byte navctrlInterval = 80;
		363	/// <summary>
		364	/// interval for sending OSD page update (multiplied by 10ms)
		365	/// </summary>
		366	byte OSDInterval = 85;
		367	/// <summary>
		368	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		369	/// </summary>
		370	DataTable dtAnalog = new DataTable();
		371	/// <summary>
		372	/// datatable for motordata (current,temp)
		373	/// </summary>
2315	-	374	DataTable dtMotors = new DataTable();
2287	-	375
		376	DataTable dtWaypoints = new DataTable();
2313	-	377	static volatile int _iWPCount = -1;
		378	static volatile int _iWPIndex = -1;
		379	int _iWPTimeout = 1000;
2287	-	380	bool _bGetWP = false;
2328	-	381	bool _bShowWPRoute = false;
2287	-	382	static volatile bool _bGetWPCount = false;
2324	-	383	DataTable dtGPX = new DataTable();
		384	DataRow drGPX;
		385	bool _bAirborne = false;
2355	-	386	int _wpIndex = -1, _wpCount = 0, _wpEdit = -1;
2340	-	387
2287	-	388	DispatcherTimer timer = new DispatcherTimer();
		389
		390	/// <summary>
		391	/// stuff for enabeling touch zoom for the map
		392	/// </summary>
2424	-	393	Point pTouch1 = new Point(0, 0), pTouch2 = new Point(0, 0);
2287	-	394	int iFirstStylusID = -1;
		395	public string connectButtonText
		396	{
		397	get
		398	{
		399	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		400	}
		401	}
		402
		403	WinState winState = new WinState();
2304	-	404	#endregion declarations
2287	-	405	public MainWindow()
		406	{
		407	InitializeComponent();
		408	_initForm();
		409	_dataTablesInit();
		410	_setupMap();
		411	_init = false;
		412	timer.Tick += new EventHandler(timerEvent);
		413	timer.Interval = new TimeSpan(0, 0, 1);
		414	timer.Start();
		415	}
		416
		417	#region init
		418	void _initForm()
		419	{
		420	_readIni();
		421	if (_bSaveWinStateNormal)
		422	_setScaleSliders(false);
2424	-	423	cBoxTimingsDebug.ItemsSource =
		424	cBoxTimingsNav.ItemsSource =
		425	cBoxTimingsBl.ItemsSource =
		426	cBoxTimingsOSD.ItemsSource =
2287	-	427	iTimings;
		428	cBoxLiPoCells.ItemsSource = sLiPoCells;
		429	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		430	_LipoMinMax();
		431	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		432	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		433	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
2291	-	434	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		435	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		436	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		437	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		438	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
2287	-	439
2291	-	440	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		441
2287	-	442	cBoxMotors.ItemsSource = iMotors;
		443	cBoxMotors.SelectedItem = _iMotors;
		444
		445	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		446	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		447	serialPortCtrl.DataReceived += processMessage;
		448
		449	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		450	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		451	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		452	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		453
		454	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		455	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		456	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		457	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
2295	-	458	checkBoxAutoSetHP.IsChecked = _bAutoHome;
2287	-	459	checkBoxFollowCopter.IsChecked = _bFollowCopter;
2324	-	460	checkBoxGPXLog.IsChecked = _bGPXLog;
2328	-	461	checkBoxShowWPRoute.IsChecked = _bShowWPRoute;
2287	-	462
2421	-	463	GridSettings.Visibility = Visibility.Visible;
		464	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
2349	-	465	_initSerialCtrl();
2287	-	466	}
		467	/// <summary>
		468	/// initialize the datatables
		469	/// with columnnames etc
		470	/// </summary>
		471	void _dataTablesInit()
		472	{
2315	-	473	dtMotors.Columns.Add("#");
2313	-	474	if (Thread.CurrentThread.CurrentUICulture.Name == "de-DE")
2315	-	475	dtMotors.Columns.Add("Strom");
2313	-	476	else
2315	-	477	dtMotors.Columns.Add("Current");
		478	dtMotors.Columns.Add("Temp");
		479	dgvMotors1.DataContext = dtMotors.DefaultView;
2287	-	480	_initDTMotors();
		481
2424	-	482	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5, 0, 5, 0));
2287	-	483	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		484	style.Setters.Add(setter);
		485	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		486	style.Setters.Add(setter);
		487	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		488	style.Setters.Add(setter);
2313	-	489
2424	-	490	dtWaypoints.Columns.Add("Index", typeof(int));
2315	-	491	dtWaypoints.Columns.Add("Type", typeof(int));
2424	-	492	dtWaypoints.Columns.Add("Name", typeof(string));
		493	dtWaypoints.Columns.Add("Latitude", typeof(double));
		494	dtWaypoints.Columns.Add("Longitude", typeof(double));
		495	dtWaypoints.Columns.Add("Altitude", typeof(string));
		496	dtWaypoints.Columns.Add("Heading", typeof(string));
		497	dtWaypoints.Columns.Add("Speed", typeof(string));
		498	dtWaypoints.Columns.Add("ClimbRate", typeof(string));
		499	dtWaypoints.Columns.Add("Radius", typeof(string));
		500	dtWaypoints.Columns.Add("HoldTime", typeof(string));
		501	dtWaypoints.Columns.Add("AutoTrigger", typeof(string));
		502	dtWaypoints.Columns.Add("CamAngle", typeof(string));
		503	dtWaypoints.Columns.Add("Event", typeof(string));
		504	dtWaypoints.Columns.Add("Out1Timer", typeof(string));
		505	dtWaypoints.Columns.Add("Status", typeof(string));
2313	-	506	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		507	dgvWP.ItemsSource = dtWaypoints.DefaultView;
2287	-	508	dgvWP.ColumnHeaderStyle = new Style();
		509	dgvWP.ColumnHeaderStyle = style;
2313	-	510
2424	-	511	dtGPX.Columns.Add("Index", typeof(int));
		512	dtGPX.Columns.Add("Latitude", typeof(double));
		513	dtGPX.Columns.Add("Longitude", typeof(double));
		514	dtGPX.Columns.Add("Elevation", typeof(int));
		515	dtGPX.Columns.Add("Time", typeof(string));
2324	-	516	dtGPX.PrimaryKey = new DataColumn[] { dtGPX.Columns["Index"] };
		517	drGPX = dtGPX.NewRow();
2313	-	518
2287	-	519	}
		520	/// <summary>
2315	-	521	/// initialize the datatable dtMotors for motor values
2313	-	522	/// DataGridView dgvMotors1 is bound to dtMotors1
2287	-	523	/// </summary>
		524	void _initDTMotors()
		525	{
		526	for (int i = 0; i < 12; i++)
		527	{
2315	-	528	if (dtMotors.Rows.Count < 12)
		529	dtMotors.Rows.Add((i + 1).ToString(), "NA", "NA");
2287	-	530	else
		531	{
2315	-	532	dtMotors.Rows[i].SetField(1, "NA");
		533	dtMotors.Rows[i].SetField(2, "NA");
2287	-	534	}
		535	}
		536	}
		537
		538	#endregion init
		539
		540	#region events
		541	private void serialPortCtrl_PortOpened()
		542	{
		543	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		544	_getVersion();
		545	Thread.Sleep(100);
2424	-	546	_getLic();
2287	-	547	//_OSDMenue(0);
		548	//Thread.Sleep(200);
		549	//_sendSerialData();
		550	_readCont(true);
		551	}
		552	private void serialPortCtrl_PortClosed()
		553	{
		554	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		555	_readCont(false);
		556	}
2324	-	557	bool _bToggle = false;
2287	-	558	void timerEvent(object sender, EventArgs e)
		559	{
		560	if (bReadContinously)
		561	{
		562	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		563
		564	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		565
		566	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		567	check_HWError = true;
		568	_getVersion();
		569	Thread.Sleep(10);
		570	if (_OSDAutorefresh)
		571	{
		572	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		573	_initOSDCB();
		574	_OSDMenueAutoRefresh();
		575	}
		576	if (_iLifeCounter > 0)
		577	{
		578	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
2424	-	579	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
2287	-	580	_iLifeCounter = 0;
		581	_bConnErr = false;
2424	-	582	if (_bAirborne && _bGPXLog)
2324	-	583	{
		584	drGPX[0] = dtGPX.Rows.Count;
		585	dtGPX.Rows.Add(new object[] { drGPX[0], drGPX[1], drGPX[2], drGPX[3], drGPX[4] });
		586	}
2327	-	587	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Background = (_bAirborne && _bGPXLog && _bToggle) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));
		588	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.Foreground = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
		589	Dispatcher.Invoke((Action)(() => tbSideBarGPXLog.BorderBrush = (_bAirborne && _bGPXLog) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));
2324	-	590	_bToggle = !_bToggle;
2287	-	591	}
		592	else
		593	{
		594	if (!_bConnErr)
		595	{
		596	Log(LogMsgType.Error, "No communication to NC/FC!");
		597	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
2424	-	598	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
2287	-	599	_bConnErr = true;
		600	}
		601	}
		602	}
		603	}
		604
		605	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		606	{
		607	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		608	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		609	}
		610	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		611	{
		612	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		613	if (GridMotors.IsVisible)
		614	_setMotorGridSize();
		615	}
		616	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		617	{
		618	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		619	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		620	}
		621	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		622	{
		623	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		624	}
		625	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		626	{
		627	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		628	}
		629	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		630	{
		631	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		632	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		633	}
		634
		635	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		636	{
		637	Thread t = new Thread(new ThreadStart(_getWP));
		638	t.Start();
		639	}
		640	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		641	{
2313	-	642	Thread t = new Thread(new ThreadStart(_sendWPList));
		643	t.Start();
2287	-	644	}
		645
		646	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		647	{
		648	if (!serialPortCtrl.Port.IsOpen)
		649	serialPortCtrl.Connect(true);
		650	else
		651	_readCont(!bReadContinously);
		652	}
		653	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		654	{
2347	-	655	_setHomePos();
2287	-	656	}
		657	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		658	{
2347	-	659	_clearHomePos();
2287	-	660	}
		661	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		662	{
		663	if (home != null && MainMap.Markers.Contains(home))
		664	MainMap.Position = home.Position;
		665	}
2295	-	666	private void checkBoxAutoSetHP_Click(object sender, RoutedEventArgs e)
		667	{
		668	_bAutoHome = (bool)checkBoxAutoSetHP.IsChecked;
		669	}
2287	-	670	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		671	{
		672	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		673	}
		674	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		675	{
		676	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		677	}
		678
2291	-	679	#region thresholds
2287	-	680	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		681	{
2424	-	682	if (!_init)
2287	-	683	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		684	}
		685	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		686	{
2424	-	687	if (!_init)
2287	-	688	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		689	}
		690	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		691	{
		692	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		693	}
2291	-	694
		695	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		696	{
2424	-	697	if (!_init)
2291	-	698	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		699	}
		700	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		701	{
		702	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		703	}
		704
		705	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		706	{
		707	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		708	}
		709	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		710	{
		711	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		712	}
		713	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		714	{
		715	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		716	}
		717	#endregion thresholds
		718
2287	-	719	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		720	{
		721	_switchToNC();
		722	}
		723
		724	private void Window_Loaded(object sender, RoutedEventArgs e)
		725	{
		726	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
2291	-	727	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		728	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		729	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		730	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
2287	-	731	_setMotorGridSize();
		732	}
2310	-	733	private void Window_Closing(object sender, CancelEventArgs e)
		734	{
		735	_writeIni();
2424	-	736	if (_bGPXLog && dtGPX.Rows.Count > 0)
2324	-	737	_saveGPXLog();
2310	-	738	}
2379	-	739	private void Window_Closed(object sender, EventArgs e)
		740	{
		741	Application.Current.Shutdown();
		742	}
		743
2431	-	744	#region doubletap //http://stackoverflow.com/questions/9001023/capturing-double-tap-touch-on-multi-touch-screen
		745	private Point? _lastTapLocation;
		746	private readonly Stopwatch _doubleTapStopwatch = new Stopwatch();
		747
		748	private bool IsDoubleTap(TouchEventArgs e)
		749	{
		750	Point currentTapPosition = e.GetTouchPoint(this).Position;
		751	bool tapsAreCloseInDistance = false;
		752	if (_lastTapLocation != null)
		753	{
		754	tapsAreCloseInDistance = GetDistanceBetweenPoints(currentTapPosition, (Point)_lastTapLocation) < 70;
		755	}
		756	_lastTapLocation = currentTapPosition;
		757
		758	TimeSpan elapsed = _doubleTapStopwatch.Elapsed;
		759	_doubleTapStopwatch.Restart();
		760	bool tapsAreCloseInTime = (elapsed != TimeSpan.Zero && elapsed < TimeSpan.FromSeconds(0.4));
		761
		762	if (tapsAreCloseInTime && tapsAreCloseInDistance)
		763	{
		764	_lastTapLocation = null;
		765	}
		766	return tapsAreCloseInDistance && tapsAreCloseInTime;
		767	}
		768
		769	private void OnPreviewTouchDown(object sender, TouchEventArgs e)
		770	{
		771	if (IsDoubleTap(e))
		772	{
		773	MainMap.CanDragMap = false;
		774	MessageBox.Show("Blubb!");
		775	}
		776	}
		777	public static double GetDistanceBetweenPoints(Point p, Point q)
		778	{
		779	double a = p.X - q.X;
		780	double b = p.Y - q.Y;
		781	double distance = Math.Sqrt(a * a + b * b);
		782	return distance;
		783	}
		784
		785	#endregion doubletap
2287	-	786	#endregion events
		787
		788	#region GMap
		789
		790	void _setupMap()
		791	{
		792	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		793	MainMap.MapProvider = GMapProviders.BingHybridMap;
		794	MainMap.SetPositionByKeywords("Landshut");
		795	MainMap.MinZoom = 0;
		796	MainMap.MaxZoom = 24;
		797	MainMap.Zoom = 16;
		798	MainMap.ShowCenter = true;
		799	MainMap.ShowTileGridLines = false;
		800	sliderMapZoom.Value = 16;
		801	comboBoxMapType.ItemsSource = providerList;
		802	comboBoxMapType.DisplayMemberPath = "Name";
		803	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		804
		805	// acccess mode
		806	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		807	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		808
		809	}
2424	-	810
2287	-	811	/// <summary>
		812	/// selection of relevant map providers --> if You need more, You can change the line:
		813	/// comboBoxMapType.ItemsSource = providerList;
		814	/// to:
		815	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		816	/// in _setupMap()
		817	/// or add items here:
		818	/// </summary>
		819	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		820	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		821	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		822	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		823	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		824
		825	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		826	{
		827	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		828	copter = new GMapMarker(MainMap.Position);
2318	-	829
2424	-	830	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"), "red");
2318	-	831	if (comboBoxCopterColor.SelectionBoxItem != null)
		832	{
		833	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	834	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	835	}
2385	-	836	Dispatcher.Invoke(() => {
		837	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		838	{
		839	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		840	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		841	}
		842	});
2405	-	843	copter.Offset = new System.Windows.Point(-26, -26);
2287	-	844	copter.ZIndex = int.MaxValue;
		845	MainMap.Markers.Add(copter);
		846	copter.Position = MainMap.Position;
		847	}
2347	-	848	void _setHomePos()
2287	-	849	{
		850	pHome = MainMap.Position;
		851	if (!MainMap.Markers.Contains(home))
		852	{
		853	home = new GMapMarker(MainMap.Position);
		854	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
2405	-	855	home.Offset = new System.Windows.Point(-16.5, -16.5);
2287	-	856	// home.ZIndex = int.MaxValue;
		857	MainMap.Markers.Add(home);
		858	}
		859	home.Position = MainMap.Position;
		860	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
2405	-	861
		862	if (checkBoxShowWPMaxRange.IsChecked == true)
		863	{
		864	if (cWPBound != null && cWPBound.Tag != null)
		865	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		866
		867	createCircle(home.Position, dWPMaxRange);
2408	-	868	Dispatcher.Invoke(() =>
		869	{
		870	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		871	{
		872	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		873	cWPBound.setColor(s);
		874	}
		875	});
2405	-	876	}
		877
2287	-	878	}
2347	-	879	void _setActiveWP(int iIndex)
2287	-	880	{
2429	-	881	if (iIndex < wpList.Count)
2347	-	882	{
2429	-	883	if (wpActiveMarker == null \|\| !MainMap.Markers.Contains(wpActiveMarker))
2347	-	884	{
2429	-	885	Dispatcher.Invoke(() =>
		886	{
		887	wpActiveMarker = new GMapMarker(wpList[iIndex]);
		888	wpActiveMarker.Shape = new CustomMarkerWPActive(this, wpActiveMarker, "wpActive", 0);
		889	wpActiveMarker.Offset = new Point(-17.5, -17.5);
		890	MainMap.Markers.Add(wpActiveMarker);
		891	});
		892	}
		893	else
		894	Dispatcher.Invoke(() => wpActiveMarker.Position = wpList[iIndex]);
2347	-	895	}
		896
2401	-	897	Dispatcher.Invoke(() => tbWPStatusHeight.Text = dtWaypoints.Rows[iIndex][5].ToString() + " m");
2347	-	898	}
		899	void _clearHomePos()
		900	{
2287	-	901	MainMap.Markers.Remove(home);
2405	-	902	if (cWPBound != null && cWPBound.Tag != null)
		903	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2287	-	904	}
2335	-	905	void _clearMapMarkers(Type markerType)
		906	{
		907	for (int k = 0; k < MainMap.Markers.Count;)
		908	{
		909	GMapMarker p = MainMap.Markers[k];
2340	-	910	if (p.GetType() == markerType \| (p.Shape != null && p.Shape.GetType() == markerType))
2335	-	911	MainMap.Markers.Remove(p);
		912	else
		913	k++;
		914	}
2419	-	915	_WPisMouseCaptured = false;
2335	-	916	}
2369	-	917
		918	GMapMarker _findWPMarker(string name)
2368	-	919	{
		920	for (int k = 0; k < MainMap.Markers.Count;)
		921	{
		922	GMapMarker p = MainMap.Markers[k];
		923	if (p.GetType() == typeof(CustomMarkerWP) \| (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP)))
2369	-	924	if (((CustomMarkerWP)p.Shape).WPText == name)
		925	return p;
2368	-	926	else
		927	k++;
		928	else
		929	k++;
		930	}
2369	-	931	return null;
2368	-	932	}
2369	-	933	void _clearWPMarker(string name)
		934	{
		935	GMapMarker p = _findWPMarker(name);
2424	-	936	if (p != null)
2369	-	937	MainMap.Markers.Remove(p);
		938	}
2368	-	939	void _renameWPMarker(string s1, string s2)
		940	{
2369	-	941	GMapMarker p = _findWPMarker(s1);
		942	if (p != null)
		943	((CustomMarkerWP)p.Shape).WPText = s2;
2368	-	944	}
2372	-	945	void _WPMarkerSetType(string text, int type)
		946	{
		947	GMapMarker p = _findWPMarker(text);
		948	if (p != null)
		949	((CustomMarkerWP)p.Shape).WPType = type;
		950	}
2369	-	951	void _repositionWPMarker(PointLatLng point, string name)
		952	{
		953	GMapMarker p = _findWPMarker(name);
		954	if (p != null)
		955	p.Position = point;
		956	}
		957
2405	-	958	void createCircle(PointLatLng center, double distance)
		959	{
		960
		961	GMapMarker it = new GMapMarker(center);
		962	it.ZIndex = -1;
2424	-	963
2405	-	964	cWPBound.Center = center;
		965	cWPBound.Bound = GMap.NET.PureProjection.GetPointFromDistance(center, distance);
		966	cWPBound.Tag = it;
		967	cWPBound.IsHitTestVisible = false;
		968	UpdateCircle(cWPBound);
		969	it.Shape = cWPBound;
		970	MainMap.Markers.Add(it);
		971	}
		972	// calculates circle radius
		973	void UpdateCircle(Circle c)
		974	{
		975	var pxCenter = MainMap.FromLatLngToLocal(c.Center);
		976	var pxBounds = MainMap.FromLatLngToLocal(c.Bound);
		977
		978	double a = (double)(pxBounds.X - pxCenter.X);
		979	double b = (double)(pxBounds.Y - pxCenter.Y);
		980	var pxCircleRadius = Math.Sqrt(a * a + b * b);
		981
		982	c.Width = c.Height = pxCircleRadius * 2;
		983	//c.Width = 55 + pxCircleRadius * 2;
		984	//c.Height = 55 + pxCircleRadius * 2;
		985	(c.Tag as GMapMarker).Offset = new System.Windows.Point(-c.Width / 2, -c.Height / 2);
		986	}
		987
2287	-	988	// access mode
		989	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		990	{
		991	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		992	MainMap.ReloadMap();
		993	}
		994	// zoom up
		995	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		996	{
		997	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		998	}
		999
		1000	// zoom down
		1001	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		1002	{
		1003	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		1004	}
		1005
		1006	// prefetch
		1007	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		1008	{
		1009	RectLatLng area = MainMap.SelectedArea;
		1010	if (!area.IsEmpty)
		1011	{
		1012	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		1013	{
		1014	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		1015
		1016	if (res == MessageBoxResult.Yes)
		1017	{
		1018	TilePrefetcher obj = new TilePrefetcher();
		1019	obj.Owner = this;
		1020	obj.ShowCompleteMessage = true;
		1021	obj.Start(area, i, MainMap.MapProvider, 100);
		1022	}
		1023	else if (res == MessageBoxResult.No)
		1024	{
		1025	continue;
		1026	}
		1027	else if (res == MessageBoxResult.Cancel)
		1028	{
		1029	break;
		1030	}
		1031	}
		1032	}
		1033	else
		1034	{
		1035	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1036	}
		1037	}
		1038
		1039	// goto by geocoder
		1040	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		1041	{
		1042	_goto_byGeoCoder();
		1043	}
		1044	// goto by geocoder
		1045	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		1046	{
		1047	if (e.Key == System.Windows.Input.Key.Enter)
		1048	_goto_byGeoCoder();
		1049	}
		1050	void _goto_byGeoCoder()
		1051	{
		1052	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		1053	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		1054	{
		1055	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		1056	}
		1057	}
		1058	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		1059	{
		1060	try
		1061	{
		1062	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		1063	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		1064
		1065	MainMap.Position = new PointLatLng(lat, lng);
		1066	}
		1067	catch (Exception ex)
		1068	{
		1069	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		1070	}
		1071
		1072	}
		1073
		1074	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		1075	{
		1076	MainMap.ReloadMap();
		1077	}
		1078
		1079	private void MainMap_OnPositionChanged(PointLatLng point)
		1080	{
		1081	if (_bFollowCopter)
		1082	_setCopterData(MainMap.Position);
		1083	}
		1084
		1085	private void MainMap_OnMapZoomChanged()
		1086	{
		1087	if (_bFollowCopter)
		1088	_setCopterData(MainMap.Position);
2424	-	1089	if ((int)sliderMapZoom.Value != MainMap.Zoom)
2287	-	1090	sliderMapZoom.Value = MainMap.Zoom;
2424	-	1091	if (cWPBound != null && cWPBound.Tag != null)
2405	-	1092	UpdateCircle(cWPBound);
2287	-	1093	}
		1094
		1095	void _setCopterData(PointLatLng p)
		1096	{
		1097	Dispatcher.Invoke(() =>
		1098	{
		1099	copter.Position = p;
		1100	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		1101	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		1102	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		1103	});
		1104	if (home != null && MainMap.Markers.Contains(home))
		1105	{
		1106	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		1107	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		1108	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	1109
2424	-	1110	if (d * 1000 < _dThresholdDistanceWarn)
2291	-	1111	{
		1112	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		1113	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		1114	{
		1115	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		1116	_bAnimDistanceActive = false;
		1117	}
		1118	}
		1119	else
		1120	{
		1121	if (_iDistanceJitter < 20)
		1122	{ _iDistanceJitter++; }
		1123	if (_iDistanceJitter == 20)
		1124	{
		1125	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		1126	{
		1127	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		1128	_bAnimDistanceActive = true;
		1129	}
		1130	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		1131	{
2398	-	1132	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\Distance.mp3");
		1133	//Thread t = new Thread(()=>_mediaPlayer("Voice\\Distance.mp3"));
		1134	//t.Start();
2291	-	1135	_bVoiceDistanceActive = true;
		1136	}
		1137	_iDistanceJitter++;
		1138	}
		1139	}
2287	-	1140	}
		1141	}
		1142
		1143	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		1144	{
		1145	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		1146	}
		1147
		1148	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1149	{
		1150	if (MainMap.Zoom != sliderMapZoom.Value)
		1151	MainMap.Zoom = (int)sliderMapZoom.Value;
		1152	}
		1153	#region Touch zooming hackattack ;)
		1154	/// <summary>
		1155	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		1156	/// </summary>
		1157	bool bFirstAccess = true;
		1158	double dDistance = 0;
		1159	int iZoom;
		1160	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		1161	{
2419	-	1162	if (!_WPisMouseCaptured)
2287	-	1163	{
2419	-	1164	var id = e.StylusDevice.Id;
		1165	e.StylusDevice.Capture(MainMap);
		1166	if (iFirstStylusID == -1)
		1167	{
		1168	iFirstStylusID = id;
		1169	}
		1170	else
		1171	{
2287	-	1172
2419	-	1173	MainMap.CanDragMap = false;
		1174	}
2287	-	1175	}
		1176	}
		1177	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		1178	{
		1179	MainMap.ReleaseStylusCapture();
		1180	iFirstStylusID = -1;
		1181	bFirstAccess = true;
		1182	MainMap.CanDragMap = true;
		1183	iZoom = 0;
		1184	}
		1185	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		1186	{
		1187	var id = e.StylusDevice.Id;
		1188	var tp = e.GetPosition(MainMap);
		1189
		1190	// This is the first Stylus point; just record its position.
		1191	if (id == iFirstStylusID)
		1192	{
		1193	pTouch1.X = tp.X;
		1194	pTouch1.Y = tp.Y;
		1195	}
		1196	else
		1197	if (iFirstStylusID > -1)
		1198	{
		1199	pTouch2.X = tp.X;
		1200	pTouch2.Y = tp.Y;
		1201	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		1202	if (!bFirstAccess)
		1203	{
		1204	if (distance > dDistance)
		1205	iZoom++;
		1206	else
		1207	if (distance < dDistance)
		1208	iZoom--;
		1209	}
		1210	if (iZoom > 30)
		1211	{
		1212	iZoom = 0;
		1213	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		1214	}
		1215	if (iZoom < -30)
		1216	{
		1217	iZoom = 0;
		1218	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		1219	}
		1220	dDistance = distance;
		1221	bFirstAccess = false;
		1222	}
		1223	}
		1224	#endregion Touch zooming hackattack ;)
		1225
		1226	#endregion GMap
		1227
		1228	#region settings
		1229	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		1230	{
2424	-	1231	if (!_bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
2287	-	1232	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		1233	}
		1234	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		1235	{
2424	-	1236	if (!_bCBInit && cBoxTimingsNav.SelectedIndex > -1)
2287	-	1237	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		1238	}
		1239	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		1240	{
		1241	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		1242	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		1243	}
		1244	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		1245	{
		1246	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		1247	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		1248	}
		1249	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		1250	{
		1251	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		1252	}
		1253	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		1254	{
		1255	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		1256	}
		1257	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		1258	{
		1259	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		1260	}
		1261	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		1262	{
		1263	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		1264	}
		1265
		1266	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		1267	{
		1268	if (cBoxLiPoCells.SelectedIndex > -1)
		1269	{
		1270	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		1271	_LipoMinMax();
		1272	}
		1273	}
		1274	void _LipoMinMax()
		1275	{
		1276	_dLipoVMax = (double)(_LipoCells) * 4.22;
		1277	_dLipoVMin = (double)_LipoCells * 3;
		1278	pbTopVoltage.Maximum = _dLipoVMax;
		1279	pbTopVoltage.Minimum = _dLipoVMin;
		1280	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		1281	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		1282	}
		1283	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		1284	{
		1285	if (cBoxMotors.SelectedIndex > -1)
		1286	{
		1287	_iMotors = cBoxMotors.SelectedIndex + 3;
		1288	Dispatcher.Invoke(() =>
		1289	{
		1290	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		1291	GridMotors.Height = dgvMotors1.Height + 10;
		1292	});
		1293	}
		1294	}
		1295	void _setMotorGridSize()
		1296	{
		1297	if (dgvMotors1.Columns.Count > 2)
		1298	{
		1299	dgvMotors1.Columns[0].Width = 24;
		1300	dgvMotors1.Columns[1].Width = 50;
		1301	dgvMotors1.Columns[2].Width = 50;
		1302	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1303	GridMotors.Height = dgvMotors1.Height + 10;
		1304	}
		1305
		1306	}
		1307	#endregion settings
		1308
		1309	#region functions
		1310
		1311	#region logging
		1312	/// <summary> Log data to the terminal window. </summary>
		1313	/// <param name="msgtype"> The type of message to be written. </param>
		1314	/// <param name="msg"> The string containing the message to be shown. </param>
		1315	private void Log(LogMsgType msgtype, string msg)
		1316	{
		1317	Dispatcher.Invoke(() =>
		1318	{
2424	-	1319	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1320	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1321	// rtfTerminal.AppendText(msg + "\r");
		1322	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd, rtfTerminal.Document.ContentEnd);
2287	-	1323	tr.Text = msg;
		1324	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1325	rtfTerminal.AppendText("\r");
		1326	rtfTerminal.ScrollToEnd();
		1327	});
		1328	}
2424	-	1329	private void ErrorLog(LogMsgType msgtype, string msg, string linkURL, string linkName)
2287	-	1330	{
2381	-	1331
2287	-	1332	Dispatcher.Invoke(() =>
		1333	{
2381	-	1334	Paragraph para = new Paragraph();
		1335	para.Margin = new Thickness(0); // remove indent between paragraphs
		1336
		1337	Hyperlink link = new Hyperlink();
		1338	if (linkURL != "" && linkName != "")
		1339	{
		1340	link.IsEnabled = true;
		1341	link.Inlines.Add(linkName);
		1342	link.NavigateUri = new Uri(linkURL);
		1343	link.RequestNavigate += (sender, args) => Process.Start(args.Uri.ToString());
		1344	}
		1345	//msg = DateTime.Now.ToLongTimeString() + msg;
		1346	para.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1347	Run r = new Run("[" + DateTime.Now.ToLongTimeString() + "]: ");
		1348	r.Foreground = new SolidColorBrush(Colors.Black);
		1349	para.Inlines.Add(r);
		1350	para.Inlines.Add(msg);
		1351	para.Inlines.Add(link);
		1352	rtfError.Document.Blocks.Add(para);
		1353	//TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1354	//tr.Text = msg + link;
		1355	//tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1356	//rtfError.AppendText("\r");
2287	-	1357	rtfError.ScrollToEnd();
		1358
2381	-	1359	//_bErrorLog = true;
2287	-	1360	});
		1361	}
		1362	/// <summary>
		1363	/// Clear the line in the errorlog window
		1364	/// containing the error string when error has ceased
		1365	/// </summary>
		1366	/// <param name="s">substring of errrormessage</param>
		1367	void _clearErrorLog(string s)
		1368	{
		1369	Dispatcher.Invoke((Action)(() =>
		1370	{
		1371	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1372	TextRange foundRange = FindTextInRange(searchRange, s);
		1373
		1374	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1375
		1376
		1377	if (iStart > -1)
		1378	{
		1379	int iLength = 0;
		1380	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1381	if (iEnd > 0)
		1382	{
		1383	iLength = iEnd + 1;
2424	-	1384	int iHttp = searchRange.Text.IndexOf("http", iEnd);
2287	-	1385	if (iHttp == iLength)
		1386	{
		1387	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1388	if (iEnd2 > iLength)
		1389	{
		1390	iLength = iEnd2 + 1;
2424	-	1391	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
2287	-	1392
		1393	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1394	rtfError.Selection.Text = string.Empty;
		1395	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1396	}
		1397
		1398	}
		1399	else
		1400	{
		1401	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1402	rtfError.Selection.Text = string.Empty;
		1403	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1404	}
		1405	}
		1406	}
		1407	}));
		1408
		1409	}
		1410	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1411	{
		1412	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1413	if (offset < 0)
		1414	return null; // Not found
		1415
		1416	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1417	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1418
		1419	return result;
		1420	}
		1421	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1422	{
		1423	while (position != null)
		1424	{
		1425	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1426	{
		1427	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1428	if (characterCount <= count)
		1429	{
		1430	return position.GetPositionAtOffset(characterCount);
		1431	}
		1432
		1433	characterCount -= count;
		1434	}
		1435
		1436	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1437	if (nextContextPosition == null)
		1438	return position;
		1439
		1440	position = nextContextPosition;
		1441	}
		1442
		1443	return position;
		1444	}
		1445	#endregion logging
		1446
		1447	#region processing received data
		1448
		1449	private void processMessage(byte[] message)
		1450	{
		1451	if (message.Length > 0)
		1452	{
		1453	_iLifeCounter++;
		1454	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1455	//Log(LogMsgType.Incoming, message.Length.ToString());
		1456	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1457	char cmdID;
		1458	byte adr;
		1459	byte[] data;
		1460	byte[] tmp = null;
		1461	if (message[0] != '#')
		1462	{
		1463	int iFound = -1;
		1464	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1465	{ //so this is a workaround to not spam the log box
		1466	if (message[i] == 35)
		1467	{
		1468	iFound = i;
		1469	break;
		1470	}
		1471	}
		1472	if (iFound > 0)
		1473	{
		1474	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1475	tmp = new byte[message.Length - iFound];
		1476	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1477	}
		1478	s = s.Trim('\0', '\n', '\r');
		1479	if (s.Length > 0)
		1480	Log(LogMsgType.Normal, s);
		1481	if (tmp != null)
		1482	{
		1483	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1484	processMessage(tmp);
		1485	}
		1486	}
		1487	//Debug.Print(s);
		1488	else
		1489	{
		1490	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1491
		1492	if (adr == 255) { crcError++; }
		1493	else crcError = 0;
		1494	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1495	//display the active controller (FC / NC)
		1496	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...???
		1497	{
		1498	_iCtrlAct = adr;
		1499	switch (adr)
		1500	{
		1501	case 1:
		1502	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
2429	-	1503	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1504	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
2424	-	1505	// _setFieldsNA(); //display fields NA for FC
2287	-	1506	break;
		1507	case 2:
		1508	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
2429	-	1509	Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1510	Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
2287	-	1511	break;
		1512	//case 3:
		1513	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1514	// break;
		1515	//case 4:
		1516	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1517	// break;
		1518	default:
		1519	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1520	break;
		1521	}
2424	-	1522	// _loadLabelNames();
2287	-	1523	}
		1524	// else
		1525	// Debug.Print("Address == 0?");
		1526
		1527	if (data != null && data.Length > 0)
		1528	{
		1529	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1530	s = s.Trim('\0', '\n');
		1531
		1532	switch (cmdID)
		1533	{
		1534	//case 'A': //Label names
		1535	// _processLabelNames(s);
		1536	// break;
		1537
		1538	case 'D': //Debug data
		1539	_processDebugVals(adr, data);
		1540	break;
		1541
		1542	case 'V': //Version
		1543	_processVersion(adr, data);
		1544	break;
		1545
		1546	case 'K'://BL-CTRL data
		1547	_processBLCtrl(data);
		1548	break;
		1549
2424	-	1550	case 'M'://License info
		1551	_processLicense(data);
		1552	break;
		1553
2287	-	1554	case 'O': //NC Data
2428	-	1555	if (data[0] < 10)
		1556	_processNCData(data);
		1557	else
		1558	_processNCDataV2(data);
2287	-	1559	break;
		1560
2381	-	1561	//case 'E': //NC error-string
		1562	// ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1563	// break;
2287	-	1564
		1565	case 'L': //OSD Menue (called by pagenumber)
		1566	_processOSDSingle(data);
		1567	break;
		1568
		1569	case 'H': //OSD Menue (with autoupdate - called by Key)
		1570	_processOSDAuto(data);
		1571	break;
		1572
		1573	case 'X': //Waypoint data
		1574	_processWPData(data);
		1575	break;
		1576
2313	-	1577	case 'W': //return new Waypoint items count after sending waypoint to copter
		1578	_iWPCount = data[0];
		1579	break;
2287	-	1580	//default:
		1581	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1582	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1583	// break;
		1584	}
		1585	}
		1586	//else
		1587	//{
		1588	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1589	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1590	//}
		1591	}
		1592	}
		1593	}
		1594	/// <summary>
		1595	/// Analog label names 'A'
		1596	/// each label name is returned as a single string
		1597	/// and added to string array sAnalogLabel[]
		1598	/// and the datatable dtAnalog
		1599	/// </summary>
		1600	/// <param name="s">the label name</param>
		1601	void _processLabelNames(string s)
		1602	{
		1603	//if (iLableIndex < 32)
		1604	//{
		1605	// sAnalogLabel[iLableIndex] = s;
		1606	// if (dtAnalog.Rows.Count < 32)
		1607	// dtAnalog.Rows.Add(s, "");
		1608	// else
		1609	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1610
		1611	// // _getAnalogLabels(iLableIndex + 1);
		1612	//}
		1613	//Debug.Print(s);
		1614	}
		1615	/// <summary>
		1616	/// Debug values 'D'
		1617	/// </summary>
		1618	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1619	/// <param name="data">the received byte array to process</param>
		1620	void _processDebugVals(byte adr, byte[] data)
		1621	{
		1622	if (data.Length == 66)
		1623	{
2424	-	1624
2287	-	1625	double v;
		1626	int index = 0;
		1627	Int16 i16 = 0;
		1628	double dTemp = 0;
		1629	for (int i = 2; i < 66; i += 2)
		1630	{
		1631	i16 = data[i + 1];
		1632	i16 = (Int16)(i16 << 8);
		1633	iAnalogData[index] = data[i] + i16;
		1634	sAnalogData[index] = (data[i] + i16).ToString();
2424	-	1635	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
2287	-	1636
		1637	if (adr == 2) //NC
		1638	{
		1639	switch (index)
		1640	{
		1641	case 0: //pitch (German: nick)
		1642	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1643	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1644	break;
		1645	case 1: //roll
		1646	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1647	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1648	break;
		1649	case 4: //altitude
		1650	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1651	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
2424	-	1652	Dispatcher.Invoke(() => { drGPX[3] = (double)iAnalogData[index] / (double)10; });
2287	-	1653	break;
		1654	case 7: //Voltage
		1655	v = (double)iAnalogData[index] / (double)10;
		1656	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1657	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1658	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1659	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1660	{
		1661	if (v == _dVoltLast)
2424	-	1662	if (_iVoltJitter < 20) _iVoltJitter++;
		1663	else
		1664	{
		1665	_iVoltJitter = 0;
		1666	_dVoltLast = v;
		1667	}
2287	-	1668	if (_iVoltJitter == 20)
		1669	{
		1670	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1671
		1672	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1673	{
		1674	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1675	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1676	{
		1677	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1678	_bCritAnimVoltActive = true;
		1679	}
		1680	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1681	{
2398	-	1682	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\CriticalBattery.mp3");
		1683	//Thread t = new Thread(() => _mediaPlayer("Voice\\CriticalBattery.mp3"));
		1684	//t.Start();
2287	-	1685	_bCritVoiceVoltActive = true;
		1686	}
		1687	}
		1688	else
		1689	{
		1690	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1691	{
		1692	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1693	_bCritAnimVoltActive = false;
		1694	}
		1695	_bCritVoiceVoltActive = false;
		1696
2291	-	1697	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1698	{
2398	-	1699	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\LowBattery.mp3");
		1700	//Thread t = new Thread(() => _mediaPlayer("Voice\\LowBattery.mp3"));
		1701	//t.Start();
2291	-	1702	_bWarnVoiceVoltActive = true;
2287	-	1703	}
		1704	}
		1705	}
		1706	}
		1707	else
		1708	{
		1709	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1710	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1711	{
		1712	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1713	_bCritAnimVoltActive = false;
		1714	}
		1715	_bCritVoiceVoltActive = false;
2291	-	1716	_bWarnVoiceVoltActive = false;
2287	-	1717	_iVoltJitter = 0;
		1718	}
		1719	break;
		1720	case 8: // Current
		1721	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1722	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1723	break;
		1724	case 10: //heading
2291	-	1725	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2399	-	1726	if (!_Simulate) //use NavData for simulation
		1727	{
		1728	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1729	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iAnalogData[index]);
		1730	}
2287	-	1731	break;
		1732	case 12: // SPI error
2291	-	1733	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1734	break;
		1735	case 14: //i2c error
2291	-	1736	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1737	break;
		1738	case 20: //Earthmagnet field
2291	-	1739	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1740	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
2424	-	1741
2291	-	1742	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1743	{
		1744	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1745	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1746	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1747	{
		1748	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1749	_bAnimMagneticFieldActive = false;
		1750	}
		1751	}
		1752	else
		1753	{
		1754	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
2424	-	1755	if (_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
2291	-	1756	{
		1757	if (_iMagneticFieldJitter < 20)
		1758	_iMagneticFieldJitter++;
		1759	}
		1760	else
		1761	{
		1762	_iMagneticFieldJitter = 0;
		1763	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1764	}
2424	-	1765	if (_iMagneticFieldJitter == 20)
2291	-	1766	{
		1767	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1768	{
		1769	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1770	_bAnimMagneticFieldActive = true;
		1771	}
		1772	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1773	{
2398	-	1774	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1775	//Thread t = new Thread(() => _mediaPlayer("Voice\\MagneticField.mp3"));
		1776	//t.Start();
2291	-	1777	_bVoiceMagneticFieldActive = true;
		1778	}
		1779	}
		1780	}
2287	-	1781	break;
		1782	case 21: //GroundSpeed
2424	-	1783	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1784	if (!_Simulate)
		1785	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
2287	-	1786	break;
2291	-	1787
		1788	///******** needs testing --> not sure what position this is *************
2287	-	1789	case 28: //Distance East from saved home position -> calculate distance with distance N + height
2424	-	1790	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1791	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1792	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1793	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1794	dTemp = Math.Sqrt(dTemp) / (double)10;
		1795	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1796	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
2287	-	1797	break;
2291	-	1798
2287	-	1799	case 31: //Sats used
2424	-	1800	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1801	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
2287	-	1802	break;
		1803	}
		1804	}
		1805	index++;
		1806	}
		1807	}
		1808	else
		1809	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1810	}
		1811	/// <summary>
		1812	/// Version string 'V'
		1813	/// </summary>
		1814	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1815	/// <param name="data">the received byte array to process</param>
		1816	void _processVersion(byte adr, byte[] data)
		1817	{
		1818	if (data.Length == 12)
		1819	{
		1820	if (!check_HWError)
		1821	{
		1822	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1823	string sVersion = "";
		1824	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1825	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1826	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1827	Log(LogMsgType.Incoming, sVersion);
		1828	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1829	Log(LogMsgType.Incoming, sVersion);
		1830	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1831	}
		1832	if (data[5] > 0) //error0
		1833	{
		1834	if (adr == 1)
2424	-	1835	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString(), "", "");
2287	-	1836	if (adr == 2)
2424	-	1837	ErrorLog(LogMsgType.Error, " NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString(), "", "");
2287	-	1838	}
		1839	if (data[6] > 0) //error1
		1840	{
		1841	if (adr == 1)
2424	-	1842	ErrorLog(LogMsgType.Error, " FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString(), "", "");
2287	-	1843	if (adr == 2)
2424	-	1844	ErrorLog(LogMsgType.Error, " NC - Unknown HW-ERROR: " + data[6].ToString(), "", ""); //@moment NC has only one error field
2287	-	1845	}
2381	-	1846	//if ((data[5] + data[6] == 0) && _bErrorLog)
		1847	// _clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
2287	-	1848
		1849	}
		1850	check_HWError = false;
		1851	}
2424	-	1852
		1853	void _processLicense(byte[] data)
		1854	{
		1855	if (data.Length > 480)
		1856	{
		1857	Dispatcher.Invoke(() => {
		1858	tbDataLicenseUser.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 1, 127));
		1859	tbDataLicenseMail.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 129, 127));
		1860	tbDataLicenseFeature.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 257, 127));
		1861	tbDataLicenseExpire.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 385, 11));
		1862	tbDataLicenseLicense.Text = new string(ASCIIEncoding.ASCII.GetChars(data, 397, 16));
		1863	});
		1864	}
		1865	}
2287	-	1866	/// <summary>
		1867	/// BL-Ctrl data 'K'
		1868	/// for FC you have to use a customized firmware
		1869	/// </summary>
		1870	/// <param name="data">the received byte array to process</param>
		1871	void _processBLCtrl(byte[] data)
		1872	{
		1873	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1874	{
		1875	bool bAvailable = false;
		1876	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1877	{
		1878
		1879	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1880	bAvailable = true;
		1881	else
		1882	bAvailable = false;
		1883
		1884	if (data[i] < _iMotors)
		1885	{
		1886	if (bAvailable)
		1887	{
2315	-	1888	dtMotors.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1889	dtMotors.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
2287	-	1890	}
		1891	else
		1892	{
2315	-	1893	dtMotors.Rows[data[i]].SetField(1, "NA");
		1894	dtMotors.Rows[data[i]].SetField(2, "NA");
2287	-	1895	}
		1896	}
		1897	//if (data[i] > 3 && data[i] < 8)
		1898	//{
		1899	// if (bAvailable)
		1900	// {
		1901	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1902	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1903	// }
		1904	// else
		1905	// {
		1906	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1907	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1908	// }
		1909	//}
		1910	}
		1911	}
		1912	}
		1913	/// <summary>
		1914	/// Navi-Ctrl data 'O'
		1915	/// GPS-Position, capacatiy, flying time...
		1916	/// </summary>
		1917	/// <param name="data">the received byte array to process</param>
2428	-	1918
		1919
		1920	byte OSDSTATUSFLAGS1 = 0;
		1921	byte OSDSTATUSFLAGS2 = 0;
		1922	void _processNCDataV2(byte[] data)
		1923	{
2429	-	1924	if ((int)data[0] < 17)
2428	-	1925	{
2429	-	1926	int i_32, i_16, iVal;
		1927	double d;
		1928	OSD_Base_Data_t osd = new OSD_Base_Data_t(data);
		1929	OSDSTATUSFLAGS1 = osd.OSDSTATUSFLAGS1();
		1930	Dispatcher.Invoke(() => { drGPX[2] = osd.Pos().Lng; });
		1931	Dispatcher.Invoke(() => { drGPX[1] = osd.Pos().Lat; });
		1932	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
		1933	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = osd.Speed().ToString("0.0 m/s")));
		1934	if (_Simulate)
		1935	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = osd.Speed().ToString("0.0 m/s")));
2428	-	1936
2429	-	1937	switch ((int)data[0])
		1938	{
		1939	case 10:
2431	-	1940	char[] c = Encoding.ASCII.GetChars(new byte[] { data[13] });
		1941	Dispatcher.Invoke((Action)(() => tbCamCtrl.Text = c[0].ToString()));
2429	-	1942	break;
		1943	case 11:
		1944	OSDSTATUSFLAGS2 = osd.OSDSTATUSFLAGS2();
		1945	//---------------NC-Flags--------------------------
		1946	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[14] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		1947	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[14] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		1948	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[14] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		1949	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[14] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		1950	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[14] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		1951	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[14] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		1952	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[14] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2428	-	1953
2429	-	1954	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[14] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		1955	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Background = (((data[14] & 2) == 2) \| ((data[14] & 4) == 4)) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		1956	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Foreground = (((data[14] & 2) == 2) \| ((data[14] & 4) == 4)) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
		1957	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.BorderBrush = (((data[14] & 2) == 2) \| ((data[14] & 4) == 4)) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2428	-	1958
2429	-	1959	//--------------- NC Error ------------------------
		1960	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[16].ToString())); //NC Errornumber
		1961	if (data[16] > 0)
		1962	_readNCError();
		1963	if (data[16] > 0 & data[16] < 44)
		1964	ErrorLog(LogMsgType.Error, " NC Error [" + data[16].ToString() + "]: ", NC_Error_Link[data[16]], NC_Error[data[16]]);
2428	-	1965
2429	-	1966	break;
		1967	case 12:
		1968	//--------------- RC quality ------------------------
		1969	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[23].ToString()));
		1970	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[23].ToString()));
		1971
		1972	if (data[23] > _iThresholdRC)
2428	-	1973	{
2429	-	1974	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1975	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1976	{
		1977	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1978	_bAnimRCLevelActive = false;
		1979	}
2428	-	1980	}
2429	-	1981	else
2428	-	1982	{
2429	-	1983	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1984	if (_iRCLevelJitter == 20)
2428	-	1985	{
2429	-	1986	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1987	{
		1988	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1989	_bAnimRCLevelActive = true;
		1990	}
		1991	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1992	{
		1993	_bVoiceRCLevelActive = true;
		1994	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		1995	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		1996	//th.Start();
		1997	}
		1998	_iRCLevelJitter++;
2428	-	1999	}
		2000	}
2429	-	2001	break;
		2002	case 13:
		2003	//-------------------------Waypoint max range (by license)------------------------------
		2004	i_32 = data[24];
		2005	iVal = i_32 << 8;
		2006	iVal += data[23];
2428	-	2007
2429	-	2008	if (dWPMaxRange != iVal)
2428	-	2009	{
2429	-	2010	dWPMaxRange = iVal;
		2011	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2012	{
		2013	if (cWPBound != null && cWPBound.Tag != null)
		2014	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2428	-	2015
2429	-	2016	createCircle(home.Position, dWPMaxRange);
		2017	Dispatcher.Invoke(() =>
2428	-	2018	{
2429	-	2019	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2020	{
		2021	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2022	cWPBound.setColor(s);
		2023	}
		2024	});
		2025	}
		2026	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = iVal.ToString() + " m"));
2428	-	2027	}
2431	-	2028	//--------------- LiPoCell count ------------------------
		2029	Dispatcher.Invoke((Action)(() => tbLiPoCells.Text = data[25].ToString()));
2428	-	2030
2429	-	2031	break;
2428	-	2032
2429	-	2033	case 14:
		2034	//--------------- Flying time ------------------------
		2035	i_16 = data[14];
		2036	i_16 = (Int16)(i_16 << 8);
		2037	iVal = data[13] + i_16;
		2038	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2039	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2040	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2041	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
2428	-	2042
2429	-	2043	//--------------------------------Distance HP------------------------------------
		2044	i_16 = data[16];
		2045	i_16 = (Int16)(i_16 << 8);
		2046	iVal = data[15] + i_16;
		2047	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2428	-	2048
2429	-	2049	//--------------------------Distance to next WP--------------------------------
		2050	i_16 = data[19];
		2051	i_16 = (Int16)(i_16 << 8);
		2052	iVal = data[18] + i_16;
		2053	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2054	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
		2055	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2428	-	2056
2429	-	2057	//-------------------Satellites----------------------------------
		2058	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[23].ToString()));
2428	-	2059
2429	-	2060	if (data[23] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
2428	-	2061	{
2429	-	2062	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
		2063	if (_bAutoHome && !_bFirstSatFix)
2428	-	2064	{
2429	-	2065	if (_iFirstSatFix < 3)
		2066	_iFirstSatFix++;
		2067	else
		2068	{
		2069	_bFirstSatFix = true;
		2070	Dispatcher.Invoke(() => _setHomePos());
		2071	}
2428	-	2072	}
2429	-	2073	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2074	{
		2075	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2076	_bAnimSatFixActive = false;
		2077	}
		2078	if (!_bFollowCopter)
		2079	{
		2080	_setCopterData(osd.Pos());
		2081	if (!MainMap.ViewArea.Contains(osd.Pos()))
		2082	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2083
		2084	}
		2085	else
2428	-	2086	Dispatcher.Invoke(() => MainMap.Position = osd.Pos());
		2087	}
		2088	else
		2089	{
2429	-	2090	if (_bSatFix)
2428	-	2091	{
2429	-	2092	if (data[23] == _iSatsLast)
2428	-	2093	{
2429	-	2094	if (_iSatsJitter < 20) _iSatsJitter++;
2428	-	2095	}
2429	-	2096	else
2428	-	2097	{
2429	-	2098	_iSatsJitter = 0;
		2099	_iSatsLast = data[23];
2428	-	2100	}
		2101
2429	-	2102	if (_iSatsJitter == 20)
		2103	{
		2104	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2105	{
		2106	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2107	_bAnimSatFixActive = true;
		2108	}
		2109	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2110	{
		2111	_bVoiceSatFixActive = true;
		2112	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2113	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2114	//th.Start();
		2115	}
		2116
		2117	_bSatFix = false;
		2118	}
2428	-	2119	}
		2120	}
		2121
2429	-	2122	break;
2428	-	2123
2429	-	2124	case 15:
		2125	//--------------------------------Waypoint index------------------------------------
		2126	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[13].ToString()));
		2127	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[13].ToString()));
		2128	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[13].ToString()));
		2129	if (data[13] > 0 && _wpIndex != data[13] - 1 && wpList.Count > data[13] - 1)
		2130	{
		2131	_setActiveWP(data[13] - 1);
		2132	if ((OSDSTATUSFLAGS2 & 2) == 2)
		2133	Dispatcher.Invoke(() =>
2428	-	2134	{
2429	-	2135	DataGridRow row;
		2136	if (_wpIndex > -1)
		2137	{
		2138	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2139	row.Background = new SolidColorBrush(Colors.Transparent);
		2140	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2141	row.BorderThickness = new Thickness(0);
		2142	}
		2143
		2144	_wpIndex = data[13] - 1;
2428	-	2145	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2429	-	2146	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2147	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		2148	row.BorderThickness = new Thickness(2);
		2149	dgvWP.UpdateLayout();
		2150	});
		2151	_wpIndex = data[13] - 1;
		2152	}
		2153	else
2428	-	2154	{
2429	-	2155	if ((data[13] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2428	-	2156	{
2429	-	2157	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
		2158	Dispatcher.Invoke(() =>
2428	-	2159	{
2429	-	2160	DataGridRow row;
		2161	if (_wpIndex > -1 && data[13] == 0 && wpList.Count > _wpIndex)
		2162	{
		2163	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
		2164	row.Background = new SolidColorBrush(Colors.Transparent);
		2165	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2166	row.BorderThickness = new Thickness(0);
		2167	_wpIndex = -1;
		2168	}
		2169	});
2428	-	2170
2429	-	2171	}
2428	-	2172	}
2429	-	2173	//----------------Waypoints count----------------------
		2174	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[14].ToString())); //Waypoints count
		2175	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[14].ToString())); //Waypoints count
		2176	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[14].ToString())); //Waypoints count
		2177	_wpCount = data[14];
		2178	if(_wpCount > dtWaypoints.Rows.Count)
		2179	{
		2180	Log(LogMsgType.Warning, "The copter reports more waypoints than there are in the local list!");
		2181	}
2428	-	2182
2429	-	2183	//---------------------------------Target hold time------------------------------
		2184	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[15].ToString() + " s"));
		2185	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[15].ToString() + " s"));
2428	-	2186
2429	-	2187	break;
2428	-	2188
2429	-	2189	case 16:
		2190	//--------------- Capacity used ------------------------
		2191	i_16 = data[18];
		2192	i_16 = (Int16)(i_16 << 8);
		2193	iVal = data[17] + i_16;
		2194	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2195	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
2428	-	2196
2429	-	2197	//--------------- Heading compass ------------------------
		2198	i_16 = data[21];
		2199	iVal = 2 * i_16;
		2200	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
		2201	if (_Simulate)
		2202	{
		2203	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2204	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2205	}
2428	-	2206
2429	-	2207	break;
		2208	case 17:
2428	-	2209
2429	-	2210	break;
		2211	case 18:
2428	-	2212
2429	-	2213	break;
		2214	default:
		2215	break;
		2216	}
		2217	//--------------------------------------------------------------------------------
		2218	//-----------------------------FC Status Flags-------------------------------
		2219	//--------------------------------------------------------------------------------
		2220	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2221	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((OSDSTATUSFLAGS2 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2222	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((OSDSTATUSFLAGS1 & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2223	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((OSDSTATUSFLAGS2 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2224	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2225	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((OSDSTATUSFLAGS1 & 32) == 32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
2428	-	2226
2429	-	2227	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2228	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2229	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((OSDSTATUSFLAGS2 & 4) == 4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2230	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((OSDSTATUSFLAGS1 & 8) == 8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2231	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((OSDSTATUSFLAGS1 & 16) == 16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2232	Dispatcher.Invoke((Action)(() => FC2_6.Background = ((OSDSTATUSFLAGS2 & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground
		2233	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((OSDSTATUSFLAGS2 & 64) == 64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2234	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((OSDSTATUSFLAGS2 & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
2428	-	2235
2429	-	2236	//Sidebar StatusSymbols
		2237	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2238	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Foreground = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_MOTOR_RUN 0x01
		2239	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.BorderBrush = ((OSDSTATUSFLAGS2 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_MOTOR_RUN 0x01
2428	-	2240
2429	-	2241	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2242	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Foreground = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
		2243	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.BorderBrush = ((OSDSTATUSFLAGS1 & 1) == 1) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_CAREFREE 0x01
2428	-	2244
2429	-	2245	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2246	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Foreground = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_EMERGENCY_LANDING 0x10
		2247	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.BorderBrush = ((OSDSTATUSFLAGS2 & 16) == 16) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS_EMERGENCY_LANDING 0x10
2428	-	2248
2429	-	2249	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2250	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Foreground = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2251	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.BorderBrush = ((OSDSTATUSFLAGS1 & 2) == 2) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Color.FromArgb(255, 211, 210, 210))));// FC_STATUS2_ALTITUDE_CONTROL 0x02
2428	-	2252
2429	-	2253	_bAirborne = (OSDSTATUSFLAGS2 & 2) == 2 ? true : false;
		2254	}
2428	-	2255	}
		2256	public class OSD_Base_Data_t
		2257	{
		2258	byte[] data;
		2259
		2260	public OSD_Base_Data_t(byte [] _data)
		2261	{
		2262	data = _data;
		2263	}
		2264
		2265	public PointLatLng Pos()
		2266	{
		2267	PointLatLng p = new PointLatLng();
		2268	int i_32, iVal;
		2269	double d;
		2270
		2271	i_32 = data[4];
		2272	iVal = i_32 << 24;
		2273	i_32 = data[3];
		2274	iVal += i_32 << 16;
		2275	i_32 = data[2];
		2276	iVal += i_32 << 8;
		2277	iVal += data[1];
		2278	d = (double)iVal / Math.Pow(10, 7);
		2279	p.Lng = d;
		2280
		2281	i_32 = data[8];
		2282	iVal = i_32 << 24;
		2283	i_32 = data[7];
		2284	iVal += i_32 << 16;
		2285	i_32 = data[6];
		2286	iVal += i_32 << 8;
		2287	iVal += data[5];
		2288	d = (double)iVal / Math.Pow(10, 7);
		2289	p.Lat = d;
		2290
		2291	return p;
		2292
		2293	}
		2294
		2295	public int Height()
		2296	{
		2297	int i_32, iVal;
		2298	i_32 = data[10];
		2299	iVal = i_32 << 8;
		2300	iVal += data[9];
		2301
		2302	return iVal;
		2303	}
		2304
		2305	public double Speed()
		2306	{
2429	-	2307	if (data.Length > 11)
		2308	return (double)data[11]/10;
		2309	else return 0;
2428	-	2310	}
		2311
		2312	public byte OSDSTATUSFLAGS1()
		2313	{
2429	-	2314	if (data.Length > 12)
		2315	return data[12];
		2316	else return 0;
2428	-	2317	}
		2318	public byte OSDSTATUSFLAGS2()
		2319	{
2429	-	2320	if (data.Length > 13)
		2321	return data[13];
		2322	else return 0;
2428	-	2323	}
		2324	}
2287	-	2325	void _processNCData(byte[] data)
		2326	{
		2327	int i_32, i_16, iVal;
		2328	double d;
2428	-	2329
		2330	//----------------------------POSITION------------------------------------
2287	-	2331	i_32 = data[4];
		2332	iVal = i_32 << 24;
		2333	i_32 = data[3];
		2334	iVal += i_32 << 16;
		2335	i_32 = data[2];
		2336	iVal += i_32 << 8;
		2337	iVal += data[1];
		2338	d = (double)iVal / Math.Pow(10, 7);
2324	-	2339	Dispatcher.Invoke(() => { drGPX[2] = d; });
		2340
2287	-	2341	PointLatLng p = new PointLatLng();
		2342
		2343	p.Lng = d;
		2344	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		2345	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		2346
		2347	i_32 = data[8];
		2348	iVal = i_32 << 24;
		2349	i_32 = data[7];
		2350	iVal += i_32 << 16;
		2351	i_32 = data[6];
		2352	iVal += i_32 << 8;
		2353	iVal += data[5];
		2354	d = (double)iVal / Math.Pow(10, 7);
2324	-	2355	Dispatcher.Invoke(() => { drGPX[1] = d; });
		2356	Dispatcher.Invoke(() => { drGPX[4] = DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture); }); //2011-01-14T01:59:01Z });
2287	-	2357	p.Lat = d;
2399	-	2358
2428	-	2359	//---------------------------SATS-------------------------------------------------
2291	-	2360	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		2361	{
		2362	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
2295	-	2363	if(_bAutoHome && !_bFirstSatFix)
		2364	{
		2365	if (_iFirstSatFix < 3)
		2366	_iFirstSatFix++;
		2367	else
		2368	{
		2369	_bFirstSatFix = true;
2347	-	2370	Dispatcher.Invoke(() => _setHomePos());
2295	-	2371	}
		2372	}
2291	-	2373	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		2374	{
		2375	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		2376	_bAnimSatFixActive = false;
		2377	}
		2378	if (!_bFollowCopter)
		2379	{
		2380	_setCopterData(p);
		2381	if (!MainMap.ViewArea.Contains(p))
		2382	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	2383
2291	-	2384	}
		2385	else
2287	-	2386	Dispatcher.Invoke(() => MainMap.Position = p);
		2387	}
		2388	else
2291	-	2389	{
		2390	if(_bSatFix)
		2391	{
		2392	if (data[50] == _iSatsLast)
		2393	{
		2394	if (_iSatsJitter < 20) _iSatsJitter++;
		2395	}
		2396	else
		2397	{
		2398	_iSatsJitter = 0;
		2399	_iSatsLast = data[50];
		2400	}
2287	-	2401
2291	-	2402	if (_iSatsJitter == 20)
		2403	{
		2404	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		2405	{
		2406	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		2407	_bAnimSatFixActive = true;
		2408	}
		2409	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		2410	{
2405	-	2411	_bVoiceSatFixActive = true;
2398	-	2412	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\SatFixLost.mp3");
		2413	//Thread th = new Thread(() => _mediaPlayer("Voice\\SatFixLost.mp3"));
		2414	//th.Start();
2291	-	2415	}
		2416
		2417	_bSatFix = false;
		2418	}
		2419	}
		2420	}
		2421
2428	-	2422	//--------------------------Distance to next WP--------------------------------
2287	-	2423	i_16 = data[28];
		2424	i_16 = (Int16)(i_16 << 8);
		2425	iVal = data[27] + i_16;
2399	-	2426	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
		2427	Dispatcher.Invoke((Action)(() => lblWPRouteDistanceWP.Content = ((double)iVal / (double)10).ToString("0.0 m")));
2401	-	2428	Dispatcher.Invoke((Action)(() => tbWPStatusDistanceWP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	2429
2428	-	2430	//-------------------------Distance to HP set by GPS on----------------------------------
2287	-	2431	i_16 = data[45];
		2432	i_16 = (Int16)(i_16 << 8);
		2433	iVal = data[44] + i_16;
2428	-	2434	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m")));
2287	-	2435
2428	-	2436	//--------------------------------Waypoint index------------------------------------
		2437	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString()));
2355	-	2438	Dispatcher.Invoke((Action)(() => lblWPIndexNC.Content = data[48].ToString()));
2401	-	2439	Dispatcher.Invoke((Action)(() => lblWPStatusIndexNC.Content = data[48].ToString()));
2399	-	2440	if(data[48] > 0 && _wpIndex != data[48] -1 && wpList.Count >= data[48] -1)
2342	-	2441	{
2425	-	2442	_setActiveWP(data[48]- 1);
2355	-	2443	if((data[67] & 2) == 2)
		2444	Dispatcher.Invoke(() => {
		2445	DataGridRow row;
		2446	if (_wpIndex > -1)
		2447	{
2425	-	2448	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2355	-	2449	row.Background = new SolidColorBrush(Colors.Transparent);
		2450	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2451	row.BorderThickness = new Thickness(0);
		2452	}
2425	-	2453
2355	-	2454	_wpIndex = data[48] - 1;
2425	-	2455	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2366	-	2456	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		2457	row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
2355	-	2458	row.BorderThickness = new Thickness(2);
		2459	dgvWP.UpdateLayout();
		2460	});
2425	-	2461	_wpIndex = data[48]- 1;
2342	-	2462	}
2347	-	2463	else
		2464	{
		2465	if ((data[48] == 0 \|\| wpList.Count == 0) & MainMap.Markers.Contains(wpActiveMarker))
2355	-	2466	{
2347	-	2467	Dispatcher.Invoke(() => MainMap.Markers.Remove(wpActiveMarker));
2355	-	2468	Dispatcher.Invoke(() =>
		2469	{
		2470	DataGridRow row;
2368	-	2471	if (_wpIndex > -1 && data[48] == 0 && wpList.Count > _wpIndex)
2355	-	2472	{
2425	-	2473	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(wpOffset[_wpIndex]);
2355	-	2474	row.Background = new SolidColorBrush(Colors.Transparent);
		2475	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		2476	row.BorderThickness = new Thickness(0);
		2477	_wpIndex = -1;
		2478	}
		2479	});
		2480
		2481	}
2347	-	2482	}
2428	-	2483	//----------------Waypoints count----------------------
2287	-	2484	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
2355	-	2485	Dispatcher.Invoke((Action)(() => lblWPCountNC.Content = data[49].ToString())); //Waypoints count
2401	-	2486	Dispatcher.Invoke((Action)(() => lblWPStatusCountNC.Content = data[49].ToString())); //Waypoints count
2340	-	2487	_wpCount = data[49];
2428	-	2488	//-------------------Satellites----------------------------------
		2489	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString()));
2287	-	2490
		2491	//--------------- Capacity used ------------------------
		2492	i_16 = data[81];
		2493	i_16 = (Int16)(i_16 << 8);
		2494	iVal = data[80] + i_16;
		2495	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		2496	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		2497
2398	-	2498	//--------------- Ground speed ------------------------
		2499	i_16 = data[59];
		2500	i_16 = (Int16)(i_16 << 8);
		2501	iVal = data[58] + i_16;
2399	-	2502	Dispatcher.Invoke((Action)(() => tbNCGrSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
		2503	if(_Simulate)
		2504	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)(iVal)/100).ToString("0.00 m/s")));
2398	-	2505
		2506	//--------------- Heading north ------------------------
2431	-	2507	//i_16 = data[61];
		2508	//i_16 = (Int16)(i_16 << 8);
		2509	//iVal = data[60] + i_16;
		2510	//Dispatcher.Invoke((Action)(() => tbHeadingNorth.Text = iVal.ToString() + " °"));
2398	-	2511
		2512	//--------------- Heading compass ------------------------
		2513	i_16 = data[63];
		2514	i_16 = (Int16)(i_16 << 8);
		2515	iVal = data[62] + i_16;
		2516	Dispatcher.Invoke((Action)(() => tbHeadingCompass.Text = iVal.ToString() + " °"));
2399	-	2517	if (_Simulate)
		2518	{
		2519	Dispatcher.Invoke(() => ArtHor.rotate = iVal);
		2520	Dispatcher.Invoke(() => ((CustomMarkerCopter)(copter.Shape)).rotate = iVal);
		2521	}
2287	-	2522	//--------------- Flying time ------------------------
		2523	i_16 = data[56];
		2524	i_16 = (Int16)(i_16 << 8);
		2525	iVal = data[55] + i_16;
		2526	TimeSpan t = TimeSpan.FromSeconds(iVal);
		2527	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		2528	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		2529	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		2530
		2531	//--------------- RC quality ------------------------
		2532	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		2533	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		2534
2291	-	2535	if(data[66] > _iThresholdRC)
		2536	{
		2537	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		2538	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		2539	{
		2540	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		2541	_bAnimRCLevelActive = false;
		2542	}
		2543	}
		2544	else
		2545	{
		2546	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		2547	if (_iRCLevelJitter == 20)
		2548	{
		2549	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		2550	{
		2551	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		2552	_bAnimRCLevelActive = true;
		2553	}
		2554	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		2555	{
2405	-	2556	_bVoiceRCLevelActive = true;
2398	-	2557	ThreadPool.QueueUserWorkItem(new WaitCallback(_mediaPlayer), "Voice\\MagneticField.mp3");
		2558	//Thread th = new Thread(() => _mediaPlayer("Voice\\RCLevel.mp3"));
		2559	//th.Start();
2291	-	2560	}
		2561	_iRCLevelJitter++;
		2562	}
		2563	}
		2564
2428	-	2565	//-------------------------Waypoint max range (by license)------------------------------
2405	-	2566	if(dWPMaxRange != (double)data[70])
		2567	{
		2568	dWPMaxRange = (double)data[70];
		2569	if (home != null && checkBoxShowWPMaxRange.IsChecked == true)
		2570	{
		2571	if (cWPBound != null && cWPBound.Tag != null)
		2572	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		2573
		2574	createCircle(home.Position, dWPMaxRange);
2408	-	2575	Dispatcher.Invoke(() =>
		2576	{
		2577	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		2578	{
		2579	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		2580	cWPBound.setColor(s);
		2581	}
		2582	});
2405	-	2583	}
		2584	Dispatcher.Invoke((Action)(() => tbWPMaxRange.Text = data[70].ToString() + " m"));
		2585	}
2428	-	2586	//---------------------------------Target hold time------------------------------
2399	-	2587	Dispatcher.Invoke((Action)(() => lblWPHoldTime.Content = data[73].ToString()+ " s"));
2401	-	2588	Dispatcher.Invoke((Action)(() => tbWPStatusHoldTime.Text = data[73].ToString()+ " s"));
2399	-	2589
2287	-	2590	//--------------- NC Error ------------------------
		2591	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		2592	if (data[69] > 0)
		2593	_readNCError();
		2594	if (data[69] > 0 & data[69] < 44)
2381	-	2595	ErrorLog(LogMsgType.Error," NC Error [" + data[69].ToString() + "]: ",NC_Error_Link[data[69]], NC_Error[data[69]]);
		2596	//else
		2597	// if (_bErrorLog) _clearErrorLog("NC Error");
2287	-	2598
2428	-	2599	//--------------------------------------------------------------------------------
		2600	//-----------------------------FC / NC Status Flags-------------------------------
		2601	//--------------------------------------------------------------------------------
2298	-	2602	Dispatcher.Invoke((Action)(() => FC1_1.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2603	Dispatcher.Invoke((Action)(() => FC1_2.Background = ((data[67] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_FLY 0x02
		2604	Dispatcher.Invoke((Action)(() => FC1_3.Background = ((data[67] & 4) ==4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_CALIBRATE 0x04
		2605	Dispatcher.Invoke((Action)(() => FC1_4.Background = ((data[67] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_START 0x08
		2606	Dispatcher.Invoke((Action)(() => FC1_5.Background = ((data[67] & 16) ==16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
		2607	Dispatcher.Invoke((Action)(() => FC1_6.Background = ((data[67] & 32) ==32) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_LOWBAT 0x20
		2608
		2609	Dispatcher.Invoke((Action)(() => FC2_1.Background = ((data[74] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2610	Dispatcher.Invoke((Action)(() => FC2_2.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2611	Dispatcher.Invoke((Action)(() => FC2_3.Background = ((data[74] & 4) ==4) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
		2612	Dispatcher.Invoke((Action)(() => FC2_4.Background = ((data[74] & 8) ==8) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT1_ACTIVE 0x08
		2613	Dispatcher.Invoke((Action)(() => FC2_5.Background = ((data[74] & 16) ==16) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_OUT2_ACTIVE 0x10
		2614	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
		2615	Dispatcher.Invoke((Action)(() => FC2_7.Background = ((data[74] & 64) ==64) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_STARTING 0x40
		2616	Dispatcher.Invoke((Action)(() => FC2_8.Background = ((data[74] & 128) ==128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_AUTO_LANDING 0x80
		2617
		2618	Dispatcher.Invoke((Action)(() => NC1_2.Background = ((data[68] & 2) == 2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_PH 0x02
		2619	Dispatcher.Invoke((Action)(() => NC1_3.Background = ((data[68] & 4) == 4) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_CH 0x04
		2620	Dispatcher.Invoke((Action)(() => NC1_4.Background = ((data[68] & 8) == 8) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_RANGE_LIMIT 0x08
		2621	Dispatcher.Invoke((Action)(() => NC1_5.Background = ((data[68] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_NOSERIALLINK 0x10
		2622	Dispatcher.Invoke((Action)(() => NC1_6.Background = ((data[68] & 32) == 32) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_TARGET_REACHED 0x20
		2623	Dispatcher.Invoke((Action)(() => NC1_7.Background = ((data[68] & 64) == 64) ? new SolidColorBrush(Colors.DodgerBlue) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_MANUAL_CONTROL 0x40
		2624	Dispatcher.Invoke((Action)(() => NC1_8.Background = ((data[68] & 128) == 128) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// NC_FLAG_GPS_OK 0x80
2299	-	2625
		2626	//Sidebar StatusSymbols
		2627	Dispatcher.Invoke((Action)(() => tbSideBarStatusMotors.Background = ((data[67] & 1) ==1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_MOTOR_RUN 0x01
		2628	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
		2629	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
		2630
		2631	Dispatcher.Invoke((Action)(() => tbSideBarStatusCF.Background = ((data[74] & 1) == 1) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_CAREFREE 0x01
		2632	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
		2633	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
		2634
		2635	Dispatcher.Invoke((Action)(() => tbSideBarStatusEmergencyLanding.Background = ((data[67] & 16) == 16) ? new SolidColorBrush(Colors.LightCoral) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS_EMERGENCY_LANDING 0x10
2304	-	2636	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
		2637	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	-	2638
		2639	Dispatcher.Invoke((Action)(() => tbSideBarStatusAC.Background = ((data[74] & 2) ==2) ? new SolidColorBrush(Colors.LightSeaGreen) : new SolidColorBrush(Colors.Transparent)));// FC_STATUS2_ALTITUDE_CONTROL 0x02
		2640	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
		2641	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
		2642
		2643	Dispatcher.Invoke((Action)(() => tbSideBarStatusPH.Text = ((data[68] & 4) == 4) ? "CH" : "PH"));// NC_FLAG_PH 0x02 / NC_FLAG_CH 0x04
2304	-	2644	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
		2645	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
		2646	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	-	2647
2324	-	2648	_bAirborne = (data[67] & 2) == 2 ? true : false;
2287	-	2649	}
		2650	/// <summary>
		2651	/// Navi-Ctrl WP data struct 'X'
		2652	/// called by index
		2653	/// </summary>
		2654	/// <param name="data">the received byte array to process</param>
		2655	void _processWPData(byte[] data)
		2656	{
2313	-	2657	_iWPCount = data[0];
2287	-	2658	_bGetWPCount = false;
		2659	if (data.Length >= 28)
		2660	{
		2661	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		2662	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		2663	if (_bGetWP)
		2664	{
		2665	if (data[1] == 1)
2315	-	2666	{
2333	-	2667	Dispatcher.Invoke(() =>
		2668	{
2356	-	2669	wpList.Clear();
		2670	_clearMapMarkers(typeof(CustomMarkerWP));
		2671	if (mRouteWP != null)
		2672	MainMap.Markers.Remove(mRouteWP);
		2673	if (wpActiveMarker != null)
		2674	MainMap.Markers.Remove(wpActiveMarker);
		2675	lblWPRouteDistance.Content = "0 m";
		2676	dtWaypoints.Rows.Clear();
2368	-	2677	_wpEdit = -1;_wpIndex = -1;
2425	-	2678	wpOffset.Clear();
2318	-	2679	});
2315	-	2680	}
2287	-	2681	DataRow dr = dtWaypoints.NewRow();
		2682	dr = Waypoints.toDataRow(data, dr);
2313	-	2683	dtWaypoints.Rows.Add(dr);
2425	-	2684	_createWP(new PointLatLng((double)dr[3], (double)dr[4]), (string)dr[2], (int)dr[1],(int)data[1]-1);
2313	-	2685	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		2686	Dispatcher.Invoke(() => _iWPIndex = data[1]);
2287	-	2687	if (data[1] == data[0])
		2688	{
		2689	_bGetWP = false;
2368	-	2690	_routeUpdate();
2287	-	2691	}
		2692
		2693	}
		2694	}
		2695	else
		2696	{
		2697	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		2698	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		2699	}
		2700	}
		2701	/// <summary>
		2702	/// OSD Menue 'L'
		2703	/// single page called by pagenumber
		2704	/// no autoupdate
		2705	/// </summary>
		2706	/// <param name="data">the received byte array to process</param>
		2707	void _processOSDSingle(byte[] data)
		2708	{
		2709	if (data.Length == 84)
		2710	{
		2711	string sMessage = "";
		2712	iOSDPage = data[0];
		2713	iOSDMax = data[1];
		2714	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		2715	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		2716	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2717	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2718	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2719	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2720	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		2721	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		2722
		2723	}
		2724	//else
		2725	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		2726
		2727	}
		2728	/// <summary>
		2729	/// OSD Menue 'H'
		2730	/// called by keys (0x01,0x02,0x03,0x04)
		2731	/// autoupdate
		2732	/// </summary>
		2733	/// <param name="data">the received byte array to process</param>
		2734	void _processOSDAuto(byte[] data)
		2735	{
		2736	if (data.Length == 81)
		2737	{
		2738	string sMessage = "";
		2739	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		2740	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		2741	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		2742	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		2743	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		2744
		2745	}
		2746	//else
		2747	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		2748	}
		2749
		2750	#endregion processing received data
		2751
		2752	#region controller messages
		2753	/// <summary> send message to controller to request data
		2754	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2755	/// </summary>
		2756	/// <param name="CMDID"> the command ID </param>
		2757	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2758	private void _sendControllerMessage(char CMDID, byte address)
		2759	{
		2760	if (serialPortCtrl.Port.IsOpen)
		2761	{
		2762	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2763	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		2764	serialStream.Write(bytes, 0, bytes.Length);
		2765
		2766	}
		2767	else
		2768	Log(LogMsgType.Error, "NOT CONNECTED!");
		2769	}
		2770	/// <summary> send message to controller to request data
		2771	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		2772	/// </summary>
		2773	/// <param name="CMDID"> the command ID </param>
		2774	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		2775	/// <param name="data"> additional data for the request</param>
		2776	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		2777	{
		2778	if (serialPortCtrl.Port.IsOpen)
		2779	{
		2780	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2781	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		2782	serialStream.Write(bytes, 0, bytes.Length);
		2783
		2784	}
		2785	else
		2786	Log(LogMsgType.Error, "NOT CONNECTED!");
		2787	}
		2788
		2789	/// <summary>
		2790	/// start/stop continous polling of controller values
		2791	/// </summary>
		2792	/// <param name="b">start/stop switch</param>
		2793	void _readCont(bool b)
		2794	{
		2795	bReadContinously = b;
		2796	if (bReadContinously)
		2797	{
		2798	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		2799	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		2800	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		2801	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		2802	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		2803	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		2804	}
		2805	else
		2806	{
		2807	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		2808	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		2809	_bConnErr = false;
		2810	}
		2811	_iLifeCounter = 0;
		2812	}
		2813
		2814	private void _getVersion()
		2815	{
		2816	_sendControllerMessage('v', 0);
		2817	}
		2818	/// <summary>
		2819	/// get FC version struct via NC
		2820	/// by sending '1' as data (not documented in wiki...)
		2821	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		2822	/// </summary>
		2823	/// <param name="ctrl">controller number 1=FC</param>
		2824	private void _getVersion(byte ctrl)
		2825	{
		2826	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		2827	}
		2828	/// <summary>
		2829	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		2830	/// </summary>
		2831	private void _switchToNC()
		2832	{
		2833	if (serialPortCtrl.Port.IsOpen)
		2834	{
		2835	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2836	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		2837	serialStream.Write(bytes, 0, bytes.Length);
		2838
		2839	Thread.Sleep(100);
		2840	_getVersion();
		2841	Thread.Sleep(100);
2424	-	2842	_getLic();
2287	-	2843	// _OSDMenue(0);
		2844	}
		2845	else
		2846	Log(LogMsgType.Error, "NOT CONNECTED!");
		2847	}
		2848	/// <summary>
		2849	/// switch to FC
		2850	/// </summary>
		2851	private void _switchToFC()
		2852	{
		2853	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		2854	Thread.Sleep(100);
		2855	_getVersion();
		2856	Thread.Sleep(100);
		2857	// _OSDMenue(0);
		2858	}
		2859	/// <summary>
		2860	/// send RESET signal to FC
		2861	/// </summary>
		2862	private void _resetCtrl()
		2863	{
		2864	_sendControllerMessage('R', 1);
		2865	}
		2866	/// <summary>
		2867	/// poll the debug data (4sec subscription)
		2868	/// </summary>
		2869	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2870	private void _readDebugData(bool auto)
		2871	{
		2872	byte interval = auto ? debugInterval : (byte)0;
		2873	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		2874	}
		2875	/// <summary>
		2876	/// poll the BL-CTRL status via NC (4sec subscription)
		2877	/// </summary>
		2878	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2879	private void _readBLCtrl(bool auto)
		2880	{
		2881	byte interval = auto ? blctrlInterval : (byte)0;
		2882	_sendControllerMessage('k', 0, new byte[1] { interval });
		2883	}
		2884	/// <summary>
		2885	/// poll the NC data struct (4sec subscription)
		2886	/// </summary>
		2887	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		2888	private void _readNavData(bool auto)
		2889	{
		2890	byte interval = auto ? navctrlInterval : (byte)0;
2429	-	2891	// _sendControllerMessage('o', 2, new byte[1] { interval });
		2892	_sendControllerMessage('o', 2, new byte[3] { interval,4,0 });
2287	-	2893	}
		2894	/// <summary>
2424	-	2895	/// request the license info
		2896	/// </summary>
		2897	void _getLic()
		2898	{
		2899	if (serialPortCtrl.Port.IsOpen)
		2900	{
		2901	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2902	byte[] bytes = FlightControllerMessage.CreateMessage('m', 2, new byte[1] { (byte)1 });
		2903	serialStream.Write(bytes, 0, bytes.Length);
		2904	}
		2905	else
		2906	Log(LogMsgType.Error, "NOT CONNECTED!");
		2907
		2908	}
		2909	/// <summary>
2287	-	2910	/// get the errortext for pending NC error
		2911	/// </summary>
		2912	private void _readNCError()
		2913	{
		2914	_sendControllerMessage('e', 2);
		2915	}
		2916	/// <summary>
		2917	/// request the Waypoint at index
		2918	/// </summary>
		2919	/// <param name="index"></param>
		2920	void _getpWP(int index)
		2921	{
		2922	if (serialPortCtrl.Port.IsOpen)
		2923	{
		2924	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2925	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2926	serialStream.Write(bytes, 0, bytes.Length);
		2927	}
		2928	else
		2929	Log(LogMsgType.Error, "NOT CONNECTED!");
		2930
		2931	}
		2932	void _getWP()
		2933	{
2335	-	2934	int iTimeout = 0;
2287	-	2935	_bGetWPCount = true;
2315	-	2936	_getpWP(1); //get the itemscount of wp
2335	-	2937	while (_bGetWPCount & iTimeout < _iWPTimeout * 5)
		2938	{
		2939	Thread.Sleep(10);
		2940	iTimeout++;
		2941	}
		2942	if (_iWPCount > 0 & !_bGetWPCount)
2287	-	2943	_getWPList();
		2944	}
		2945	void _getWPList()
		2946	{
		2947	_bGetWP = true;
2313	-	2948	int iTimeout=0;
		2949	for (int j = 0; j < _iWPCount; j++)
2287	-	2950	{
		2951	_getpWP(j + 1);
2313	-	2952	iTimeout = 0;
		2953	while (_iWPIndex != j + 1 & iTimeout < _iWPTimeout * 5)
		2954	{
		2955	Thread.Sleep(1);
		2956	iTimeout++;
		2957	}
2287	-	2958	}
2419	-	2959	Dispatcher.Invoke(() =>
		2960	{
		2961	// MainMap.ZoomAndCenterMarkers(null);
		2962	MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]);
		2963	MainMap.Zoom = 19;
		2964	});
2287	-	2965	}
2363	-	2966	/// <summary>
		2967	/// Wrapper for _clearCopterWPList()
		2968	/// necessary, cause it is called by threadnew which does not like return values...
		2969	/// </summary>
2340	-	2970	void clearCopterWPList()
2313	-	2971	{
2340	-	2972	_clearCopterWPList();
		2973	}
2363	-	2974	/// <summary>
		2975	/// clear the WP list of the copter
		2976	/// by sending 'invalid' and index '0'
		2977	/// </summary>
		2978	/// <returns></returns>
2340	-	2979	bool _clearCopterWPList()
		2980	{
2335	-	2981	int iTimeout = 0;
2313	-	2982	if (serialPortCtrl.Port.IsOpen)
		2983	{
		2984	byte[] bData = new byte[30];
		2985	for (int i = 0; i < 30; i++)
		2986	bData[i] = 0;
		2987	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2988	byte[] bytes = FlightControllerMessage.CreateMessage('w', 2, bData); //delete all WP on Copter by sending 'invalid'(==0) at index 0
		2989	serialStream.Write(bytes, 0, bytes.Length);
2287	-	2990
2313	-	2991	_iWPCount = -1;
2340	-	2992	while (_iWPCount == -1 & iTimeout < _iWPTimeout)
2335	-	2993	{
2313	-	2994	Thread.Sleep(10);
2335	-	2995	iTimeout++;
		2996	}
2313	-	2997	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2335	-	2998	if (_iWPCount > -1)
2340	-	2999	return true;
		3000	else
		3001	Log(LogMsgType.Error, "Timeout while sending list!");
		3002	}
		3003	else
		3004	Log(LogMsgType.Error, "NOT CONNECTED!");
		3005
		3006	return false;
		3007	}
		3008	void _sendWPList()
		3009	{
2362	-	3010	_sendWPList(0);
		3011	}
		3012	void _sendWPList(int iStart)
		3013	{
2340	-	3014	int iTimeout = 0;
		3015	if (serialPortCtrl.Port.IsOpen)
		3016	{
		3017	if (_clearCopterWPList())
2313	-	3018	{
2362	-	3019	int k = 1;
		3020	for (int i = iStart; i < dtWaypoints.Rows.Count; i++)
2335	-	3021	{
2362	-	3022	k = iStart > 0 ? k : -1;
2376	-	3023	_sendWayPoint(dtWaypoints.Rows[i], k, 'w',false);
2313	-	3024
2335	-	3025	_iWPCount = -1;
		3026	iTimeout = 0;
		3027	while (_iWPCount == -1 & iTimeout < _iWPTimeout * 5)
		3028	{
		3029	Thread.Sleep(10);
		3030	iTimeout++;
		3031	}
		3032	if (_iWPCount == -1)
		3033	{
		3034	Log(LogMsgType.Error, "Timeout while sending list!");
		3035	break;
		3036	}
		3037	Dispatcher.Invoke(() => lblWPCount.Content = _iWPCount.ToString());
2362	-	3038	k++;
2335	-	3039	}
2313	-	3040	}
		3041	}
		3042	else
		3043	Log(LogMsgType.Error, "NOT CONNECTED!");
		3044
		3045	}
2376	-	3046	bool _sendWayPoint(DataRow dr, int index, char command,bool bSim)
2340	-	3047	{
2313	-	3048
2340	-	3049	if (serialPortCtrl.Port.IsOpen)
		3050	{
		3051	byte[] bData = new byte[30];
		3052	for (int i = 0; i < 30; i++)
		3053	bData[i] = 0;
		3054	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3055	byte[] bytes;
		3056	int iVal;
		3057	double dVal;
		3058	NumberFormatInfo nfi = new NumberFormatInfo();
		3059	nfi.NumberDecimalSeparator = ",";
		3060
		3061	//longitude
		3062	dVal = Convert.ToDouble(dr[4], nfi);
		3063	iVal = (int)(dVal * Math.Pow(10, 7));
		3064	bData[0] = (byte)(iVal & 0xff);
		3065	bData[1] = (byte)((iVal >> 8) & 0xff);
		3066	bData[2] = (byte)((iVal >> 16) & 0xff);
		3067	bData[3] = (byte)(iVal >> 24);
		3068	//latitude
		3069	dVal = Convert.ToDouble(dr[3], nfi);
		3070	iVal = (int)(dVal * Math.Pow(10, 7));
		3071	bData[4] = (byte)(iVal & 0xff);
		3072	bData[5] = (byte)((iVal >> 8) & 0xff);
		3073	bData[6] = (byte)((iVal >> 16) & 0xff);
		3074	bData[7] = (byte)(iVal >> 24);
		3075	//altitude
		3076	dVal = Convert.ToDouble(dr[5], nfi);
		3077	iVal = (int)(dVal * 10);
		3078	bData[8] = (byte)(iVal & 0xff);
		3079	bData[9] = (byte)((iVal >> 8) & 0xff);
		3080	bData[10] = (byte)((iVal >> 16) & 0xff);
		3081	bData[11] = (byte)(iVal >> 24);
2376	-	3082	if(bSim)
		3083	bData[12] = 3; //Status 'SIMULATE'
2340	-	3084	//Status 'NEWDATA'
2376	-	3085	else
		3086	bData[12] = 1;
2340	-	3087	//heading
		3088	iVal = Convert.ToInt16(dr[6]);
		3089	bData[13] = (byte)(iVal & 0xff);
		3090	bData[14] = (byte)((iVal >> 8) & 0xff);
		3091	//ToleranceRadius
		3092	bData[15] = Convert.ToByte(dr[9]);
		3093	//HoldTime
		3094	bData[16] = Convert.ToByte(dr[10]);
		3095	//Event_Flag
		3096	bData[17] = Convert.ToByte(dr[13]);
		3097	//Index
2379	-	3098	bData[18] = index > -1 ? (byte)index : Convert.ToByte((int)dr[0]);
2340	-	3099	//Type
		3100	bData[19] = Convert.ToByte(dr[1]);
		3101	//WP_EventChannelValue
		3102	bData[20] = Convert.ToByte(dr[14]);
		3103	//AltitudeRate
		3104	bData[21] = Convert.ToByte(dr[8]);
		3105	//Speed
		3106	bData[22] = Convert.ToByte(dr[7]);
		3107	//CamAngle
		3108	bData[23] = (byte)Convert.ToInt16(dr[12]);
		3109	//Name
2362	-	3110	string s = index > 0 ? ((string)dr[2]).Substring(0, 1) + index.ToString() : (string)dr[2];
		3111	byte[] name = ASCIIEncoding.ASCII.GetBytes(s);
2340	-	3112	bData[24] = name.Length > 0 ? name[0] : (byte)0;
		3113	bData[25] = name.Length > 1 ? name[1] : (byte)0;
		3114	bData[26] = name.Length > 2 ? name[2] : (byte)0;
		3115	bData[27] = name.Length > 3 ? name[3] : (byte)0;
		3116	//Autotrigger
		3117	bData[28] = Convert.ToByte(dr[11]);
		3118
2356	-	3119	bytes = FlightControllerMessage.CreateMessage(command, 2, bData);
2340	-	3120	serialStream.Write(bytes, 0, bytes.Length);
		3121
		3122	return true;
		3123	}
		3124
		3125	return false;
		3126	}
2287	-	3127	#region OSD-Menue
		3128
		3129	/// <summary>
		3130	/// one time query of the OSD Menue with pagenumber
		3131	/// </summary>
		3132	/// <param name="iMenue">Menue page</param>
		3133	void _OSDMenue(int iMenue)
		3134	{
		3135	if (serialPortCtrl.Port.IsOpen)
		3136	{
		3137	if (iMenue > iOSDMax)
		3138	iMenue = 0;
		3139	Stream serialStream = serialPortCtrl.Port.BaseStream;
		3140	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		3141	serialStream.Write(bytes, 0, bytes.Length);
		3142	}
		3143	else
		3144	Log(LogMsgType.Error, "NOT CONNECTED!");
		3145
		3146	}
		3147	/// <summary>
		3148	/// call the OSDMenue and start autorefresh
		3149	/// usually by sending a menuekey
		3150	/// 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)
		3151	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		3152	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		3153	/// </summary>
		3154	void _OSDMenueAutoRefresh()
		3155	{
		3156	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		3157	}
		3158	void _OSDMenueAutoRefresh(byte key)
		3159	{
		3160	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		3161	}
		3162	/// <summary>
		3163	/// initialize the OSD menue combobox
		3164	/// combox is filled by numbers from 0 to max pagenumber
		3165	/// </summary>
		3166	void _initOSDCB()
		3167	{
		3168	_bCBInit = true;
		3169	if (iOSDMax == 0)
		3170	{
		3171	_OSDMenue(0);
		3172	Thread.Sleep(10);
		3173	}
		3174	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		3175	for (int i = 0; i <= iOSDMax; i++)
		3176	{
		3177	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		3178	}
		3179	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		3180	_bCBInit = false;
		3181	}
		3182	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		3183	{
		3184	iOSDPage++;
		3185	if (iOSDPage > iOSDMax)
		3186	iOSDPage = 0;
		3187
		3188	_OSDMenue(iOSDPage);
		3189	}
		3190	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		3191	{
		3192	iOSDPage--;
		3193	if (iOSDPage < 0)
		3194	iOSDPage = iOSDMax;
		3195
		3196	_OSDMenue(iOSDPage);
		3197	}
		3198	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		3199	{
		3200	_OSDMenueAutoRefresh(8);
		3201	}
		3202	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		3203	{
		3204	_OSDMenueAutoRefresh(4);
		3205	}
		3206	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		3207	{
		3208	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		3209	_OSDMenue(cbOSD.SelectedIndex);
		3210	}
		3211	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		3212	{
		3213	Dispatcher.Invoke(() =>
		3214	{
		3215	TextRange tr;
		3216	if (bNew)
		3217	{
		3218	rtfOSD.SelectAll();
		3219	rtfOSD.Selection.Text = string.Empty;
		3220	}
		3221	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		3222	tr.Text = msg;
		3223	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		3224	// rtfOSD.AppendText("\r");
		3225	rtfOSD.ScrollToEnd();
		3226
		3227	});
		3228	}
		3229
		3230	#endregion OSD-Menue
		3231
		3232	#endregion controller messages
		3233
2398	-	3234	void _mediaPlayer(object file)
2295	-	3235	{
2405	-	3236	Monitor.TryEnter(lockObj);
		3237	try
2295	-	3238	{
2405	-	3239	if (File.Exists((string)file))
		3240	{
		3241
		3242	mediaPlayer.Open((string)file);
		3243	mediaPlayer.Play();
		3244	}
		3245
2295	-	3246	}
2405	-	3247	finally
		3248	{
		3249	Monitor.Exit(lockObj);
		3250	}
2295	-	3251	}
2310	-	3252
2362	-	3253	#region ui
2310	-	3254	/// <summary>
		3255	/// Switch between fullscreen and normal window mode
		3256	/// save & restore scaling settings
		3257	/// </summary>
		3258	/// <param name="sender"></param>
		3259	/// <param name="e"></param>
2287	-	3260	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		3261	{
		3262	if (winState.isMaximized)
		3263	{
		3264	winState.Restore(this);
		3265	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		3266	if(_bSaveWinStateFull)
		3267	_saveScaleSliders(true);
		3268	if(_bSaveWinStateNormal)
		3269	_setScaleSliders(false);
		3270	}
		3271	else
		3272	{
		3273	winState.Maximize(this);
		3274	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		3275	if(_bSaveWinStateNormal)
		3276	_saveScaleSliders(false);
		3277	if(_bSaveWinStateFull)
		3278	_setScaleSliders(true);
		3279	}
		3280	}
		3281
		3282	/// <summary>
		3283	/// reset the scaling of all UI elements to default
		3284	/// </summary>
		3285	/// <param name="sender"></param>
		3286	/// <param name="e"></param>
		3287	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		3288	{
		3289	UIScaleHorizonSlider.Value =
		3290	UIScaleLOGSlider.Value =
		3291	UIScaleMotorsSlider.Value =
		3292	UIScaleOSDSlider.Value =
		3293	UIScaleSlider.Value =
		3294	UIScaleTopSlider.Value = 1;
		3295	}
		3296	/// <summary>
		3297	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		3298	/// </summary>
		3299	/// <param name="sender"></param>
		3300	/// <param name="e"></param>
		3301	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3302	{
		3303	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		3304	if (GridMotors != null)
		3305	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		3306	if (GridSideBar != null)
		3307	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
2401	-	3308	if (WPStatus != null)
		3309	WPStatus.Margin = new Thickness(WPStatus.Margin.Left, 36 * UIScaleTopSlider.Value, WPStatus.Margin.Right, WPStatus.Margin.Bottom);
2287	-	3310	if (GridOSD != null)
2401	-	3311	{
		3312	if(WPStatus.Visibility == Visibility.Visible)
		3313	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + WPStatus.Margin.Bottom, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3314	else
		3315	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3316	}
2287	-	3317	if (GridData != null)
		3318	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		3319	if (GridWP != null)
		3320	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		3321	}
2419	-	3322	private void UIScaleOSDSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3323	{
		3324	if (!_init)
		3325	{
		3326	if (WPStatus != null && (WPStatus.Visibility == Visibility.Visible))
		3327	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3328	else
		3329	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		3330	}
		3331	}
		3332
2310	-	3333	/// <summary>
		3334	/// restore the saved scalings for the fullscreen/normal window mode
		3335	/// </summary>
		3336	/// <param name="bFull">the mode the window is set to</param>
2287	-	3337	void _setScaleSliders(bool bFull)
		3338	{
		3339	if(bFull)
		3340	{
		3341	UIScaleSlider.Value = scaleFullAll;
		3342	UIScaleTopSlider.Value = scaleFullTopBar;
		3343	UIScaleMotorsSlider.Value = scaleFullMotors;
		3344	UIScaleOSDSlider.Value = scaleFullOSD;
		3345	UIScaleLOGSlider.Value = scaleFullLOG;
		3346	UIScaleHorizonSlider.Value = scaleFullHorizon;
		3347	}
		3348	else
		3349	{
		3350	UIScaleSlider.Value = scaleNormalAll;
		3351	UIScaleTopSlider.Value = scaleNormalTopBar;
		3352	UIScaleMotorsSlider.Value = scaleNormalMotors;
		3353	UIScaleOSDSlider.Value = scaleNormalOSD;
		3354	UIScaleLOGSlider.Value = scaleNormalLOG;
		3355	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		3356	}
		3357	}
		3358
2310	-	3359	/// <summary>
		3360	/// save the scalings for the actual window mode
		3361	/// </summary>
		3362	/// <param name="bFull">the actual window mode</param>
2287	-	3363	void _saveScaleSliders(bool bFull)
		3364	{
		3365
		3366	if (bFull)
		3367	{
		3368	scaleFullAll = UIScaleSlider.Value;
		3369	scaleFullTopBar = UIScaleTopSlider.Value;
		3370	scaleFullMotors = UIScaleMotorsSlider.Value;
		3371	scaleFullOSD = UIScaleOSDSlider.Value;
		3372	scaleFullLOG = UIScaleLOGSlider.Value;
		3373	scaleFullHorizon = UIScaleHorizonSlider.Value;
		3374	}
		3375	else
		3376	{
		3377	scaleNormalAll = UIScaleSlider.Value;
		3378	scaleNormalTopBar = UIScaleTopSlider.Value;
		3379	scaleNormalMotors = UIScaleMotorsSlider.Value;
		3380	scaleNormalOSD = UIScaleOSDSlider.Value;
		3381	scaleNormalLOG = UIScaleLOGSlider.Value;
		3382	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		3383	}
		3384	}
2362	-	3385	#endregion ui
2287	-	3386
		3387	/// <summary>
		3388	/// read settings from ini-file
		3389	/// </summary>
		3390	void _readIni()
		3391	{
		3392	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		3393	_writeIni();
		3394	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3395	ini.path = filePath + "\\MKLiveViewSettings.ini";
2312	-	3396	try
		3397	{
2287	-	3398
2312	-	3399	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		3400	if (sVal != "") _debugDataAutorefresh = Convert.ToBoolean(sVal);
		3401	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		3402	if (sVal != "") _navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		3403	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		3404	if (sVal != "") _blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		3405	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		3406	if (sVal != "") _OSDAutorefresh = Convert.ToBoolean(sVal);
2287	-	3407
2312	-	3408	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		3409	if (sVal != "") debugInterval = (byte)Convert.ToInt16(sVal);
		3410	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		3411	if (sVal != "") navctrlInterval = (byte)Convert.ToInt16(sVal);
		3412	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		3413	if (sVal != "") blctrlInterval = (byte)Convert.ToInt16(sVal);
		3414	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		3415	if (sVal != "") OSDInterval = (byte)Convert.ToInt16(sVal);
2287	-	3416
2312	-	3417	sVal = ini.IniReadValue("topBar", "voltage");
		3418	if (sVal != "") chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		3419	sVal = ini.IniReadValue("topBar", "capacity");
		3420	if (sVal != "") chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		3421	sVal = ini.IniReadValue("topBar", "current");
		3422	if (sVal != "") chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		3423	sVal = ini.IniReadValue("topBar", "flightTime");
		3424	if (sVal != "") chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		3425	sVal = ini.IniReadValue("topBar", "distanceHP");
		3426	if (sVal != "") chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		3427	sVal = ini.IniReadValue("topBar", "height");
		3428	if (sVal != "") chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		3429	sVal = ini.IniReadValue("topBar", "speed");
		3430	if (sVal != "") chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		3431	sVal = ini.IniReadValue("topBar", "magneticField");
		3432	if (sVal != "") chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		3433	sVal = ini.IniReadValue("topBar", "satellites");
		3434	if (sVal != "") chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		3435	sVal = ini.IniReadValue("topBar", "rc");
		3436	if (sVal != "") chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
2287	-	3437
2312	-	3438	sVal = ini.IniReadValue("style", "saveFullScreen");
		3439	if (sVal != "") chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		3440	sVal = ini.IniReadValue("style", "saveNormalState");
		3441	if (sVal != "") chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
2287	-	3442
2312	-	3443	sVal = ini.IniReadValue("style", "scaleNormalAll");
		3444	if (sVal != "") scaleNormalAll = Convert.ToDouble(sVal);
		3445	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		3446	if (sVal != "") scaleNormalTopBar = Convert.ToDouble(sVal);
		3447	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		3448	if (sVal != "") scaleNormalMotors = Convert.ToDouble(sVal);
		3449	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		3450	if (sVal != "") scaleNormalOSD = Convert.ToDouble(sVal);
		3451	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		3452	if (sVal != "") scaleNormalLOG = Convert.ToDouble(sVal);
		3453	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		3454	if (sVal != "") scaleNormalHorizon = Convert.ToDouble(sVal);
2287	-	3455
2312	-	3456	sVal = ini.IniReadValue("style", "scaleFullAll");
		3457	if (sVal != "") scaleFullAll = Convert.ToDouble(sVal);
		3458	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		3459	if (sVal != "") scaleFullTopBar = Convert.ToDouble(sVal);
		3460	sVal = ini.IniReadValue("style", "scaleFullMotors");
		3461	if (sVal != "") scaleFullMotors = Convert.ToDouble(sVal);
		3462	sVal = ini.IniReadValue("style", "scaleFullOSD");
		3463	if (sVal != "") scaleFullOSD = Convert.ToDouble(sVal);
		3464	sVal = ini.IniReadValue("style", "scaleFullLOG");
		3465	if (sVal != "") scaleFullLOG = Convert.ToDouble(sVal);
		3466	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		3467	if (sVal != "") scaleFullHorizon = Convert.ToDouble(sVal);
2287	-	3468
2312	-	3469	sVal = ini.IniReadValue("general", "LiPoCells");
		3470	_LipoCells = Convert.ToInt16(sVal);
		3471	sVal = ini.IniReadValue("general", "Motors");
		3472	if (sVal != "") _iMotors = Convert.ToInt16(sVal);
2287	-	3473
2312	-	3474	sVal = ini.IniReadValue("map", "followMe");
		3475	if (sVal != "") _bFollowCopter = Convert.ToBoolean(sVal);
		3476	sVal = ini.IniReadValue("map", "AutoSetHome");
		3477	if (sVal != "") _bAutoHome = Convert.ToBoolean(sVal);
2324	-	3478	sVal = ini.IniReadValue("map", "GPXLog");
		3479	if (sVal != "") _bGPXLog = Convert.ToBoolean(sVal);
2287	-	3480
2312	-	3481	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		3482	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		3483	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		3484	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		3485	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
		3486	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		3487	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		3488	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		3489	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		3490	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		3491	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		3492	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		3493	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		3494	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		3495	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		3496	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		3497	sVal = ini.IniReadValue("threshold", "MaxDistance");
		3498	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		3499	sVal = ini.IniReadValue("threshold", "RCThreshold");
		3500	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		3501	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		3502	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2321	-	3503
		3504	sVal = ini.IniReadValue("waypoints", "wpcolor");
		3505	if(sVal != "") comboBoxWPColor.SelectedIndex = Convert.ToInt32(sVal);
		3506	sVal = ini.IniReadValue("waypoints", "poicolor");
		3507	if(sVal != "") comboBoxPOIColor.SelectedIndex = Convert.ToInt32(sVal);
		3508	sVal = ini.IniReadValue("waypoints", "fscolor");
		3509	if(sVal != "") comboBoxFSColor.SelectedIndex = Convert.ToInt32(sVal);
		3510	sVal = ini.IniReadValue("waypoints", "coptercolor");
		3511	if(sVal != "") comboBoxCopterColor.SelectedIndex = Convert.ToInt32(sVal);
2385	-	3512	sVal = ini.IniReadValue("waypoints", "copterheadingcolor");
		3513	if(sVal != "") comboBoxCopterHeadingColor.SelectedIndex = Convert.ToInt32(sVal);
2379	-	3514	sVal = ini.IniReadValue("waypoints", "landingcolor");
		3515	if(sVal != "") comboBoxLandingColor.SelectedIndex = Convert.ToInt32(sVal);
2328	-	3516	sVal = ini.IniReadValue("waypoints", "routecolor");
		3517	if(sVal != "") comboBoxRouteColor.SelectedIndex = Convert.ToInt32(sVal);
		3518	sVal = ini.IniReadValue("waypoints", "showWPRoute");
		3519	if(sVal != "") _bShowWPRoute = Convert.ToBoolean(sVal);
2408	-	3520	sVal = ini.IniReadValue("waypoints", "showWPMaxRange");
		3521	if(sVal != "") checkBoxShowWPMaxRange.IsChecked = Convert.ToBoolean(sVal);
		3522	sVal = ini.IniReadValue("waypoints", "WPMaxRangecolor");
		3523	if(sVal != "") comboBoxWPMaxRangeColor.SelectedIndex = Convert.ToInt32(sVal);
2349	-	3524
		3525	for (int i = 0; i < 12; i++)
		3526	{
		3527	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		3528	if (sVal != "")
		3529	serChan[i] = Convert.ToInt16(sVal);
		3530	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		3531	if (sVal != "")
		3532	serChanTitle[i] = sVal;
		3533	for (int y = 0; i < 4 && y < 3; y++)
		3534	{
		3535	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		3536	if (sVal != "")
		3537	serChan_sub[(i * 3) + y] = Convert.ToInt16(sVal);
		3538	}
		3539	}
		3540
2312	-	3541	}
		3542	catch (Exception e)
		3543	{
2287	-	3544
2312	-	3545	MessageBox.Show("Error parsing ini-file!" + Environment.NewLine + e.Message,"Read ini-file" ,MessageBoxButton.OK,MessageBoxImage.Error);
		3546	}
		3547
2287	-	3548	}
		3549
		3550	/// <summary>
		3551	/// save settings to ini-file
		3552	/// </summary>
		3553	void _writeIni()
		3554	{
		3555
		3556	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		3557	ini.path = filePath + "\\MKLiveViewSettings.ini";
		3558
2312	-	3559	try
		3560	{
2287	-	3561
2312	-	3562	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		3563	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		3564	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		3565	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
2287	-	3566
2312	-	3567	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		3568	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		3569	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		3570	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
2287	-	3571
2312	-	3572	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		3573	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
2287	-	3574
2312	-	3575	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		3576	ini.IniWriteValue("map", "AutoSetHome", _bAutoHome.ToString());
2324	-	3577	ini.IniWriteValue("map", "GPXLog", _bGPXLog.ToString());
2287	-	3578
2312	-	3579	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		3580	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		3581	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		3582	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		3583	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		3584	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		3585	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		3586	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		3587	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		3588	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
2287	-	3589
2312	-	3590	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		3591	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
2287	-	3592
2312	-	3593	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		3594	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		3595	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		3596	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		3597	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		3598	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
2287	-	3599
2312	-	3600	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		3601	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		3602	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		3603	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		3604	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		3605	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
2287	-	3606
2312	-	3607	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		3608
		3609	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		3610	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		3611	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		3612	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		3613	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		3614	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		3615	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		3616	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		3617	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		3618	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		3619	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2321	-	3620
		3621	ini.IniWriteValue("waypoints", "wpcolor", comboBoxWPColor.SelectedIndex.ToString());
		3622	ini.IniWriteValue("waypoints", "poicolor", comboBoxPOIColor.SelectedIndex.ToString());
		3623	ini.IniWriteValue("waypoints", "fscolor", comboBoxFSColor.SelectedIndex.ToString());
		3624	ini.IniWriteValue("waypoints", "coptercolor", comboBoxCopterColor.SelectedIndex.ToString());
2385	-	3625	ini.IniWriteValue("waypoints", "copterheadingcolor", comboBoxCopterHeadingColor.SelectedIndex.ToString());
2379	-	3626	ini.IniWriteValue("waypoints", "landingcolor", comboBoxLandingColor.SelectedIndex.ToString());
2328	-	3627	ini.IniWriteValue("waypoints", "routecolor", comboBoxRouteColor.SelectedIndex.ToString());
		3628	ini.IniWriteValue("waypoints", "showWPRoute", _bShowWPRoute.ToString());
2408	-	3629	ini.IniWriteValue("waypoints", "showWPMaxRange", ((bool)checkBoxShowWPMaxRange.IsChecked).ToString());
		3630	ini.IniWriteValue("waypoints", "WPMaxRangecolor", comboBoxWPMaxRangeColor.SelectedIndex.ToString());
2349	-	3631
		3632	for (int i = 0; i < 12; i++)
		3633	{
		3634	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		3635	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		3636	for (int y = 0; i < 4 && y < 3; y++)
		3637	{
		3638	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		3639	}
		3640	}
		3641
2312	-	3642	}
		3643	catch (Exception e)
		3644	{
		3645
		3646	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);
		3647	}
2287	-	3648	}
2350	-	3649
2349	-	3650	#region serial channels
		3651	/// <summary>
		3652	/// Sending the serial channel values
		3653	/// </summary>
		3654	void _sendSerialData()
		3655	{
		3656	byte[] serData = new byte[12];
		3657	for (int i = 0; i < 12; i++)
		3658	{
		3659	serData[i] = unchecked((byte)(serChan[i] - 127));
		3660	}
		3661	_sendControllerMessage('y', 1, serData);
		3662	}
		3663	/// <summary>
		3664	/// init the controls for displaying
		3665	/// and setting serial control channels
		3666	/// </summary>
		3667	void _initSerialCtrl()
		3668	{
		3669	SerChan1ScaleSlider.Value = serChan[0];
		3670	textBoxSerial1.Text = serChanTitle[0];
		3671	SerChan2ScaleSlider.Value = serChan[1];
		3672	textBoxSerial2.Text = serChanTitle[1];
2350	-	3673	SerChan3ScaleSlider.Value = serChan[2];
		3674	textBoxSerial3.Text = serChanTitle[2];
2349	-	3675	//SerChan4ScaleSlider.Value = serChan[3];
		3676	//textBoxSerial4.Text = serChanTitle[3];
		3677	//trckbarSerial5.Value = serChan[4];
		3678	//textBoxSerial5.Text = serChanTitle[4];
		3679	//trckbarSerial6.Value = serChan[5];
		3680	//textBoxSerial6.Text = serChanTitle[5];
		3681	//trckbarSerial7.Value = serChan[6];
		3682	//textBoxSerial7.Text = serChanTitle[6];
		3683	//trckbarSerial8.Value = serChan[7];
		3684	//textBoxSerial8.Text = serChanTitle[7];
2312	-	3685
2349	-	3686	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		3687	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		3688	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		3689	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		3690	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		3691	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
2350	-	3692	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		3693	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		3694	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
2349	-	3695	//textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		3696	//textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		3697	//textBoxSerial4_val3.Text = serChan_sub[11].ToString();
		3698	}
		3699	private void SerChan1ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3700	{
		3701	if (!_init)
		3702	{
		3703	serChan[0] = (int)SerChan1ScaleSlider.Value;
		3704	_sendSerialData();
		3705	}
		3706	}
		3707	private void textBoxSerial1_TextChanged(object sender, TextChangedEventArgs e)
		3708	{
		3709	if (!_init)
		3710	{
		3711	serChanTitle[0] = textBoxSerial1.Text;
		3712	}
		3713	}
		3714	private void textBoxSerial1_val1_TextChanged(object sender, TextChangedEventArgs e)
		3715	{
		3716	if (textBoxSerial1_val1.Text.Length > 0 & !_init)
		3717	{
		3718	serChan_sub[0] = Convert.ToInt16(textBoxSerial1_val1.Text);
		3719	}
		3720	}
		3721	private void textBoxSerial1_val2_TextChanged(object sender, TextChangedEventArgs e)
		3722	{
		3723	if (textBoxSerial1_val2.Text.Length > 0 & !_init)
		3724	{
		3725	serChan_sub[1] = Convert.ToInt16(textBoxSerial1_val2.Text);
		3726	}
		3727	}
		3728	private void textBoxSerial1_val3_TextChanged(object sender, TextChangedEventArgs e)
		3729	{
		3730	if (textBoxSerial1_val3.Text.Length > 0 & !_init)
		3731	{
		3732	serChan_sub[2] = Convert.ToInt16(textBoxSerial1_val3.Text);
		3733	}
		3734	}
		3735	private void btnSer1_val1_Click(object sender, RoutedEventArgs e)
		3736	{
		3737	if (textBoxSerial1_val1.Text.Length > 0)
		3738	{
		3739	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		3740	}
		3741	}
		3742	private void btnSer1_0_Click(object sender, RoutedEventArgs e)
		3743	{
		3744	SerChan1ScaleSlider.Value = 0;
		3745	}
		3746	private void btnSer1_127_Click(object sender, RoutedEventArgs e)
		3747	{
		3748	SerChan1ScaleSlider.Value = 127;
		3749	}
		3750	private void btnSer1_254_Click(object sender, RoutedEventArgs e)
		3751	{
		3752	SerChan1ScaleSlider.Value = 254;
		3753	}
		3754	private void btnSer1_val2_Click(object sender, RoutedEventArgs e)
		3755	{
		3756	if (textBoxSerial1_val2.Text.Length > 0)
		3757	{
		3758	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		3759	}
		3760	}
		3761	private void btnSer1_val3_Click(object sender, RoutedEventArgs e)
		3762	{
		3763	if (textBoxSerial1_val3.Text.Length > 0)
		3764	{
		3765	SerChan1ScaleSlider.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		3766	}
		3767	}
		3768
		3769	private void SerChan2ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3770	{
		3771	if (!_init)
		3772	{
		3773	serChan[1] = (int)SerChan2ScaleSlider.Value;
		3774	_sendSerialData();
		3775	}
		3776	}
		3777	private void textBoxSerial2_TextChanged(object sender, TextChangedEventArgs e)
		3778	{
		3779	if (!_init)
		3780	{
		3781	serChanTitle[1] = textBoxSerial2.Text;
		3782	}
		3783	}
		3784	private void textBoxSerial2_val1_TextChanged(object sender, TextChangedEventArgs e)
		3785	{
		3786	if (textBoxSerial2_val1.Text.Length > 0 & !_init)
		3787	{
		3788	serChan_sub[3] = Convert.ToInt16(textBoxSerial2_val1.Text);
		3789	}
		3790	}
		3791	private void textBoxSerial2_val2_TextChanged(object sender, TextChangedEventArgs e)
		3792	{
		3793	if (textBoxSerial2_val2.Text.Length > 0 & !_init)
		3794	{
		3795	serChan_sub[4] = Convert.ToInt16(textBoxSerial2_val2.Text);
		3796	}
		3797	}
		3798	private void textBoxSerial2_val3_TextChanged(object sender, TextChangedEventArgs e)
		3799	{
		3800	if (textBoxSerial2_val3.Text.Length > 0 & !_init)
		3801	{
		3802	serChan_sub[5] = Convert.ToInt16(textBoxSerial2_val3.Text);
		3803	}
		3804	}
		3805	private void btnSer2_0_Click(object sender, RoutedEventArgs e)
		3806	{
		3807	SerChan2ScaleSlider.Value = 0;
		3808	}
		3809	private void btnSer2_127_Click(object sender, RoutedEventArgs e)
		3810	{
		3811	SerChan2ScaleSlider.Value = 127;
		3812	}
		3813	private void btnSer2_254_Click(object sender, RoutedEventArgs e)
		3814	{
		3815	SerChan2ScaleSlider.Value = 254;
		3816	}
		3817	private void btnSer2_val1_Click(object sender, RoutedEventArgs e)
		3818	{
		3819	if (textBoxSerial2_val1.Text.Length > 0)
		3820	{
		3821	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		3822	}
		3823	}
		3824	private void btnSer2_val2_Click(object sender, RoutedEventArgs e)
		3825	{
		3826	if (textBoxSerial2_val2.Text.Length > 0)
		3827	{
		3828	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		3829	}
		3830	}
		3831	private void btnSer2_val3_Click(object sender, RoutedEventArgs e)
		3832	{
		3833	if (textBoxSerial2_val3.Text.Length > 0)
		3834	{
		3835	SerChan2ScaleSlider.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		3836	}
		3837	}
2350	-	3838
		3839	private void SerChan3ScaleSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		3840	{
		3841	if (!_init)
		3842	{
		3843	serChan[2] = (int)SerChan3ScaleSlider.Value;
		3844	_sendSerialData();
		3845	}
		3846	}
		3847	private void textBoxSerial3_TextChanged(object sender, TextChangedEventArgs e)
		3848	{
		3849	if (!_init)
		3850	{
		3851	serChanTitle[2] = textBoxSerial3.Text;
		3852	}
		3853	}
		3854	private void textBoxSerial3_val1_TextChanged(object sender, TextChangedEventArgs e)
		3855	{
		3856	if (textBoxSerial3_val1.Text.Length > 0 & !_init)
		3857	{
		3858	serChan_sub[6] = Convert.ToInt16(textBoxSerial3_val1.Text);
		3859	}
		3860	}
		3861	private void textBoxSerial3_val2_TextChanged(object sender, TextChangedEventArgs e)
		3862	{
		3863	if (textBoxSerial3_val2.Text.Length > 0 & !_init)
		3864	{
		3865	serChan_sub[7] = Convert.ToInt16(textBoxSerial3_val2.Text);
		3866	}
		3867	}
		3868	private void textBoxSerial3_val3_TextChanged(object sender, TextChangedEventArgs e)
		3869	{
		3870	if (textBoxSerial3_val3.Text.Length > 0 & !_init)
		3871	{
		3872	serChan_sub[8] = Convert.ToInt16(textBoxSerial3_val3.Text);
		3873	}
		3874	}
		3875	private void btnSer3_0_Click(object sender, RoutedEventArgs e)
		3876	{
		3877	SerChan3ScaleSlider.Value = 0;
		3878	}
		3879	private void btnSer3_127_Click(object sender, RoutedEventArgs e)
		3880	{
		3881	SerChan3ScaleSlider.Value = 127;
		3882	}
		3883	private void btnSer3_254_Click(object sender, RoutedEventArgs e)
		3884	{
		3885	SerChan3ScaleSlider.Value = 254;
		3886	}
		3887	private void btnSer3_val1_Click(object sender, RoutedEventArgs e)
		3888	{
		3889	if (textBoxSerial3_val1.Text.Length > 0)
		3890	{
		3891	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		3892	}
		3893	}
		3894	private void btnSer3_val2_Click(object sender, RoutedEventArgs e)
		3895	{
		3896	if (textBoxSerial3_val2.Text.Length > 0)
		3897	{
		3898	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		3899	}
		3900	}
		3901	private void btnSer3_val3_Click(object sender, RoutedEventArgs e)
		3902	{
		3903	if (textBoxSerial3_val3.Text.Length > 0)
		3904	{
		3905	SerChan3ScaleSlider.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		3906	}
		3907	}
2349	-	3908	/// <summary>
		3909	/// checks the input of a textbox
		3910	/// for valid data
		3911	/// in this case values 0-254
		3912	/// </summary>
		3913	/// <param name="sender"></param>
		3914	/// <param name="e"></param>
		3915	private void textBox_serial_KeyPress(object sender, KeyEventArgs e)
		3916	{
		3917	if ("1234567890,\b".IndexOf(e.Key.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		3918	e.Handled = true;
		3919	else
		3920	if ("\b".IndexOf(e.Key.ToString()) < 0)
		3921	if (Convert.ToInt16(((TextBox)sender).Text + e.Key) > 254) //if valid and not backspace, check for upper limit of the resulting number
		3922	e.Handled = true;
		3923	else
		3924	{
		3925	int i = -1;
		3926	switch (((TextBox)sender).Name)
		3927	{
		3928	case "textBoxSerial1_val1":
		3929	i = 0;
		3930	break;
		3931	case "textBoxSerial1_val2":
		3932	i = 1;
		3933	break;
		3934	case "textBoxSerial1_val3":
		3935	i = 2;
		3936	break;
		3937	case "textBoxSerial2_val1":
		3938	i = 3;
		3939	break;
		3940	case "textBoxSerial2_val2":
		3941	i = 4;
		3942	break;
		3943	case "textBoxSerial2_val3":
		3944	i = 5;
		3945	break;
		3946	case "textBoxSerial3_val1":
		3947	i = 6;
		3948	break;
		3949	case "textBoxSerial3_val2":
		3950	i = 7;
		3951	break;
		3952	case "textBoxSerial3_val3":
		3953	i = 8;
		3954	break;
		3955	case "textBoxSerial4_val1":
		3956	i = 9;
		3957	break;
		3958	case "textBoxSerial4_val2":
		3959	i = 10;
		3960	break;
		3961	case "textBoxSerial4_val3":
		3962	i = 11;
		3963	break;
		3964	}
		3965	if (i > -1)
		3966	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.Key.ToString());
		3967	}
		3968	}
		3969
		3970	#endregion serial channels
2315	-	3971	#region WP
2312	-	3972	void _readWPLFile()
		3973	{
		3974	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		3975	fd.Filter = "Waypointlists \| *.wpl";
		3976	fd.Multiselect = false;
		3977	if (fd.ShowDialog().Value)
		3978	{
		3979	string file = fd.SafeFileName;
		3980	IniFile ini = new IniFile(fd.SafeFileName);
		3981	ini.path = fd.FileName;
		3982
		3983	try
		3984	{
		3985	string sVal = ini.IniReadValue("General", "FileVersion");
		3986	if (sVal == "")
		3987	MessageBox.Show("The file has no version declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3988	else
		3989	{
		3990	if (Convert.ToInt16(sVal) < 3)
		3991	MessageBox.Show("The file version is not supported - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3992	else
		3993	{
		3994	sVal = ini.IniReadValue("General", "NumberOfWaypoints");
		3995	if (sVal == "")
		3996	MessageBox.Show("The file has no number of waypoints declared - can't go on...", "", MessageBoxButton.OK, MessageBoxImage.Information);
		3997	else
		3998	{
		3999	int wpnum = Convert.ToInt16(sVal);
		4000	string wp;
		4001	int i;
2313	-	4002	NumberFormatInfo nfi = new NumberFormatInfo();
		4003	nfi.NumberDecimalSeparator = ".";
2312	-	4004	dtWaypoints.Rows.Clear();
2368	-	4005	_wpEdit = -1;_wpIndex = -1;
2425	-	4006	wpOffset.Clear();
2327	-	4007	_clearMapMarkers(typeof(CustomMarkerWP));
2363	-	4008	_clearMapMarkers(typeof(CustomMarkerWPActive));
2328	-	4009	wpList.Clear();
		4010	if (mRouteWP != null)
		4011	MainMap.Markers.Remove(mRouteWP);
2363	-	4012	//if (wpActiveMarker != null)
		4013	// MainMap.Markers.Remove(wpActiveMarker);
2328	-	4014	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		4015
2312	-	4016	for (int k = 1; k <= wpnum; k++)
		4017	{
		4018	DataRow dr = dtWaypoints.NewRow();
		4019	dr.ItemArray = new object[16];
		4020	object[] o = new object[16];
		4021	i = 0;
		4022	wp = "Point" + k.ToString();
		4023	o[i] = k;
		4024	i++;
		4025	sVal = ini.IniReadValue(wp, "Type");
		4026	if (sVal != "")
2315	-	4027	o[i] = Convert.ToInt16(sVal) - 1;
2312	-	4028	i++;
		4029	sVal = ini.IniReadValue(wp, "Prefix");
		4030	if (sVal != "")
2350	-	4031	o[i] = sVal + k.ToString();
		4032	// o[i] = sVal == "0" ? "!" + k.ToString() : sVal + k.ToString();
2312	-	4033	i++;
2313	-	4034	sVal = ini.IniReadValue(wp, "Latitude");
2312	-	4035	if (sVal != "")
2313	-	4036	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	4037	i++;
2313	-	4038	sVal = ini.IniReadValue(wp, "Longitude");
2312	-	4039	if (sVal != "")
2313	-	4040	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	4041	i++;
		4042	sVal = ini.IniReadValue(wp, "Altitude");
		4043	if (sVal != "")
2313	-	4044	o[i] = Convert.ToDouble(sVal, nfi);
2312	-	4045	i++;
		4046	sVal = ini.IniReadValue(wp, "Heading");
		4047	if (sVal != "")
		4048	o[i] = Convert.ToInt16(sVal);
		4049	i++;
		4050	sVal = ini.IniReadValue(wp, "Speed");
		4051	if (sVal != "")
2315	-	4052	o[i] = Convert.ToInt16(sVal);
2312	-	4053	i++;
		4054	sVal = ini.IniReadValue(wp, "ClimbRate");
		4055	if (sVal != "")
		4056	o[i] = Convert.ToInt16(sVal);
		4057	i++;
		4058	sVal = ini.IniReadValue(wp, "Radius");
		4059	if (sVal != "")
		4060	o[i] = Convert.ToInt16(sVal);
		4061	i++;
		4062	sVal = ini.IniReadValue(wp, "DelayTime");
		4063	if (sVal != "")
		4064	o[i] = Convert.ToInt16(sVal);
		4065	i++;
		4066	sVal = ini.IniReadValue(wp, "AutoTrigger");
		4067	if (sVal != "")
		4068	o[i] = Convert.ToInt16(sVal); ;
		4069	i++;
		4070	sVal = ini.IniReadValue(wp, "CAM-Nick");
		4071	if (sVal != "")
2313	-	4072	o[i] = Convert.ToInt16(sVal);
2312	-	4073	i++;
		4074	o[i] = 0;
		4075	i++;
		4076	sVal = ini.IniReadValue(wp, "WP_Event_Channel_Value");
		4077	if (sVal != "")
		4078	o[i] = Convert.ToInt16(sVal);
		4079	i++;
		4080	o[i] = "New";
		4081
		4082	dr.ItemArray = o;
		4083	dtWaypoints.Rows.Add(dr);
2425	-	4084	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)dr[2], (int)o[1], (int)o[0]-1);
2315	-	4085
2312	-	4086	Dispatcher.Invoke(() => lblWPIndex.Content = k.ToString());
		4087	Dispatcher.Invoke(() => lblWPCount.Content = k.ToString());
		4088	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
2419	-	4089	Thread.Sleep(1);
2312	-	4090	}
2419	-	4091	Dispatcher.Invoke(() => MainMap.Position = new PointLatLng((double)dtWaypoints.Rows[0][3], (double)dtWaypoints.Rows[0][4]));
		4092	Dispatcher.Invoke(() => MainMap.Zoom = 19);
		4093	// Dispatcher.Invoke(() => MainMap.ZoomAndCenterMarkers(null));
		4094	Dispatcher.Invoke(() => _routeUpdate());
2312	-	4095	}
		4096	}
		4097	}
		4098
		4099	}
		4100	catch (Exception e)
		4101	{
		4102
		4103	MessageBox.Show("Error parsing wpl-file!" + Environment.NewLine + e.Message, "Read wpl-file", MessageBoxButton.OK, MessageBoxImage.Error);
		4104	}
		4105
		4106	}
		4107	}
2350	-	4108	void _saveWPLFile()
		4109	{
		4110	if (dtWaypoints.Rows.Count > 0)
		4111	{
		4112	Microsoft.Win32.SaveFileDialog fd = new Microsoft.Win32.SaveFileDialog();
		4113	fd.Filter = "Waypointlists \| *.wpl";
		4114	fd.AddExtension = true;
		4115	if (fd.ShowDialog().Value)
		4116	{
		4117	string file = fd.SafeFileName;
		4118	IniFile ini = new IniFile(fd.SafeFileName);
		4119	ini.path = fd.FileName;
		4120	NumberFormatInfo nfi = new NumberFormatInfo();
		4121	nfi.NumberDecimalSeparator = ".";
		4122
		4123	try
		4124	{
		4125	ini.IniWriteValue("General", "FileVersion", "3");
		4126	ini.IniWriteValue("General", "NumberOfWaypoints", dtWaypoints.Rows.Count.ToString());
		4127	ini.IniWriteValue("General", "Mapfile", "");
		4128	for(int i = 1; i<=dtWaypoints.Rows.Count; i++)
		4129	{
		4130	ini.IniWriteValue("Point" + i.ToString(), "Latitude", ((double)(dtWaypoints.Rows[i-1][3])).ToString(nfi));
		4131	ini.IniWriteValue("Point" + i.ToString(), "Longitude", ((double)(dtWaypoints.Rows[i - 1][4])).ToString(nfi));
		4132	ini.IniWriteValue("Point" + i.ToString(), "Radius", dtWaypoints.Rows[i - 1][9].ToString());
		4133	ini.IniWriteValue("Point" + i.ToString(), "Altitude", dtWaypoints.Rows[i - 1][5].ToString());
		4134	ini.IniWriteValue("Point" + i.ToString(), "ClimbRate", dtWaypoints.Rows[i - 1][8].ToString());
		4135	ini.IniWriteValue("Point" + i.ToString(), "DelayTime", dtWaypoints.Rows[i - 1][10].ToString());
		4136	ini.IniWriteValue("Point" + i.ToString(), "WP_Event_Channel_Value", dtWaypoints.Rows[i - 1][14].ToString());
		4137	ini.IniWriteValue("Point" + i.ToString(), "Heading", dtWaypoints.Rows[i - 1][6].ToString());
		4138	ini.IniWriteValue("Point" + i.ToString(), "Speed", dtWaypoints.Rows[i - 1][7].ToString());
		4139	ini.IniWriteValue("Point" + i.ToString(), "CAM-Nick", dtWaypoints.Rows[i - 1][12].ToString());
		4140	ini.IniWriteValue("Point" + i.ToString(), "Type", ((int)dtWaypoints.Rows[i - 1][1]+1).ToString());
		4141	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));
		4142	ini.IniWriteValue("Point" + i.ToString(), "AutoTrigger", dtWaypoints.Rows[i - 1][11].ToString());
		4143	}
		4144	MessageBox.Show(dtWaypoints.Rows.Count.ToString() + " points saved to " + file, "Waypointlist saved", MessageBoxButton.OK, MessageBoxImage.Information);
		4145	}
		4146	catch { }
		4147	}
		4148	}
		4149	else
		4150	MessageBox.Show("Nothing to save...");
		4151	}
		4152	private void btnSaveWPLFile_Click(object sender, RoutedEventArgs e)
		4153	{
		4154	_saveWPLFile();
		4155	}
		4156	/// <summary>
		4157	/// set the selected color for the route
		4158	/// </summary>
		4159	/// <param name="color"></param>
		4160	/// <returns></returns>
2328	-	4161	Brush _getBrush(string color)
		4162	{
		4163	switch (color)
		4164	{
		4165	case "red":
		4166	return Brushes.Red;
		4167	case "green":
		4168	return Brushes.Lime;
		4169	case "blue":
		4170	return Brushes.Aqua;
		4171	case "pink":
		4172	return Brushes.Magenta;
		4173	case "yellow":
		4174	return Brushes.Yellow;
		4175	default:
		4176	return Brushes.Magenta;
		4177	}
		4178	}
2359	-	4179	void _routeUpdate()
		4180	{
		4181	Dispatcher.Invoke(() =>
		4182	{
		4183	if (comboBoxRouteColor.SelectionBoxItem != null)
		4184	{
		4185	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4186	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4187	}
		4188	else
		4189	mRouteWP = new GMapRoute(wpList, null);
		4190
		4191	if (_bShowWPRoute)
2368	-	4192	MainMap.Markers.Add(mRouteWP);
2359	-	4193	});
		4194
		4195	MapRoute mr = new MapRoute(wpList, "WPList");
		4196	Dispatcher.Invoke(() => lblWPRouteDistance.Content = (mr.Distance * 1000).ToString("0 m"));
		4197	}
2425	-	4198	GMapMarker _createWP(PointLatLng p, string name, int type, int index)
2363	-	4199	{
		4200	GMapMarker wpMarker = new GMapMarker(p);
2385	-	4201	Dispatcher.Invoke(()=>
		4202	{
		4203	wpMarker.Shape = new CustomMarkerWP(this, wpMarker, name, type);
2419	-	4204	wpMarker.Tag = name;
2385	-	4205	wpMarker.Offset = new System.Windows.Point(-11.5, -11.5);
		4206	wpMarker.ZIndex = 100;
		4207	_setMarkerColor(wpMarker, type);
		4208	MainMap.Markers.Add(wpMarker);
		4209	if (type == 0 \|\| type == 3)
2425	-	4210	{
2385	-	4211	wpList.Add(p);
2425	-	4212	wpOffset.Add(index);
		4213	}
2419	-	4214	((CustomMarkerWP)wpMarker.Shape).positionChanged += _updateDTWPPos;
		4215	((CustomMarkerWP)wpMarker.Shape).newPosition += _updateDTWPPosFin;
2421	-	4216	((CustomMarkerWP)wpMarker.Shape).mouseCaptured += _WPMouseCaptured;
2385	-	4217	});
2363	-	4218	return wpMarker;
		4219	}
2419	-	4220	bool _WPisMouseCaptured = false;
2421	-	4221	void _WPMouseCaptured(bool isCaptured)
2419	-	4222	{
		4223	_WPisMouseCaptured = isCaptured;
		4224	MainMap.CanDragMap = !isCaptured;
		4225	}
		4226	void _updateDTWPPos(CustomMarkerWP wp)
		4227	{
		4228	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4229	int index = Convert.ToInt16(sIndex) -1;
		4230	GMapMarker p = ((GMapMarker)wp.DataContext);
		4231	if (p != null && index < dtWaypoints.Rows.Count)
		4232	{
		4233	//Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4234	if(wp.WPType == 0 \| wp.WPType == 3)
2424	-	4235	{
		4236	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		4237	int wpListIndex = wpList.IndexOf(x);
		4238	if (wpListIndex > -1)
		4239	{
		4240	wpList[wpListIndex] = p.Position;
		4241	MainMap.Markers.Remove(mRouteWP);
		4242	_routeUpdate();
		4243	}
2419	-	4244	}
2424	-	4245	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4246	dtWaypoints.Rows[index][4] = p.Position.Lng;
2419	-	4247	}
		4248	}
		4249	void _updateDTWPPosFin(CustomMarkerWP wp)
		4250	{
		4251	string sIndex = wp.WPText.Substring(1, wp.WPText.Length - 1);
		4252	int index = Convert.ToInt16(sIndex) -1;
		4253	GMapMarker p = ((GMapMarker)wp.DataContext);
		4254	if (p != null && index < dtWaypoints.Rows.Count)
		4255	{
		4256	dtWaypoints.Rows[index][3] = p.Position.Lat;
		4257	dtWaypoints.Rows[index][4] = p.Position.Lng;
2421	-	4258	Dispatcher.Invoke(() =>
		4259	{
		4260	dgvWP.Items.Refresh();
		4261	dgvWP.SelectedIndex = index;
		4262	_dgvWPselectEditRow();
		4263	});
		4264
2419	-	4265	}
		4266
		4267	}
2428	-	4268
2425	-	4269	/// <summary>
		4270	/// find the index of of a wp from datatable in the waypointlist wpList
		4271	/// </summary>
		4272	/// <param name="dtIndex">the index of wp in datatable (0-based)</param>
		4273	/// <returns></returns>
		4274	int _getWPIndexfromList(int dtIndex)
		4275	{
		4276	if ((int)dtWaypoints.Rows[dtIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dtIndex][1] == 3)
		4277	{
		4278	GMapMarker wp = _findWPMarker((string)dtWaypoints.Rows[dtIndex][2]);
		4279	if (wp != null)
		4280	return wpList.IndexOf(wp.Position);
		4281	}
		4282	return -1;
		4283	}
		4284	/// <summary>
		4285	/// find the index of of a wp from datatable in the waypointlist wpList
		4286	/// </summary>
		4287	/// <param name="name">the name of the wp</param>
		4288	/// <returns></returns>
		4289	int _getWPIndexfromList(string name)
		4290	{
		4291	GMapMarker wp = _findWPMarker(name);
		4292	if ((wp != null && wp.Shape != null) && ((CustomMarkerWP)wp.Shape).WPType == 0 \| ((CustomMarkerWP)wp.Shape).WPType == 3)
		4293	return wpList.IndexOf(wp.Position);
		4294	else
		4295	return -1;
		4296	}
		4297	int _getWPListOffset(int index)
		4298	{
		4299	int k = 0;
		4300	for(int i = 0; i < wpOffset.Count;i++)
		4301	{
		4302	if (wpOffset[i] <= index)
		4303	k++;
		4304	}
2419	-	4305
2425	-	4306	return k;
		4307	}
2315	-	4308	void _setMarkerColor(GMapMarker wpMarker,int iType)
		4309	{
2369	-	4310	if(wpMarker != null)
2315	-	4311	Dispatcher.Invoke(() =>
		4312	{
		4313	switch (iType)
		4314	{
		4315	case 0:
		4316	if (comboBoxWPColor.SelectionBoxItem != null)
		4317	{
		4318	string s = comboBoxWPColor.SelectionBoxItem.ToString();
		4319	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4320	}
		4321	else
2372	-	4322	((CustomMarkerWP)(wpMarker.Shape)).setColor("green");
2315	-	4323	break;
		4324	case 1:
		4325	if (comboBoxPOIColor.SelectionBoxItem != null)
		4326	{
		4327	string s = comboBoxPOIColor.SelectionBoxItem.ToString();
		4328	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4329	}
		4330	else
2372	-	4331	((CustomMarkerWP)(wpMarker.Shape)).setColor("pink");
2315	-	4332	break;
		4333	case 2:
		4334	if (comboBoxFSColor.SelectionBoxItem != null)
		4335	{
		4336	string s = comboBoxFSColor.SelectionBoxItem.ToString();
		4337	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4338	}
		4339	else
		4340	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4341	break;
2372	-	4342	case 3:
		4343	if (comboBoxLandingColor.SelectionBoxItem != null)
		4344	{
		4345	string s = comboBoxLandingColor.SelectionBoxItem.ToString();
		4346	((CustomMarkerWP)(wpMarker.Shape)).setColor(s);
		4347	}
		4348	else
		4349	((CustomMarkerWP)(wpMarker.Shape)).setColor("blue");
		4350	break;
2315	-	4351	default:
		4352	((CustomMarkerWP)(wpMarker.Shape)).setColor("red");
		4353	break;
		4354	}
		4355	});
2312	-	4356
2315	-	4357	}
2372	-	4358	void _MarkerColorSelection(object sender,int type)
		4359	{
2315	-	4360	Dispatcher.Invoke(() =>
		4361	{
2372	-	4362	if (((ComboBox)sender).SelectionBoxItem != null)
2315	-	4363	{
		4364	for (int k = 0; k < MainMap.Markers.Count; k++)
		4365	{
		4366	GMapMarker p = MainMap.Markers[k];
2372	-	4367	if (p.Shape != null && p.Shape.GetType() == typeof(CustomMarkerWP))
2315	-	4368	{
2372	-	4369	if (((CustomMarkerWP)p.Shape).WPType == type)
2315	-	4370	{
2372	-	4371	string s = ((ComboBox)sender).SelectionBoxItem.ToString();
2315	-	4372	((CustomMarkerWP)(p.Shape)).setColor(s);
		4373	}
		4374	}
		4375	}
		4376	}
		4377	});
2287	-	4378	}
2379	-	4379	private void comboBoxWPColor_DropDownClosed(object sender, EventArgs e)
2318	-	4380	{
2376	-	4381	_MarkerColorSelection(sender, 0);
		4382	}
		4383	private void comboBoxPOIColor_DropDownClosed(object sender, EventArgs e)
		4384	{
		4385	_MarkerColorSelection(sender, 1);
		4386	}
		4387	private void comboBoxFSColor_DropDownClosed(object sender, EventArgs e)
		4388	{
		4389	_MarkerColorSelection(sender, 2);
		4390	}
		4391	private void comboBoxLandingColor_DropDownClosed(object sender, EventArgs e)
		4392	{
		4393	_MarkerColorSelection(sender,3);
		4394	}
2385	-	4395	private void comboBoxCopterColor_DropDownClosed(object sender, EventArgs e)
2376	-	4396	{
2318	-	4397	Dispatcher.Invoke(() => {
		4398	if (comboBoxCopterColor.SelectionBoxItem != null)
		4399	{
		4400	string s = comboBoxCopterColor.SelectionBoxItem.ToString();
2385	-	4401	((CustomMarkerCopter)(copter.Shape)).setCopterColor(s);
2318	-	4402	}
		4403	else
2385	-	4404	((CustomMarkerCopter)(copter.Shape)).setCopterColor("red");
2318	-	4405	});
		4406	}
2385	-	4407	private void comboBoxCopterHeadingColor_DropDownClosed(object sender, EventArgs e)
		4408	{
		4409	Dispatcher.Invoke(() => {
		4410	if (comboBoxCopterHeadingColor.SelectionBoxItem != null)
		4411	{
		4412	string s = comboBoxCopterHeadingColor.SelectionBoxItem.ToString();
		4413	((CustomMarkerCopter)(copter.Shape)).setHeadingColor(s);
		4414	}
		4415	else
		4416	((CustomMarkerCopter)(copter.Shape)).setHeadingColor("red");
		4417	});
		4418	}
2328	-	4419	private void comboBoxRouteColor_DropDownClosed(object sender, EventArgs e)
		4420	{
		4421	Dispatcher.Invoke(() =>
		4422	{
		4423	if (comboBoxRouteColor.SelectionBoxItem != null)
		4424	{
		4425	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
		4426	MainMap.Markers.Remove(mRouteWP);
		4427	mRouteWP = new GMapRoute(wpList, _getBrush(s));
		4428	if (_bShowWPRoute)
		4429	MainMap.Markers.Add(mRouteWP);
		4430	}
		4431	});
		4432	}
2408	-	4433	private void comboBoxWPMaxRangeColor_DropDownClosed(object sender, EventArgs e)
		4434	{
		4435	Dispatcher.Invoke(() =>
		4436	{
		4437	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		4438	{
		4439	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		4440	{
		4441	if (cWPBound != null && cWPBound.Tag != null)
		4442	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		4443
		4444	createCircle(home.Position, dWPMaxRange);
		4445	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		4446	cWPBound.setColor(s);
		4447
		4448	}
		4449	}
		4450	});
		4451
		4452	}
2328	-	4453	private void checkBoxShowWPRoute_Click(object sender, RoutedEventArgs e)
		4454	{
		4455	_bShowWPRoute = (bool)checkBoxShowWPRoute.IsChecked;
		4456	if (_bShowWPRoute)
		4457	{
		4458	if (mRouteWP != null)
		4459	MainMap.Markers.Add(mRouteWP);
		4460	}
		4461	else
		4462	{
		4463	if (mRouteWP != null)
		4464	MainMap.Markers.Remove(mRouteWP);
		4465	}
		4466	}
2428	-	4467
2315	-	4468	private void btnLoadWPLFile_Click(object sender, RoutedEventArgs e)
2287	-	4469	{
2315	-	4470	_readWPLFile();
2287	-	4471	}
2335	-	4472	private void btnClearWPList_Click(object sender, RoutedEventArgs e)
		4473	{
		4474	_clearMapMarkers(typeof(CustomMarkerWP));
2347	-	4475	_clearMapMarkers(typeof(CustomMarkerWPActive));
2335	-	4476	wpList.Clear();
		4477	if (mRouteWP != null)
		4478	MainMap.Markers.Remove(mRouteWP);
2347	-	4479	//if (wpActiveMarker != null)
		4480	// MainMap.Markers.Remove(wpActiveMarker);
2335	-	4481	dtWaypoints.Rows.Clear();
2356	-	4482	_wpEdit = -1;
2368	-	4483	_wpIndex = -1;
2425	-	4484	wpOffset.Clear();
2335	-	4485	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		4486	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		4487	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		4488	Dispatcher.Invoke(() => lblWPRouteDistance.Content = "0 m");
		4489	}
2340	-	4490	private void btnClearCopterList_Click(object sender, RoutedEventArgs e)
		4491	{
		4492	Thread t = new Thread(new ThreadStart(clearCopterWPList));
		4493	t.Start();
		4494	}
2355	-	4495	private void btnSendActiveWP_Click(object sender, RoutedEventArgs e)
2340	-	4496	{
		4497	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4498	{
2372	-	4499	if (_wpCount > 0)
2376	-	4500	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], -1, 's',false);
2372	-	4501	else
2376	-	4502	_sendWayPoint(dtWaypoints.Rows[dgvWP.SelectedIndex], 1, 's',false);
2363	-	4503
2372	-	4504	//int index = dgvWP.SelectedIndex;
		4505	//Thread t = new Thread(() => _sendWPList(index));
		4506	//t.Start();
2354	-	4507
		4508	Dispatcher.Invoke(() => {
		4509	DataGridRow row;
2368	-	4510	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2354	-	4511	{
2368	-	4512	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
2354	-	4513	row.Background = new SolidColorBrush(Colors.Transparent);
		4514	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4515	row.BorderThickness = new Thickness(0);
2376	-	4516	dgvWP.UpdateLayout();
2354	-	4517	}
2376	-	4518	//_wpEdit = dgvWP.SelectedIndex;
		4519	//row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4520	//row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 255, 100));
		4521	//row.BorderBrush = new SolidColorBrush(Colors.SpringGreen);
		4522	//row.BorderThickness = new Thickness(2);
2354	-	4523	});
2340	-	4524	}
		4525	}
2385	-	4526	private void btnEditWPSendToCopter_Click(object sender, RoutedEventArgs e)
		4527	{
		4528	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4529	{
		4530
		4531	object[] o = new object[16];
		4532	o[0] = dgvWP.SelectedIndex + 1;
		4533	o[1] = cbWPEditType.SelectedIndex;
		4534	o[2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4535	o[3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4536	o[4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
		4537	o[5] = tbWPEditAlt.Text;
		4538	switch (cbWPEditHeading.SelectedIndex)
		4539	{
		4540	case 0:
		4541	o[6] = "0";
		4542	break;
		4543	case 1:
		4544	o[6] = "-" + tbWPEditHeading.Text;
		4545	break;
		4546	case 2:
		4547	o[6] = tbWPEditHeading.Text;
		4548	break;
		4549	}
		4550	switch (cbWPEditSpeed.SelectedIndex)
		4551	{
		4552	case 0:
		4553	o[7] = "0";
		4554	break;
		4555	case 1:
		4556	o[7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4557	break;
		4558	case 2:
		4559	o[7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4560	break;
		4561	}
		4562	switch (cbWPEditClimbrate.SelectedIndex)
		4563	{
		4564	case 0:
		4565	o[8] = "255";
		4566	break;
		4567	case 1:
		4568	o[8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.', ',')) * 10).ToString("0");
		4569	break;
		4570	}
		4571	o[9] = tbWPEditRadius.Text;
		4572	o[10] = tbWPEditHoldtime.Text;
		4573	o[11] = tbWPEditAutoTrigger.Text;
		4574	switch (cbWPEditCamAngle.SelectedIndex)
		4575	{
		4576	case 0:
		4577	o[12] = "0";
		4578	break;
		4579	case 1:
		4580	o[12] = "255";
		4581	break;
		4582	case 2:
		4583	o[12] = tbWPEditCamAngle.Text;
		4584	break;
		4585	}
		4586	o[13] = 0;
		4587	o[14] = tbWPEditOut1.Text;
		4588	DataRow dr = dtWaypoints.NewRow();
		4589	dr.ItemArray = o;
		4590
		4591	if (_wpCount > 0)
		4592	_sendWayPoint(dr, -1, 'w', false);
		4593	else
		4594	_sendWayPoint(dr, 1, 'w', false);
2399	-	4595
2429	-	4596	if (_wpIndex > -1 && _wpIndex < dtWaypoints.Rows.Count)
		4597	_sendWayPoint(dtWaypoints.Rows[wpOffset[_wpIndex]], _wpIndex+1, 's', false);
2385	-	4598	}
		4599	}
2376	-	4600	private void btnWPSimulateStart_Click(object sender, RoutedEventArgs e)
		4601	{
		4602	_Simulate = !_Simulate;
		4603	if (dtWaypoints.Rows.Count > 0)
		4604	{
		4605	DataRow dr = dtWaypoints.Rows[0];
		4606	dr[13] = _Simulate ? 3 : 0;
2379	-	4607	_sendWayPoint(dr, 0, 's', true);
2381	-	4608	rectSimulate.Visibility = lblSimu.Visibility = _Simulate ? Visibility.Visible : Visibility.Hidden;
2376	-	4609	}
		4610	}
2428	-	4611
2355	-	4612	private void dgvWP_MouseUp(object sender, MouseButtonEventArgs e)
		4613	{
2359	-	4614	_dgvWPselectEditRow();
		4615	}
		4616	private void dgvWP_MouseDoubleClick(object sender, MouseButtonEventArgs e)
		4617	{
		4618	}
		4619	void _dgvWPselectEditRow()
		4620	{
2355	-	4621	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4622	{
2368	-	4623	Dispatcher.Invoke(() => {
2355	-	4624	DataGridRow row;
2421	-	4625	dgvWP.UpdateLayout();
2368	-	4626	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
2355	-	4627	{
		4628	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4629	row.Background = new SolidColorBrush(Colors.Transparent);
		4630	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4631	row.BorderThickness = new Thickness(0);
		4632	}
		4633	_wpEdit = dgvWP.SelectedIndex;
		4634	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4635	row.Background = new SolidColorBrush(Color.FromArgb(80, 0, 100, 255));
		4636	row.BorderBrush = new SolidColorBrush(Colors.Aqua);
		4637	row.BorderThickness = new Thickness(2);
		4638	dgvWP.UpdateLayout();
2340	-	4639
2355	-	4640	_setWPEditFields(_wpEdit);
		4641	});
		4642	}
		4643	}
		4644	void _setWPEditFields(int index)
		4645	{
		4646	int iVal;
2421	-	4647	lblWPEditIndex.Content = dtWaypoints.Rows[index][0].ToString();
2355	-	4648	cbWPEditType.SelectedIndex = (int)dtWaypoints.Rows[index][1];
		4649	tbWPEditPrefix.Text = dtWaypoints.Rows[index][2].ToString().Substring(0,1);
		4650	tbWPEditLat.Text = dtWaypoints.Rows[index][3].ToString();
		4651	tbWPEditLon.Text = dtWaypoints.Rows[index][4].ToString();
		4652	tbWPEditAlt.Text = dtWaypoints.Rows[index][5].ToString();
		4653	iVal = Convert.ToInt16(dtWaypoints.Rows[index][6]);
		4654	if (iVal == 0)
		4655	{
		4656	cbWPEditHeading.SelectedIndex = 0;
		4657	tbWPEditHeading.Text = " - - -";
		4658	tbWPEditHeading.IsReadOnly = true;
		4659	}
		4660	if (iVal > 0 && iVal < 360)
		4661	{
		4662	cbWPEditHeading.SelectedIndex = 2;
		4663	tbWPEditHeading.Text = iVal.ToString();
		4664	tbWPEditHeading.IsReadOnly = false;
		4665	}
		4666	if (iVal < 0)
		4667	{
		4668	cbWPEditHeading.SelectedIndex = 1;
		4669	tbWPEditHeading.Text = (Math.Abs(iVal).ToString());
		4670	tbWPEditHeading.IsReadOnly = false;
		4671	}
		4672	iVal = Convert.ToInt16(dtWaypoints.Rows[index][7]);
		4673	if (iVal == 0)
		4674	{
		4675	cbWPEditSpeed.SelectedIndex = 0;
		4676	tbWPEditSpeed.Text = "MAX";
		4677	tbWPEditSpeed.IsReadOnly = true;
		4678	}
		4679	if (iVal > 0 && iVal < 248)
		4680	{
		4681	cbWPEditSpeed.SelectedIndex = 1;
		4682	tbWPEditSpeed.Text = ((double)iVal * 0.1).ToString();
		4683	tbWPEditSpeed.IsReadOnly = false;
		4684	}
		4685	if (iVal > 247)
		4686	{
		4687	cbWPEditSpeed.SelectedIndex = 256 - iVal + 1;
		4688	tbWPEditSpeed.Text = "";
		4689	tbWPEditSpeed.IsReadOnly = true;
		4690	}
		4691	iVal = Convert.ToInt16(dtWaypoints.Rows[index][8]);
		4692	if (iVal == 255)
		4693	{
		4694	cbWPEditClimbrate.SelectedIndex = 0;
		4695	tbWPEditClimbrate.Text = "AUTO";
		4696	tbWPEditClimbrate.IsReadOnly = true;
		4697	}
		4698	else
		4699	{
		4700	cbWPEditClimbrate.SelectedIndex = 1;
		4701	tbWPEditClimbrate.Text = (System.Convert.ToDouble(iVal) / 10).ToString("0.0");
		4702	tbWPEditClimbrate.IsReadOnly = false;
		4703	}
		4704	iVal = Convert.ToInt16(dtWaypoints.Rows[index][9]);
		4705	tbWPEditRadius.Text = iVal.ToString();
		4706	iVal = Convert.ToInt16(dtWaypoints.Rows[index][10]);
		4707	tbWPEditHoldtime.Text = iVal.ToString();
		4708	iVal = Convert.ToInt16(dtWaypoints.Rows[index][11]);
		4709	tbWPEditAutoTrigger.Text = iVal.ToString();
		4710	iVal = Convert.ToInt16(dtWaypoints.Rows[index][12]);
		4711	if (iVal == 0)
		4712	{
		4713	cbWPEditCamAngle.SelectedIndex = 0;
		4714	tbWPEditCamAngle.Text = " - - - ";
		4715	tbWPEditCamAngle.IsReadOnly = true;
		4716	}
		4717	if (iVal < 0 \| iVal == 255)
		4718	{
		4719	cbWPEditCamAngle.SelectedIndex = 1;
		4720	tbWPEditCamAngle.Text = "AUTO";
		4721	tbWPEditCamAngle.IsReadOnly = true;
		4722	}
		4723	if (iVal > 0 & iVal < 255)
		4724	{
		4725	cbWPEditCamAngle.SelectedIndex = 2;
		4726	tbWPEditCamAngle.Text = iVal.ToString();
		4727	tbWPEditCamAngle.IsReadOnly = false;
		4728	}
		4729	iVal = Convert.ToInt16(dtWaypoints.Rows[index][14]);
		4730	tbWPEditOut1.Text = iVal.ToString();
		4731
		4732	}
2361	-	4733	private void btnEditWPSave_Click(object sender, RoutedEventArgs e)
		4734	{
2363	-	4735	if(dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4736	{
2369	-	4737	string oldName = (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2];
2372	-	4738	int oldType = (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1];
		4739	PointLatLng pOld = new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]);
		4740	int i = wpList.IndexOf(pOld);
2363	-	4741	dtWaypoints.Rows[dgvWP.SelectedIndex][1] = cbWPEditType.SelectedIndex;
		4742	dtWaypoints.Rows[dgvWP.SelectedIndex][2] = tbWPEditPrefix.Text + (dgvWP.SelectedIndex + 1).ToString();
		4743	dtWaypoints.Rows[dgvWP.SelectedIndex][3] = Convert.ToDouble(tbWPEditLat.Text.Replace('.', ','));
		4744	dtWaypoints.Rows[dgvWP.SelectedIndex][4] = Convert.ToDouble(tbWPEditLon.Text.Replace('.', ','));
2372	-	4745	if (i > -1)
		4746	{
2425	-	4747	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
2372	-	4748	wpList[i] = (new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
		4749	else
2425	-	4750	{
2372	-	4751	wpList.Remove(pOld);
2425	-	4752	wpOffset.Remove(wpOffset[i]);
		4753	}
2372	-	4754	}
		4755	else
		4756	{
		4757	if ((int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 0 \|\| (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1] == 3)
		4758	{
		4759	int found = 0;
		4760	for (int k = 0; k < dgvWP.SelectedIndex; k++)
2425	-	4761	{
		4762	if ((int)dtWaypoints.Rows[k][1] == 0 \|\| (int)dtWaypoints.Rows[k][1] == 3)
		4763	{
2372	-	4764	found++;
2425	-	4765	}
		4766	}
2372	-	4767	wpList.Insert(found, new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]));
2425	-	4768	wpOffset.Insert(found, dgvWP.SelectedIndex);
2372	-	4769	}
		4770	}
2363	-	4771	dtWaypoints.Rows[dgvWP.SelectedIndex][5] = tbWPEditAlt.Text;
		4772	switch (cbWPEditHeading.SelectedIndex)
		4773	{
		4774	case 0:
		4775	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "0";
		4776	break;
		4777	case 1:
		4778	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = "-" + tbWPEditHeading.Text;
		4779	break;
		4780	case 2:
		4781	dtWaypoints.Rows[dgvWP.SelectedIndex][6] = tbWPEditHeading.Text;
		4782	break;
		4783	}
		4784	switch (cbWPEditSpeed.SelectedIndex)
		4785	{
		4786	case 0:
		4787	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = "0";
		4788	break;
		4789	case 1:
		4790	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (System.Convert.ToDouble(tbWPEditSpeed.Text.Replace('.', ',')) * 10).ToString("0");
		4791	break;
		4792	case 2:
		4793	dtWaypoints.Rows[dgvWP.SelectedIndex][7] = (256 - Convert.ToInt16(tbWPEditSpeed.Text)).ToString();
		4794	break;
		4795	}
		4796	switch (cbWPEditClimbrate.SelectedIndex)
		4797	{
		4798	case 0:
		4799	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = "255";
		4800	break;
		4801	case 1:
		4802	dtWaypoints.Rows[dgvWP.SelectedIndex][8] = (System.Convert.ToDouble(tbWPEditClimbrate.Text.Replace('.',',')) * 10).ToString("0");
		4803	break;
		4804	}
		4805	dtWaypoints.Rows[dgvWP.SelectedIndex][9] = tbWPEditRadius.Text;
		4806	dtWaypoints.Rows[dgvWP.SelectedIndex][10] = tbWPEditHoldtime.Text;
		4807	dtWaypoints.Rows[dgvWP.SelectedIndex][11] = tbWPEditAutoTrigger.Text;
		4808	switch (cbWPEditCamAngle.SelectedIndex)
		4809	{
		4810	case 0:
		4811	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "0";
		4812	break;
		4813	case 1:
		4814	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = "255";
		4815	break;
		4816	case 2:
		4817	dtWaypoints.Rows[dgvWP.SelectedIndex][12] = tbWPEditCamAngle.Text;
		4818	break;
		4819	}
		4820	dtWaypoints.Rows[dgvWP.SelectedIndex][14] = tbWPEditOut1.Text;
2361	-	4821
2369	-	4822	// _clearMapMarkers(typeof(CustomMarkerWP));
		4823	_repositionWPMarker(new PointLatLng((double)dtWaypoints.Rows[dgvWP.SelectedIndex][3], (double)dtWaypoints.Rows[dgvWP.SelectedIndex][4]),oldName);
		4824	_renameWPMarker(oldName, (string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]);
2363	-	4825	_clearMapMarkers(typeof(CustomMarkerWPActive));
2369	-	4826	_setMarkerColor(_findWPMarker((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2]), (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2372	-	4827	_WPMarkerSetType((string)dtWaypoints.Rows[dgvWP.SelectedIndex][2], (int)dtWaypoints.Rows[dgvWP.SelectedIndex][1]);
2369	-	4828	// wpList.Clear();
2363	-	4829	if (mRouteWP != null)
		4830	MainMap.Markers.Remove(mRouteWP);
		4831
2369	-	4832	//for (int k = 0; k < dtWaypoints.Rows.Count; k++)
		4833	//{
		4834	// _createWP(new PointLatLng((double)dtWaypoints.Rows[k][3], (double)dtWaypoints.Rows[k][4]), (string)dtWaypoints.Rows[k][2], (int)dtWaypoints.Rows[k][1]);
		4835	//}
2363	-	4836	_routeUpdate();
		4837	dgvWP.Items.Refresh();
		4838
		4839	}
		4840
2361	-	4841	}
		4842	private void btnEditWPDel_Click(object sender, RoutedEventArgs e)
		4843	{
2368	-	4844	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		4845	{
		4846	int index = dgvWP.SelectedIndex;
		4847	Dispatcher.Invoke(() => {
		4848	DataGridRow row;
		4849	if (_wpEdit > -1 && _wpEdit < dgvWP.ItemContainerGenerator.Items.Count)
		4850	{
		4851	row = (DataGridRow)dgvWP.ItemContainerGenerator.ContainerFromIndex(_wpEdit);
		4852	row.Background = new SolidColorBrush(Colors.Transparent);
		4853	row.BorderBrush = new SolidColorBrush(Colors.Transparent);
		4854	row.BorderThickness = new Thickness(0);
		4855	}
2372	-	4856	if ((int)dtWaypoints.Rows[index][1] == 0 \|\| (int)dtWaypoints.Rows[index][1] == 3)
2368	-	4857	wpList.Remove(new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]));
2425	-	4858	else
		4859	wpOffset.Remove((int)dtWaypoints.Rows[index][0] + 1);
2368	-	4860	_clearWPMarker((string)dtWaypoints.Rows[index][2]);
2369	-	4861	if (wpActiveMarker != null)
		4862	MainMap.Markers.Remove(wpActiveMarker);
2368	-	4863	dtWaypoints.Rows[index].Delete();
		4864	_wpIndex = -1;
		4865	_wpEdit = -1;
		4866	for (int i = index; i < dtWaypoints.Rows.Count; i++) //change the index of points behind deleted point + rename to new index
		4867	{
		4868	dtWaypoints.Rows[i][0] = i + 1;
		4869	string s1 = (string)dtWaypoints.Rows[i][2]; //old name of WP (Prefix + index)
		4870	string s2 = s1.Substring(0, 1) + (i + 1).ToString(); //new name of WP
		4871	_renameWPMarker(s1, s2);
		4872	dtWaypoints.Rows[i][2] = s2;
		4873	}
		4874	lblWPCount.Content = dtWaypoints.Rows.Count;
		4875	if (mRouteWP != null)
		4876	MainMap.Markers.Remove(mRouteWP);
		4877	_routeUpdate();
2361	-	4878
2368	-	4879	dgvWP.UpdateLayout();
		4880	});
		4881	}
2361	-	4882	}
2366	-	4883	private void tbWPEdit_TouchDown(object sender, TouchEventArgs e)
		4884	{
		4885	_wpWEdit(sender);
		4886	}
2361	-	4887	private void tbWPEdit_KeyDown(object sender, KeyEventArgs e)
		4888	{
2366	-	4889	_wpWEdit(sender);
		4890	}
2369	-	4891	private void tbWPEdit_MouseDown(object sender, MouseButtonEventArgs e)
		4892	{
		4893	_wpWEdit(sender);
		4894	}
2366	-	4895	void _wpWEdit(object sender)
		4896	{
2369	-	4897	// if (!((TextBox)sender).IsReadOnly)
2361	-	4898	{
		4899	KeyPad.Keypad k = new KeyPad.Keypad(this);
		4900
2363	-	4901	switch (((TextBox)sender).Name)
		4902	{
		4903	case "tbWPEditLat":
		4904	k.Title = "Latitude";
		4905	k.LENGTH = 17;
		4906	k.MAX = 359.9;
		4907	break;
		4908	case "tbWPEditLon":
		4909	k.Title = "Longitude";
		4910	k.LENGTH = 17;
		4911	k.MAX = 359.9;
		4912	break;
		4913	case "tbWPEditAlt":
		4914	k.Title = "Altitude";
		4915	k.LENGTH = 3;
		4916	k.MAX = 254;
		4917	k.disableDecimal();
		4918	break;
		4919	case "tbWPEditHeading":
		4920	k.Title = "Heading";
		4921	k.LENGTH = 3;
		4922	k.MAX = 359;
		4923	k.MIN = 1;
		4924	k.disableDecimal();
		4925	break;
		4926	case "tbWPEditSpeed":
		4927	k.Title = "Speed";
		4928	k.LENGTH = 4;
		4929	k.MAX = 24.7;
		4930	k.MIN = 0.1;
		4931	break;
		4932	case "tbWPEditClimbrate":
		4933	k.Title = "Climbrate";
		4934	k.LENGTH = 4;
		4935	k.MAX = 25.4;
		4936	k.MIN = 0.1;
		4937	break;
		4938	case "tbWPEditRadius":
		4939	k.Title = "Radius";
		4940	k.LENGTH = 3;
		4941	k.MAX = 254;
		4942	k.disableDecimal();
		4943	break;
		4944	case "tbWPEditHoldtime":
		4945	k.Title = "Holdtime";
		4946	k.LENGTH = 3;
		4947	k.MAX = 254;
		4948	break;
		4949	case "tbWPEditAutoTrigger":
		4950	k.Title = "Autotrigger";
		4951	k.LENGTH = 3;
		4952	k.MAX = 254;
		4953	k.disableDecimal();
		4954	break;
		4955	case "tbWPEditCamAngle":
		4956	k.Title = "Camera angle";
		4957	k.LENGTH = 3;
		4958	k.MAX = 254;
		4959	k.MIN = 1;
		4960	k.disableDecimal();
		4961	break;
		4962	case "tbWPEditOut1":
		4963	k.Title = "OUT1 timer interval";
		4964	k.LENGTH = 3;
		4965	k.MAX = 254;
		4966	k.disableDecimal();
		4967	break;
		4968	}
		4969	k.Result = ((TextBox)sender).Text;
2366	-	4970	if (k.ShowDialog() == true && k.Result.Length > 0)
2363	-	4971	((TextBox)sender).Text = k.Result;
2361	-	4972	}
2366	-	4973
2361	-	4974	}
		4975	private void btnWPAddCurrentPos_Click(object sender, RoutedEventArgs e)
2356	-	4976	{
2359	-	4977	object[] o = new object[16];
2356	-	4978
2359	-	4979	o[0] = dgvWP.ItemContainerGenerator.Items.Count+1;
		4980	o[1] = 0;
		4981	// cbWPEditType.SelectedIndex = 0;
		4982	// tbWPEditPrefix.Text = "P";
		4983	o[2] = "P" + o[0].ToString();
		4984	// tbWPEditLat.Text = copter.Position.Lat.ToString();
		4985	o[3] = copter.Position.Lat;
		4986	// tbWPEditLon.Text = copter.Position.Lng.ToString();
		4987	o[4] = copter.Position.Lng;
		4988	// tbWPEditAlt.Text = ((double)iAnalogData[4] / (double)10).ToString();
		4989	o[5] = iAnalogData[4].ToString();
2356	-	4990
2359	-	4991	// cbWPEditHeading.SelectedIndex = 2;
		4992	o[6] = tbWPEditHeading.Text = iAnalogData[10].ToString();
		4993	// tbWPEditHeading.IsReadOnly = false;
2356	-	4994
2359	-	4995	// cbWPEditSpeed.SelectedIndex = 1;
		4996	// tbWPEditSpeed.Text = "5.0";
		4997	// tbWPEditSpeed.IsReadOnly = false;
2372	-	4998	o[7] = "10";
2356	-	4999
2359	-	5000	// cbWPEditClimbrate.SelectedIndex = 1;
		5001	// tbWPEditClimbrate.Text = "5.0";
		5002	// tbWPEditClimbrate.IsReadOnly = false;
2372	-	5003	o[8] = "10";
2356	-	5004
2359	-	5005	// tbWPEditRadius.Text = "10";
2372	-	5006	o[9] = "5";
2359	-	5007	// tbWPEditHoldtime.Text = "5";
		5008	o[10] = "5";
		5009	// tbWPEditAutoTrigger.Text = "0";
		5010	o[11] = "0";
		5011	// cbWPEditCamAngle.SelectedIndex = 1;
		5012	// tbWPEditCamAngle.Text = "AUTO";
		5013	// tbWPEditCamAngle.IsReadOnly = true;
		5014	o[12] = "255";
2356	-	5015
2359	-	5016	o[13] = "0";
		5017	// tbWPEditOut1.Text = "0";
		5018	o[14] = "0";
		5019	o[15] = "0";
		5020
		5021	dtWaypoints.Rows.Add(o);
2425	-	5022	_createWP(new PointLatLng((double)o[3], (double)o[4]), (string)o[2], (int)o[1],(int)o[0]-1);
2359	-	5023	Dispatcher.Invoke(() => lblWPCount.Content = o[0].ToString());
		5024	if (mRouteWP != null)
		5025	MainMap.Markers.Remove(mRouteWP);
		5026	_routeUpdate();
		5027	Dispatcher.Invoke(() => {
		5028	dgvWP.Items.Refresh();
		5029	dgvWP.SelectedIndex = (int)o[0] -1;
		5030	dgvWP.UpdateLayout();
		5031	_dgvWPselectEditRow();
		5032	});
2356	-	5033	}
2428	-	5034
		5035	private void btnWPEditmoveUp_Click(object sender, RoutedEventArgs e)
		5036	{
		5037	if (dgvWP.SelectedIndex > 0 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count)
		5038	{
		5039	int index = dgvWP.SelectedIndex;
		5040	if (((int)dtWaypoints.Rows[index][1] == 0 \| (int)dtWaypoints.Rows[index][1] == 3) && ((int)dtWaypoints.Rows[index - 1][1] == 0 \| (int)dtWaypoints.Rows[index - 1][1] == 3))// && wpList.Count > index)
		5041	{
		5042	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		5043	int wpListIndex = wpList.IndexOf(x);
		5044	if (wpListIndex > 0)
		5045	{
		5046	wpList.RemoveAt(wpListIndex);
		5047	wpList.Insert(wpListIndex - 1, x);
		5048	MainMap.Markers.Remove(mRouteWP);
		5049	_routeUpdate();
		5050	}
		5051	}
		5052	DataRow dr = dtWaypoints.Rows[index];
		5053	DataRow newRow = dtWaypoints.NewRow();
		5054	newRow.ItemArray = dr.ItemArray;
		5055	dtWaypoints.Rows.Remove(dr);
		5056	dtWaypoints.Rows.InsertAt(newRow, index - 1);
		5057	dtWaypoints.Rows[index][0] = 100;
		5058	dtWaypoints.Rows[index - 1][0] = index;
		5059	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index - 1][2].ToString());
		5060	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5061	dtWaypoints.Rows[index - 1][2] = dtWaypoints.Rows[index - 1][2].ToString().Substring(0, 1) + index.ToString();
		5062	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index - 1][2].ToString();
		5063	dtWaypoints.Rows[index][0] = index + 1;
		5064	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5065	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5066	dgvWP.Items.Refresh();
		5067	dgvWP.SelectedIndex = index - 1;
		5068	_dgvWPselectEditRow();
		5069	if (wpOffset.Contains(index)) // calculating offset for wpList (index is 0-based - offset starts with index 1)
		5070	{
		5071	int iOffset = wpOffset.IndexOf(index);
		5072	if (iOffset > 0) // if not first element
		5073	{
		5074	if (wpOffset[iOffset - 1] < index-1) //if previous element is not immediately before actual offset
		5075	wpOffset[iOffset] = index-1; //then decrease offset value by one
		5076	}
		5077	else
		5078	wpOffset[iOffset] = index-1; //if first element, decrease offset by one
		5079	}
		5080	else //selected line is POI
		5081	{
		5082	if (wpOffset.Contains(index - 1)) // if next point is WP
		5083	{
		5084	int iOffset = wpOffset.IndexOf(index - 1);
		5085	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5086	}
		5087	}
		5088
		5089	}
		5090	}
		5091	private void btnWPEditmoveDown_Click(object sender, RoutedEventArgs e)
		5092	{
		5093	if (dgvWP.SelectedIndex > -1 && dgvWP.SelectedIndex < dtWaypoints.Rows.Count - 1)
		5094	{
		5095	int index = dgvWP.SelectedIndex;
		5096	if (((int)dtWaypoints.Rows[index][1] == 0 \| (int)dtWaypoints.Rows[index][1] == 3) && ((int)dtWaypoints.Rows[index+1][1] == 0 \| (int)dtWaypoints.Rows[index+1][1] == 3))// && wpList.Count > index)
		5097	{
		5098	PointLatLng x = new PointLatLng((double)dtWaypoints.Rows[index][3], (double)dtWaypoints.Rows[index][4]);
		5099	int wpListIndex = wpList.IndexOf(x);
		5100	if (wpListIndex > -1)
		5101	{
		5102	wpList.RemoveAt(wpListIndex);
		5103	if (wpList.Count > wpListIndex)
		5104	wpList.Insert(wpListIndex + 1, x);
		5105	else
		5106	wpList.Add(x);
		5107	MainMap.Markers.Remove(mRouteWP);
		5108	_routeUpdate();
		5109	}
		5110	}
		5111	DataRow dr = dtWaypoints.Rows[index];
		5112	DataRow newRow = dtWaypoints.NewRow();
		5113	newRow.ItemArray = dr.ItemArray;
		5114	dtWaypoints.Rows.Remove(dr);
		5115	dtWaypoints.Rows.InsertAt(newRow, index + 1);
		5116	dtWaypoints.Rows[index][0] = 100;
		5117	dtWaypoints.Rows[index + 1][0] = index + 2;
		5118	GMapMarker m1 = _findWPMarker(dtWaypoints.Rows[index + 1][2].ToString());
		5119	GMapMarker m2 = _findWPMarker(dtWaypoints.Rows[index][2].ToString());
		5120	dtWaypoints.Rows[index + 1][2] = dtWaypoints.Rows[index + 1][2].ToString().Substring(0, 1) + (index+2).ToString();
		5121	((CustomMarkerWP)m1.Shape).text.Text = dtWaypoints.Rows[index + 1][2].ToString();
		5122	dtWaypoints.Rows[index][0] = index + 1;
		5123	dtWaypoints.Rows[index][2] = dtWaypoints.Rows[index][2].ToString().Substring(0, 1) + (index+1).ToString();
		5124	((CustomMarkerWP)m2.Shape).text.Text = dtWaypoints.Rows[index][2].ToString();
		5125	dgvWP.Items.Refresh();
		5126	dgvWP.SelectedIndex = index + 1;
		5127	_dgvWPselectEditRow();
		5128	if(wpOffset.Contains(index)) // If selected line is WP
		5129	{
		5130	int iOffset = wpOffset.IndexOf(index);
		5131	if(iOffset < wpOffset.Count -1) // if not last element
		5132	{
		5133	if (wpOffset[iOffset + 1] > index + 1) //if next element is not immediately after actual offset
		5134	wpOffset[iOffset] = index + 1; //then increase offset value by one
		5135	}
		5136	else
		5137	wpOffset[iOffset] = index + 1; //if last element increase offset by one
		5138	}
		5139	else //selected line is POI
		5140	{
		5141	if (wpOffset.Contains(index + 1)) // if next point is WP
		5142	{
		5143	int iOffset = wpOffset.IndexOf(index + 1);
		5144	wpOffset[iOffset] = index; //decrease linenumber of following WP
		5145	}
		5146	}
		5147	}
		5148
		5149	}
		5150
2405	-	5151	private void checkBoxShowWPStatus_Click(object sender, RoutedEventArgs e)
		5152	{
		5153	if (WPStatus.Visibility == Visibility.Visible)
		5154	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value + 36, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5155	else
		5156	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		5157	}
		5158	private void checkBoxShowWPMaxRange_click(object sender, RoutedEventArgs e)
		5159	{
		5160	if (home != null && checkBoxShowWPMaxRange.IsChecked == true && dWPMaxRange > 0)
		5161	{
		5162	if (cWPBound != null && cWPBound.Tag != null)
		5163	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
2356	-	5164
2408	-	5165	createCircle(home.Position, dWPMaxRange);
2419	-	5166	if (comboBoxWPMaxRangeColor.SelectionBoxItem != null)
		5167	{
		5168	string s = comboBoxWPMaxRangeColor.SelectionBoxItem.ToString();
		5169	cWPBound.setColor(s);
		5170	}
2405	-	5171	}
2408	-	5172
2405	-	5173	if (checkBoxShowWPMaxRange.IsChecked == false && (cWPBound != null && cWPBound.Tag != null))
		5174	MainMap.Markers.Remove(cWPBound.Tag as GMapMarker);
		5175	}
2315	-	5176	#endregion WP
2324	-	5177	#region GPX
		5178	private void checkBoxGPXLog_Click(object sender, RoutedEventArgs e)
		5179	{
		5180	_bGPXLog = (bool)checkBoxGPXLog.IsChecked;
		5181	}
		5182	void _gpxAdd(double lat,double lon, int elevation)
		5183	{
		5184	DataRow dr = dtGPX.NewRow();
		5185	dr[0] = dtGPX.Rows.Count - 1;
		5186	dr[1] = lat;
		5187	dr[2] = lon;
		5188	dr[3] = elevation;
		5189	dr[4] = DateTime.UtcNow.ToString("s", System.Globalization.CultureInfo.InvariantCulture); //2011-01-14T01:59:01Z
		5190	dtGPX.Rows.Add(dr);
		5191	}
		5192	void _saveGPXLog()
		5193	{
		5194	if (!Directory.Exists("GPXLog"))
		5195	Directory.CreateDirectory("GPXLog");
		5196	string SaveFileName = "GPXLog\\" + DateTime.Now.ToString("yyyyMMdd_HHmm") + ".gpx";
		5197	XmlTextWriter myXmlTextWriter = null;
		5198	myXmlTextWriter = new XmlTextWriter(SaveFileName, null);
		5199	NumberFormatInfo nfi = new NumberFormatInfo();
		5200	nfi.NumberDecimalSeparator = ".";
2315	-	5201
2324	-	5202	try
		5203	{
		5204	myXmlTextWriter.Formatting = Formatting.Indented;
		5205
		5206	myXmlTextWriter.WriteStartDocument();
		5207
		5208	myXmlTextWriter.WriteStartElement("gpx");
		5209
		5210	myXmlTextWriter.WriteAttributeString("version", "1.0");
		5211	myXmlTextWriter.WriteAttributeString("creator", "MKLiveView v1.0");
		5212	myXmlTextWriter.WriteAttributeString("xmlns:xsi", "http://www.w3.org/2001/XMLSchema-instance");
		5213	myXmlTextWriter.WriteAttributeString("xmlns", "http://www.topografix.com/GPX/1/1");
		5214	myXmlTextWriter.WriteAttributeString("xsi:schemaLocation", "http://www.topografix.com/GPX/1/1/gpx.xsd");
		5215
		5216	myXmlTextWriter.WriteElementString("time", DateTime.UtcNow.ToString("u", System.Globalization.CultureInfo.InvariantCulture));
		5217
		5218	myXmlTextWriter.WriteStartElement("trk");
		5219	myXmlTextWriter.WriteStartElement("trkseg");
		5220	for(int i = 0; i< dtGPX.Rows.Count;i++)
		5221	{
		5222	myXmlTextWriter.WriteStartElement("trkpt");
		5223	myXmlTextWriter.WriteAttributeString("lat", dtGPX.Rows[i][1].ToString() != "" ? ((double)dtGPX.Rows[i][1]).ToString(nfi) : "");
		5224	myXmlTextWriter.WriteAttributeString("lon", dtGPX.Rows[i][2].ToString() != "" ? ((double)dtGPX.Rows[i][2]).ToString(nfi) : "");
		5225	myXmlTextWriter.WriteElementString("ele", dtGPX.Rows[i][3].ToString());
		5226	myXmlTextWriter.WriteElementString("time", dtGPX.Rows[i][4].ToString());
		5227	myXmlTextWriter.WriteEndElement();
		5228	}
		5229	myXmlTextWriter.WriteEndElement();
		5230	myXmlTextWriter.WriteEndElement();
		5231	myXmlTextWriter.WriteEndElement();
		5232	}
		5233	catch (Exception e)
		5234	{
		5235	Console.WriteLine("Exception: {0}", e.ToString());
		5236	}
		5237	finally
		5238	{
		5239	if (myXmlTextWriter != null)
		5240	{
		5241	myXmlTextWriter.Close();
		5242	}
		5243	}
		5244	}
2425	-	5245
		5246	private void Grid_TouchDown(object sender, TouchEventArgs e)
		5247	{
		5248
		5249	}
		5250
2431	-	5251
2324	-	5252	private void btnLoadGPXLog_Click(object sender, RoutedEventArgs e)
		5253	{
		5254	_loadGPXLog();
		5255	}
2327	-	5256	private void btnClearRoute_Click(object sender, RoutedEventArgs e)
		5257	{
		5258	_clearMapMarkers(typeof(GMapRoute));
		5259	}
2324	-	5260	void _loadGPXLog()
		5261	{
		5262
		5263	Microsoft.Win32.OpenFileDialog fd = new Microsoft.Win32.OpenFileDialog();
		5264	fd.Filter = "GPX-Logfile \| *.gpx";
		5265	fd.Multiselect = false;
		5266	if (fd.ShowDialog().Value)
		5267	{
		5268	string file = fd.FileName;
		5269	try
		5270	{
		5271	XDocument gpxDoc = XDocument.Load(file);
		5272	XNamespace gpx = XNamespace.Get("http://www.topografix.com/GPX/1/1");
		5273
		5274	NumberFormatInfo nfi = new NumberFormatInfo();
		5275	nfi.NumberDecimalSeparator = ".";
		5276
		5277	var tracks = from track in gpxDoc.Descendants(gpx + "trk")
		5278	select new
		5279	{
		5280	Name = track.Element(gpx + "name") != null ? track.Element(gpx + "name").Value : null,
		5281	Segs = (
		5282	from trackpoint in track.Descendants(gpx + "trkpt")
		5283	select new
		5284	{
		5285	Latitude = trackpoint.Attribute("lat").Value,
		5286	Longitude = trackpoint.Attribute("lon").Value,
		5287	Elevation = trackpoint.Element(gpx + "ele") != null ?
		5288	trackpoint.Element(gpx + "ele").Value : null,
		5289	Time = trackpoint.Element(gpx + "time") != null ?
		5290	trackpoint.Element(gpx + "time").Value : null
		5291	}
		5292	)
		5293	};
		5294
		5295	List<PointLatLng> wpl = new List<PointLatLng>();
		5296	foreach(var trk in tracks)
		5297	{
		5298	foreach(var trkseg in trk.Segs)
		5299	{
		5300	if(trkseg.Latitude != "" && trkseg.Longitude !="")
		5301	wpl.Add(new PointLatLng(Convert.ToDouble(trkseg.Latitude, nfi), Convert.ToDouble(trkseg.Longitude, nfi)));
		5302	}
		5303
		5304	}
		5305	if(wpl.Count() > 0)
		5306	{
2327	-	5307	_clearMapMarkers(typeof(GMapRoute));
2324	-	5308	MapRoute mr = new MapRoute(wpl, "flying");
2328	-	5309	Dispatcher.Invoke(() =>
		5310	{
		5311	GMapRoute mRoute;
		5312	if (comboBoxRouteColor.SelectionBoxItem != null)
		5313	{
		5314	string s = comboBoxRouteColor.SelectionBoxItem.ToString();
2366	-	5315	mRoute = new GMapRoute(wpl, _getBrush(s));
2328	-	5316	}
		5317	else
2366	-	5318	mRoute = new GMapRoute(wpl, null);
2324	-	5319
2328	-	5320	MainMap.Markers.Add(mRoute);
		5321	});
2324	-	5322	}
		5323
		5324	}
		5325	catch (Exception e)
		5326	{
		5327	Console.WriteLine("Exception: {0}", e.ToString());
		5328	}
		5329	}
		5330	}
		5331	#endregion GPX
2315	-	5332	#endregion functions
2287	-	5333	}
2425	-	5334
		5335	/// <summary>
2315	-	5336	/// formats the wp datatable values for display in datagrid - this is bound in the datagrid as a converter
		5337	/// </summary>
2313	-	5338	public class waypointsConverter : IValueConverter
		5339	{
		5340	public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
		5341	{
		5342	if (value != null)
		5343	{
		5344	switch ((string)parameter)
		5345	{
		5346	case "Latitude":
		5347	return value.ToString() + " °";
		5348	case "Longitude":
		5349	return value.ToString() + " °";
		5350	case "Radius":
		5351	return value.ToString() + " m";
		5352	case "Altitude":
		5353	return value.ToString() + " m";
		5354	case "ClimbRate":
		5355	return value.ToString() == "255" ? "Auto" : (System.Convert.ToDouble(value) / 10).ToString("0.0 m/s");
		5356	case "DelayTime":
		5357	return value.ToString() + " s";
		5358	case "Heading":
		5359	return Waypoints.Heading(System.Convert.ToInt32(value));
		5360	case "Speed":
		5361	return Waypoints.WPSpeed(System.Convert.ToInt16(value));
		5362	case "CamAngle":
		5363	return Waypoints.CAMAngle(System.Convert.ToInt16(value));
		5364	case "Type":
		5365	return ((Waypoints.pointType)(System.Convert.ToInt16(value))).ToString();
		5366	case "AutoTrigger":
		5367	return value.ToString() == "0" ? "- - -" : value.ToString() + " m";
		5368	case "Status":
2355	-	5369	return (Waypoints.status)(System.Convert.ToInt16(value));
2313	-	5370	}
		5371
		5372	return value.ToString();
		5373	}
		5374	else return value;
		5375	}
		5376
		5377	public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
		5378	{
		5379	throw new NotImplementedException();
		5380	}
		5381	}
2287	-	5382	public class IniFile
		5383	{
		5384	public string path;
		5385
		5386	[DllImport("kernel32")]
		5387	private static extern long WritePrivateProfileString(string section,
		5388	string key, string val, string filePath);
		5389
		5390	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		5391	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		5392	uint nSize, string lpFileName);
		5393
		5394	[DllImport("kernel32")]
		5395	private static extern int GetPrivateProfileString(string section,
		5396	string key, string def, StringBuilder retVal,
		5397	int size, string filePath);
		5398
		5399	public IniFile(string INIPath)
		5400	{
		5401	path = INIPath;
		5402	}
		5403
		5404	public void IniWriteValue(string Section, string Key, string Value)
		5405	{
		5406	WritePrivateProfileString(Section, Key, Value, this.path);
		5407	}
		5408
		5409	public string IniReadValue(string Section, string Key)
		5410	{
		5411	StringBuilder temp = new StringBuilder(255);
		5412	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		5413	return temp.ToString();
		5414	}
		5415	//Ini_sections auslesen in String-Array
		5416	public string[] IniSectionNames()
		5417	{
		5418
		5419	// uint MAX_BUFFER = 32767;
		5420	uint MAX_BUFFER = 8388608;
		5421	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		5422	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		5423	if (bytesReturned == 0)
		5424	{
		5425	Marshal.FreeCoTaskMem(pReturnedString);
		5426	return null;
		5427	}
		5428	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		5429	Marshal.FreeCoTaskMem(pReturnedString);
		5430	//use of Substring below removes terminating null for split
		5431	return local.Substring(0, local.Length - 1).Split('\0');
		5432
		5433
		5434	}
		5435	}
		5436	/// <summary>
		5437	/// Selected Win AI Function Calls
		5438	/// </summary>
		5439	public class WinApi
		5440	{
		5441	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		5442	public static extern int GetSystemMetrics(int which);
		5443	[DllImport("user32.dll")]
		5444	public static extern void
		5445	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		5446	int X, int Y, int width, int height, uint flags);
		5447
		5448	private const int SM_CXSCREEN = 0;
		5449	private const int SM_CYSCREEN = 1;
		5450	private static IntPtr HWND_TOP = IntPtr.Zero;
		5451	private const int SWP_SHOWWINDOW = 64; // 0x0040
		5452
		5453	public static int ScreenX
		5454	{
		5455	get { return GetSystemMetrics(SM_CXSCREEN); }
		5456	}
		5457
		5458	public static int ScreenY
		5459	{
		5460	get { return GetSystemMetrics(SM_CYSCREEN); }
		5461	}
		5462
		5463	public static void SetWinFullScreen(IntPtr hwnd)
		5464	{
		5465	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		5466	}
		5467	}
		5468	/// <summary>
		5469	/// Class used to preserve / restore state of the window
		5470	/// </summary>
		5471	public class WinState
		5472	{
		5473	private WindowState winState;
		5474	private WindowStyle brdStyle;
		5475	private bool topMost;
		5476	private Rect restore;
		5477	private bool IsMaximized = false;
		5478
		5479	public bool isMaximized
		5480	{
		5481	get { return IsMaximized; }
		5482	}
		5483	public void Maximize(Window targetForm)
		5484	{
		5485	if (!IsMaximized)
		5486	{
		5487	IsMaximized = true;
		5488	Save(targetForm);
		5489	targetForm.WindowState = WindowState.Maximized;
		5490	targetForm.WindowStyle = WindowStyle.None;
		5491	targetForm.Topmost = true;
		5492	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		5493	}
		5494	}
		5495
		5496	public void Save(Window targetForm)
		5497	{
		5498	winState = targetForm.WindowState;
		5499	brdStyle = targetForm.WindowStyle;
		5500	topMost = targetForm.Topmost;
		5501	restore = targetForm.RestoreBounds;
		5502	}
		5503	public void Restore(Window targetForm)
		5504	{
		5505	targetForm.WindowState = winState;
		5506	targetForm.WindowStyle = brdStyle;
		5507	targetForm.Topmost = topMost;
		5508
		5509	targetForm.Left = restore.Left;
		5510	targetForm.Top = restore.Top;
		5511	targetForm.Height = restore.Height;
		5512	targetForm.Width = restore.Width;
		5513	IsMaximized = false;
		5514	}
		5515	}
		5516	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2432 - Rev 2431